Merge pull request #310 from christian-rauch/ci_cmake_all

cmake CI

.github/workflows/cmake-multi-platform.yml

@@ -0,0 +1,90 @@
+# This starter workflow is for a CMake project running on multiple platforms. There is a different starter workflow if you just want a single platform.
+# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+name: CMake on multiple platforms
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable.
+      fail-fast: false
+
+      # Set up a matrix to run the following 3 configurations:
+      # 1. <Windows, Release, latest MSVC compiler toolchain on the default runner image, default generator>
+      # 2. <Linux, Release, latest GCC compiler toolchain on the default runner image, default generator>
+      # 3. <Linux, Release, latest Clang compiler toolchain on the default runner image, default generator>
+      #
+      # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list.
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+        build_type: [Release]
+        c_compiler: [gcc, clang, cl]
+        include:
+          - os: windows-latest
+            c_compiler: cl
+            cpp_compiler: cl
+          - os: windows-latest
+            c_compiler: gcc
+            cpp_compiler: g++
+          - os: windows-latest
+            c_compiler: clang
+            cpp_compiler: clang++
+          - os: ubuntu-latest
+            c_compiler: gcc
+            cpp_compiler: g++
+          - os: ubuntu-latest
+            c_compiler: clang
+            cpp_compiler: clang++
+          - os: macos-latest
+            c_compiler: clang
+            cpp_compiler: clang++
+          - os: macos-latest
+            c_compiler: gcc
+            cpp_compiler: g++
+        exclude:
+          - os: ubuntu-latest
+            c_compiler: cl
+          - os: macos-latest
+            c_compiler: cl
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set reusable strings
+      # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
+
+    - uses: seanmiddleditch/gha-setup-ninja@master
+
+    - uses: ilammy/msvc-dev-cmd@v1
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: >
+        cmake -B ${{ steps.strings.outputs.build-output-dir }}
+        -G Ninja
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}
+
+    - name: Build
+      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }}
+
+    - name: Test
+      working-directory: ${{ steps.strings.outputs.build-output-dir }}
+      # Execute tests defined by the CMake configuration. Note that --build-config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest --build-config ${{ matrix.build_type }}

.github/workflows/ros_workspace.yml → .github/workflows/colcon-workspace.yml

@@ -1,19 +1,18 @@
-name: ROS workspace CI
+name: colcon workspace
 
 on: [push, pull_request]
 
 jobs:
   # build on Ubuntu docker images
   build_linux:
-    name: Ubuntu (${{ matrix.ros_distribution }}, ${{ matrix.config }})
+    name: "Ubuntu (${{ matrix.ros_distribution }}, shared: ${{ matrix.cmake_shared_libs }})"
 
     runs-on: ubuntu-latest
 
     strategy:
       matrix:
         ros_distribution: [noetic, humble]
-        config: ["default"] # nice name
-        cmake_args: ['[ ]'] # empty list of options
+        cmake_shared_libs: ['ON', 'OFF']
         include:
           - docker_image: ubuntu:20.04
             ros_distribution: noetic
@@ -23,13 +22,6 @@ jobs:
             ros_distribution: humble
             ros_version: 2
 
-          # build static library, this will set BUILD_PYTHON_WRAPPER to OFF
-          - docker_image: ubuntu:22.04
-            ros_distribution: humble
-            ros_version: 2
-            config: "static"
-            cmake_args: '[ "-DBUILD_SHARED_LIBS=OFF" ]'
-
     container:
       image: ${{ matrix.docker_image }}
 
@@ -40,8 +32,6 @@ jobs:
           apt install --no-install-recommends -y git ca-certificates
 
       - uses: actions/checkout@v4
-        #with:
-        #  submodules: recursive
 
       - name: Setup ROS environment
         uses: ros-tooling/[email protected]
@@ -52,30 +42,27 @@ jobs:
         with:
           package-name: apriltag
           target-ros1-distro: ${{ matrix.ros_distribution }}
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
       - name: ROS 2 CI Action
         if: ${{ matrix.ros_version == 2 }}
         uses: ros-tooling/[email protected]
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": ${{ matrix.cmake_args }}
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
 
   # build on Windows native
   build_windows:
-    name: Windows (${{ matrix.ros_distribution }})
+    name: "Windows (${{ matrix.ros_distribution }}, shared: ${{ matrix.cmake_shared_libs }})"
 
     runs-on: windows-2019
 
     strategy:
       matrix:
         ros_distribution: [noetic, humble]
+        cmake_shared_libs: ['OFF']
         include:
           - ros_distribution: noetic
             ros_version: 1
@@ -97,36 +84,26 @@ jobs:
         with:
           package-name: apriltag
           target-ros1-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF" ]
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
       - name: ROS 2 CI Action
         if: ${{ matrix.ros_version == 2 }}
         uses: ros-tooling/[email protected]
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF" ]
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
   # build on macOS native
   build_macos:
-    name: macOS (${{ matrix.ros_distribution }})
+    name: "macOS (${{ matrix.ros_distribution }}, shared: ${{ matrix.cmake_shared_libs }})"
 
     runs-on: macos-latest
 
     strategy:
-      fail-fast: false
       matrix:
         ros_distribution: [humble]
+        cmake_shared_libs: ['OFF']
 
     steps:
       - uses: actions/checkout@v4
@@ -145,9 +122,4 @@ jobs:
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": [ "-DBUILD_PYTHON_WRAPPER=OFF" ]
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"

CMakeLists.txt

@@ -32,6 +32,8 @@ endif()
 # Set a default build type if none was specified
 set(default_build_type "Release")
 
+SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
     set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE  STRING "Choose the type of build." FORCE)
@@ -43,9 +45,19 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Werror)
     # add_compile_options(-Wpedantic)
     add_compile_options(-Wno-shift-negative-value)
-    if(NOT CMAKE_C_COMPILER_ID MATCHES "AppleClang")
-        add_link_options("-Wl,-z,relro,-z,now,-z,defs")
-    endif()
+endif()
+
+if(CMAKE_C_COMPILER_ID MATCHES "Clang" AND NOT CMAKE_C_COMPILER_ID MATCHES "AppleClang" AND NOT CMAKE_C_SIMULATE_ID MATCHES "MSVC")
+    add_link_options("-Wl,-z,relro,-z,now,-z,defs")
+endif()
+
+if(CMAKE_C_COMPILER_ID MATCHES "Clang" AND CMAKE_C_SIMULATE_ID MATCHES "MSVC")
+    # error: 'strdup' is deprecated: The POSIX name for this item is deprecated. Instead, use the ISO C and C++ conformant name: _strdup.
+    # "strdup" is standard since C23
+    add_definitions(-D _CRT_NONSTDC_NO_DEPRECATE)
+    # ignore "'fopen' is deprecated" and "'strncpy' is deprecated" warnings
+    # TODO: replace by fopen_s and strncpy_s in C11
+    add_definitions(-D _CRT_SECURE_NO_WARNINGS)
 endif()
 
 aux_source_directory(common COMMON_SRC)

apriltag.c

@@ -32,6 +32,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #include "apriltag.h"
 
+#define _USE_MATH_DEFINES
 #include <math.h>
 #include <assert.h>
 #include <stdint.h>
@@ -53,10 +54,6 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #include "common/postscript_utils.h"
 
-#ifndef M_PI
-# define M_PI 3.141592653589793238462643383279502884196
-#endif
-
 #ifdef _WIN32
 static inline void srandom(unsigned int seed)
 {

apriltag_quad_thresh.c

@@ -28,6 +28,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 // limitation: image size must be <32768 in width and height. This is
 // because we use a fixed-point 16 bit integer representation with one
 // fractional bit.
+#define _USE_MATH_DEFINES
 #include <math.h>
 #include <assert.h>
 #include <string.h>
@@ -62,10 +63,6 @@ struct uint64_zarray_entry
     struct uint64_zarray_entry *next;
 };
 
-#ifndef M_PI
-# define M_PI 3.141592653589793238462643383279502884196
-#endif
-
 struct pt
 {
     // Note: these represent 2*actual value.

common/g2d.c

@@ -33,13 +33,6 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include "g2d.h"
 #include "common/math_util.h"
 
-#ifdef _WIN32
-static inline long int random(void)
-{
-        return rand();
-}
-#endif
-
 double g2d_distance(const double a[2], const double b[2])
 {
     return sqrtf(sq(a[0]-b[0]) + sq(a[1]-b[1]));
@@ -725,6 +718,13 @@ int g2d_polygon_rasterize(const zarray_t *poly, double y, double *x)
 */
 #if 0
 
+#ifdef _WIN32
+static inline long int random(void)
+{
+        return rand();
+}
+#endif
+
 #include "timeprofile.h"
 
 int main(int argc, char *argv[])

common/getopt.c

@@ -86,6 +86,11 @@ void getopt_option_destroy(getopt_option_t *goo)
     free(goo);
 }
 
+void getopt_option_destroy_void(void *goo)
+{
+    getopt_option_destroy((getopt_option_t *)goo);
+}
+
 void getopt_destroy(getopt_t *gopt)
 {
     // free the extra arguments and container
@@ -94,7 +99,7 @@ void getopt_destroy(getopt_t *gopt)
 
     // deep free of the getopt_option structs. Also frees key/values, so
     // after this loop, hash tables will no longer work
-    zarray_vmap(gopt->options, getopt_option_destroy);
+    zarray_vmap(gopt->options, getopt_option_destroy_void);
     zarray_destroy(gopt->options);
 
     // free tables
@@ -506,10 +511,10 @@ char * getopt_get_usage(getopt_t *gopt)
         if (goo->spacer)
             continue;
 
-        longwidth = max(longwidth, (int) strlen(goo->lname));
+        longwidth = imax(longwidth, (int) strlen(goo->lname));
 
         if (goo->type == GOO_STRING_TYPE)
-            valuewidth = max(valuewidth, (int) strlen(goo->svalue));
+            valuewidth = imax(valuewidth, (int) strlen(goo->svalue));
     }
 
     for (int i = 0; i < zarray_size(gopt->options); i++) {

common/getopt.h

@@ -38,6 +38,7 @@ typedef struct getopt getopt_t;
 
 getopt_t *getopt_create();
 void getopt_destroy(getopt_t *gopt);
+void getopt_option_destroy_void(void *goo);
 
 // Parse args. Returns 1 on success
 int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors);