merge cmake+core+sophus2

.github/workflows/ci.yml

@@ -24,8 +24,7 @@ jobs:
             compiler: gcc
           - os: ubuntu-20.04
             compiler: clang
-          - os: macos-11
-            compiler: clang
+
       fail-fast: false
     steps:
     - uses: actions/checkout@v3
@@ -39,18 +38,11 @@ jobs:
         ./install_deps_ubuntu.sh
       if: matrix.os == 'ubuntu-20.04'
 
-    - name: Install dependencies (Mac)
-      working-directory: ./infra/scripts
-      run: |
-        ./install_deps_mac.sh
-      if: matrix.os == 'macos-11'
-
     - name: Download dependencies (proto)
-      working-directory: ./infra/
+      working-directory: ./infra
       run: |
+        ls -l
         source ./bootstrap_venv.sh
-        cd scripts
-        ./install_farm_ng_cmake.sh
 
     - name: Compile (gcc)
       working-directory: ./infra/scripts
@@ -67,11 +59,3 @@ jobs:
         source ../venv/bin/activate
         ./compile_clang.sh
       if: matrix.compiler == 'clang'
-
-    - name: clang-tidy
-      working-directory: ./infra/
-      run: |
-        source ./bootstrap_venv.sh
-        cd ..
-        ./run_clang_tidy.sh
-      if: matrix.os == 'ubuntu-20.04' && matrix.compiler == 'clang'

.github/workflows/release.yml

@@ -0,0 +1,69 @@
+name: Release
+
+on:
+  push:
+    branches: [release-build-branch]
+  workflow_dispatch:
+
+concurrency:
+  group: build-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # Based on https://dev.to/eugenebabichenko/automated-multi-platform-releases-with-github-actions-1abg
+  create_release:
+    name: Create Release and Provide Upload URL.
+    runs-on: ubuntu-latest # OS to create release, not for build
+    outputs:
+      # This job will provide URL for build jobs to use for uploading assets
+      upload_url: ${{ steps.create_release.outputs.upload_url }}
+    steps:
+      - name: Get short SHA
+        id: get_sha
+        run: echo "sha7=$(echo ${GITHUB_SHA} | cut -c1-7)" >> $GITHUB_OUTPUT
+
+      - name: Create release
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: v.${{ steps.get_sha.outputs.sha7 }}
+          release_name: Release v.${{ steps.get_sha.outputs.sha7 }}
+          draft: false
+          prerelease: false
+
+  build_assets:
+    name: Build Release Assets
+    needs: create_release
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+      fail-fast: false
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: hendrikmuhs/ccache-action@v1
+
+      - name: Install system dependencies (Ubuntu)
+        run: ./cmake/scripts/install_deps_ubuntu.sh
+        if: matrix.os == 'ubuntu-20.04'
+
+      - name: Install venv dependencies
+        run: ./cmake/bootstrap_venv.sh
+
+      - name: Create Archive For Release
+        run: |
+           tar -czvf venv-${{ matrix.os }}.tar.gz cmake/venv/prefix
+
+      - name: Upload release assets
+        uses: actions/upload-release-asset@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          upload_url: ${{ needs.create_release.outputs.upload_url }}
+          asset_name: venv-${{ matrix.os }}.tar.gz
+          asset_path: venv-${{ matrix.os }}.tar.gz
+          asset_content_type: application/x-tar

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "infra/submodules/farm-ng-cmake"]
-	path = infra/ci-submodules/farm-ng-cmake
-	url = https://github.com/farm-ng/farm-ng-cmake.git
 [submodule "third_party/expected"]
 	path = cpp/thirdparty/expected
 	url = https://github.com/TartanLlama/expected.git

.pre-commit-config.yaml

@@ -8,16 +8,28 @@ repos:
     hooks:
       - id: trailing-whitespace
       - id: end-of-file-fixer
-        exclude: thirdparty/.*$
+        exclude: (thirdparty|cpp/sophus2)/.*$
       - id: check-yaml
       - id: check-json
         exclude: docs/.*$
+
+  - repo: https://github.com/Lucas-C/pre-commit-hooks
+    rev: v1.1.13
+    hooks:
+      - id: insert-license
+        files: cpp/sophus2/.*\.(h|hpp|cpp|proto)$
+        exclude: (py|thirdparty|py/sympy/cpp_gencode)/.*$
+        args:
+          - --comment-style
+          - //
+          - --license-filepath
+          - sophus2_license_header.txt
   - repo: https://github.com/Lucas-C/pre-commit-hooks
     rev: v1.1.13
     hooks:
       - id: insert-license
         files: \.(h|cpp|proto)$
-        exclude: thirdparty/.*$
+        exclude: (thirdparty|cpp/sophus2)/.*$
         args:
           - --comment-style
           - //
@@ -28,7 +40,7 @@ repos:
     hooks:
       - id: clang-format
         files: \.(h|cpp)
-        exclude: (thirdparty)/.*$
+        exclude: (cpp/sophus2/py|thirdparty)/.*$
   - repo: local
     hooks:
       - id: pragma-once
@@ -59,6 +71,7 @@ repos:
     rev: v2.1.0
     hooks:
       - id: codespell
+        exclude: (thirdparty|cpp/sophus2)/.*$
         args:
           - --ignore-words-list
           - "te"
@@ -68,4 +81,4 @@ repos:
     rev: v0.0.284
     hooks:
       - id: ruff
-        args: [--fix]
+        exclude: (thirdparty|cpp/sophus2)/.*$

CMakeLists.txt

@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.16)
 # https://semver.org/
 project(farm_ng_core VERSION 0.2.0)
 
-find_package(farm_ng_cmake REQUIRED)
+set(farm_ng_cmake_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake)
+include(${farm_ng_cmake_DIR}/farm_ng_cmakeConfig.cmake)
+farm_ng_module(farm_ng_core)
 
-farm_ng_module()
 farm_ng_enable_testing()
 
 set(CMAKE_CXX_CLANG_TIDY "")
@@ -13,7 +14,3 @@ find_package(fmt REQUIRED)
 
 add_subdirectory(protos)
 add_subdirectory(cpp)
-
-farm_ng_export_module(
-  NAME farm_ng_core
-  REQUIRED_DEPS fmt)

cmake/.github/workflows/release.yml

@@ -0,0 +1,73 @@
+name: Release
+
+on:
+  push:
+    branches: [main,release-test]
+  workflow_dispatch:
+
+concurrency:
+  group: build-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # Based on https://dev.to/eugenebabichenko/automated-multi-platform-releases-with-github-actions-1abg
+  create_release:
+    name: Create Release and Provide Upload URL.
+    runs-on: ubuntu-latest # OS to create release, not for build
+    outputs:
+      # This job will provide URL for build jobs to use for uploading assets
+      upload_url: ${{ steps.create_release.outputs.upload_url }}
+    steps:
+      - name: Get short SHA
+        id: get_sha
+        run: echo "sha7=$(echo ${GITHUB_SHA} | cut -c1-7)" >> $GITHUB_OUTPUT
+
+      - name: Create release
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: v.${{ steps.get_sha.outputs.sha7 }}
+          release_name: Release v.${{ steps.get_sha.outputs.sha7 }}
+          draft: false
+          prerelease: false
+
+  build_assets:
+    name: Build Release Assets
+    needs: create_release
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, macos-11, macos-arm64] # TODO: ubuntu18.04-arm
+      fail-fast: false
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: hendrikmuhs/ccache-action@v1
+
+      - name: Install system dependencies (Ubuntu)
+        run: ./scripts/install_deps_ubuntu.sh
+        if: matrix.os == 'ubuntu-20.04'
+
+      - name: Install system dependencies (Mac)
+        run: ./scripts/install_deps_mac.sh
+        if: matrix.os == 'macos-11' || matrix.os == 'macos-arm64'
+
+      - name: Install venv dependencies
+        run: ./bootstrap_venv.sh
+
+      - name: Create Archive For Release
+        run: |
+           tar -czvf venv-${{ matrix.os }}.tar.gz venv/prefix
+
+      - name: Upload release assets
+        uses: actions/upload-release-asset@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          upload_url: ${{ needs.create_release.outputs.upload_url }}
+          asset_name: venv-${{ matrix.os }}.tar.gz
+          asset_path: venv-${{ matrix.os }}.tar.gz
+          asset_content_type: application/x-tar

cmake/.gitignore

@@ -0,0 +1,40 @@
+*~
+
+# venv-related
+venv.tar.gz
+build.venv
+venv
+venv.tar.gz
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

cmake/.pre-commit-config.yaml

@@ -0,0 +1,62 @@
+repos:
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+    - id: black
+  - repo: local
+    hooks:
+    - id: pylint
+      name: pylint
+      entry: bash -c 'pylint "$@" || true' --
+      verbose: true
+      language: system
+      exclude: rst-dir
+      types: [python]
+      args: ["--good-names-rgxs=^[_a-z][_a-z0-9]?$",
+             "--max-args=10",
+             "--min-similarity-lines=30"]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+        exclude: thirdparty/.*$
+      - id: check-yaml
+      - id: check-json
+  - repo: https://github.com/Lucas-C/pre-commit-hooks
+    rev: v1.1.13
+    hooks:
+      - id: insert-license
+        files: \.(h|cpp|proto)$
+        exclude: thirdparty/.*$
+        args:
+          - --comment-style
+          - //
+          - --license-filepath
+          - license_header.txt
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.0
+    hooks:
+      - id: clang-format
+        files: \.(h|cpp)
+        exclude: (thirdparty)/.*$
+  - repo: local
+    hooks:
+      - id: pragma-once
+        name: pragma once check
+        entry: "#pragma once"
+        language: pygrep
+        exclude: thirdparty/.*$
+        files: \.h$
+        args: [--negate]
+      - id: no-c-std-lib
+        name: c standard library check
+        exclude: thirdparty/.*$
+        entry: |
+          (?x)<(
+            assert|complex|ctype|errno|fenv|float|inttypes|iso646|limits|locale|math|setjmp|signal|
+            stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|tgmath|
+            threads|time|uchar|wchar|wctype
+          ).h>
+        language: pygrep
+        files: \.(h|cpp)$