Add CI and Fix Windows Build Errors (#604)

Add CI testing for each platform
Fix Windows include file and linker errors encountered
Fix a few tests on Windows

.github/workflows/build_test.yaml

@@ -0,0 +1,115 @@
+name: Lint Build and Test
+
+on: [push, pull_request]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install deps
+      run: sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev libflatbuffers-dev libgtest-dev clang-format
+    - name: cpp-lint
+      run: ./clang-linting.sh
+    - name: install python
+      run: sudo apt install python3 python3-pip
+    - name: install python-deps one
+      run: cd python && python3 setup.py egg_info && pip3 install `grep -v '^\[' src/*.egg-info/requires.txt`
+    - name: install python-deps
+      run: pip3 install mypy flake8
+    - name: python-lint
+      run: cd python && mypy ./src ./tests && flake8
+  linux-build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install deps
+      run: sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev libflatbuffers-dev libgtest-dev clang-format
+    - name: cmake configure
+      run: cmake . -B build -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
+    - name: cmake build
+      run: cmake --build build -j4
+    - name: run tests
+      run: cd build/ && ctest -j4 --output-on-failure
+  linux-python-build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install python
+      run: sudo apt install python3 python3-pip
+    - name: install deps
+      run: sudo apt install build-essential cmake libjsoncpp-dev libeigen3-dev libcurl4-openssl-dev libtins-dev libpcap-dev libglfw3-dev libglew-dev libspdlog-dev libflatbuffers-dev
+    - name: install python-deps
+      run: pip3 install pytest pytest-xdist
+    - name: build python
+      run: cd python && sudo python3 -m pip install -e .[test]
+    - name: run tests
+      run: cd python/tests && pytest -n4
+  windows-build:
+    runs-on: windows-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v6
+      id: vcpkg
+      with:
+        pkgs: jsoncpp eigen3 curl libtins glfw3 glew spdlog libpng flatbuffers gtest
+        triplet: x64-windows
+        revision: 2024.04.26
+        token: ${{ github.token }}
+        github-binarycache: true
+    - name: cmake configure
+      run: cmake . -B build -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DCMAKE_TOOLCHAIN_FILE=D:/a/ouster-sdk/ouster-sdk/vcpkg/scripts/buildsystems/vcpkg.cmake
+    - name: cmake build
+      run: cmake --build build -j4
+    - name: run tests
+      run: cd build/ && ctest -j4 -C Debug --output-on-failure
+  windows-python-build:
+    runs-on: windows-latest
+    steps:
+    - uses: actions/checkout@v1
+    - uses: seanmiddleditch/gha-setup-ninja@master
+    - uses: ilammy/msvc-dev-cmd@v1
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v6
+      id: vcpkg
+      with:
+        pkgs: jsoncpp eigen3 curl libtins glfw3 glew spdlog libpng flatbuffers gtest
+        triplet: x64-windows
+        revision: 2024.04.26
+        token: ${{ github.token }}
+        github-binarycache: true
+    - name: install python-deps
+      run: pip3 install pytest pytest-xdist
+    - name: build python
+      run: cd python && python3 -m pip install -e .[test]
+      env:
+        OUSTER_SDK_CMAKE_ARGS: '-DCMAKE_TOOLCHAIN_FILE=D:/a/ouster-sdk/ouster-sdk/vcpkg/scripts/buildsystems/vcpkg.cmake'
+    - name: run tests
+      run: cd python/tests && pytest -n3
+  mac-build:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install deps
+      run: brew install cmake pkg-config jsoncpp eigen curl libtins glfw glew spdlog flatbuffers googletest
+    - name: cmake configure
+      run: cmake . -B build -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
+    - name: cmake build
+      run: cmake --build build -j3
+    - name: run tests
+      run: cd build/ && ctest -j3 --output-on-failure
+  mac-python-build:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install deps
+      run: brew install cmake pkg-config jsoncpp eigen curl libtins glfw glew spdlog flatbuffers
+    - name: install python-deps
+      run: pip3 install pytest pytest-xdist --break-system-packages
+    - name: build python
+      run: cd python && python3 -m pip install -e .[test] --break-system-packages
+    - name: set netparams
+      run: sudo sysctl -w net.inet.udp.maxdgram=65535
+    - name: run tests
+      run: cd python/tests && pytest -n3

ouster_client/include/ouster/lidar_scan.h

@@ -211,7 +211,7 @@ class LidarScan {
     template <typename Iterator>
     LidarScan(size_t w, size_t h, Iterator begin, Iterator end,
               size_t columns_per_packet = DEFAULT_COLUMNS_PER_PACKET)
-        : LidarScan(w, h, {begin, end}, columns_per_packet){};
+        : LidarScan(w, h, {begin, end}, columns_per_packet) {}
 
     /**
      * Initialize a lidar scan from another lidar scan.

ouster_client/src/lidar_scan.cpp

@@ -18,6 +18,10 @@
 #include "ouster/strings.h"
 #include "ouster/types.h"
 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
 using namespace ouster::strings;
 
 namespace ouster {

ouster_osf/CMakeLists.txt

@@ -128,7 +128,6 @@ target_link_libraries(ouster_osf
 target_include_directories(ouster_osf PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
-    ${EIGEN3_INCLUDE_DIR}
 )
 add_dependencies(ouster_osf cpp_gen)
 add_library(OusterSDK::ouster_osf ALIAS ouster_osf)

ouster_osf/src/compat_ops.cpp

@@ -15,6 +15,7 @@
 #include <direct.h>
 #include <fcntl.h>
 #include <io.h>
+#include <share.h>
 #include <shlwapi.h>
 #include <tchar.h>
 #include <windows.h>

ouster_osf/tests/png_tools_test.cpp

@@ -314,9 +314,15 @@ TEST_F(OsfPngToolsTest, InternalsTest) {
     EXPECT_NE(error_loc, std::string::npos);
     output_error = output_error.substr(error_loc);
     EXPECT_TRUE(error_caught);
+#ifdef _WIN32
+    EXPECT_EQ(output_error,
+              "[error] ERROR libpng osf: Also Checkout Porcupine Tree"
+              " - Arriving Somewhere But Not Here\r\n");
+#else
     EXPECT_EQ(output_error,
               "[error] ERROR libpng osf: Also Checkout Porcupine Tree"
               " - Arriving Somewhere But Not Here\n");
+#endif
 }
 
 #ifndef OUSTER_OSF_NO_THREADING

ouster_osf/tests/reader_test.cpp

@@ -323,7 +323,11 @@ TEST_F(ReaderTest, MetadataFromBufferTest) {
     EXPECT_NE(error_loc, std::string::npos);
 
     output_error = output_error.substr(error_loc);
+#ifdef _WIN32
+    EXPECT_EQ(output_error, "[error] UNKNOWN TYPE: NON EXISTENT\r\n");
+#else
     EXPECT_EQ(output_error, "[error] UNKNOWN TYPE: NON EXISTENT\n");
+#endif
     EXPECT_EQ(result, nullptr);
 
     result = sensor->from_buffer(sensor->buffer(),

ouster_pcap/CMakeLists.txt

@@ -14,7 +14,6 @@ target_include_directories(ouster_pcap PUBLIC
 CodeCoverageFunctionality(ouster_pcap)
 
 if(WIN32)
-  target_compile_options(ouster_pcap PRIVATE /wd4200)
   target_link_libraries(ouster_pcap PUBLIC ws2_32)
 endif()
 target_link_libraries(ouster_pcap

ouster_pcap/src/ip_reassembler.cpp

@@ -29,10 +29,29 @@
 
 #include "ip_reassembler.h"
 
+#include <tins/arp.h>
 #include <tins/constants.h>
 #include <tins/detail/pdu_helpers.h>
+#include <tins/dot11/dot11_base.h>
+#include <tins/dot1q.h>
+#include <tins/eapol.h>
+#include <tins/ethernetII.h>
+#include <tins/icmp.h>
+#include <tins/icmpv6.h>
+#include <tins/ieee802_3.h>
 #include <tins/ip.h>
-
+#include <tins/ipsec.h>
+#include <tins/ipv6.h>
+#include <tins/loopback.h>
+#include <tins/mpls.h>
+#include <tins/pdu_allocator.h>
+#include <tins/ppi.h>
+#include <tins/pppoe.h>
+#include <tins/radiotap.h>
+#include <tins/rawpdu.h>
+#include <tins/sll.h>
+#include <tins/tcp.h>
+#include <tins/udp.h>
 using std::make_pair;
 
 namespace Tins {
@@ -95,6 +114,35 @@ bool IPv4Stream2::is_complete() const {
     return fragments_.begin()->offset() == 0;
 }
 
+static Tins::PDU* pdu_from_flag2(Constants::IP::e flag, const uint8_t* buffer,
+                                 uint32_t size,
+                                 bool rawpdu_on_no_match = true) {
+    switch (flag) {
+        case Constants::IP::PROTO_IPIP:
+            return new Tins::IP(buffer, size);
+        case Constants::IP::PROTO_TCP:
+            return new Tins::TCP(buffer, size);
+        case Constants::IP::PROTO_UDP:
+            return new Tins::UDP(buffer, size);
+        case Constants::IP::PROTO_ICMP:
+            return new Tins::ICMP(buffer, size);
+        case Constants::IP::PROTO_ICMPV6:
+            return new Tins::ICMPv6(buffer, size);
+        case Constants::IP::PROTO_IPV6:
+            return new Tins::IPv6(buffer, size);
+        case Constants::IP::PROTO_AH:
+            return new Tins::IPSecAH(buffer, size);
+        case Constants::IP::PROTO_ESP:
+            return new Tins::IPSecESP(buffer, size);
+        default:
+            break;
+    }
+    if (rawpdu_on_no_match) {
+        return new Tins::RawPDU(buffer, size);
+    }
+    return 0;
+}
+
 PDU* IPv4Stream2::allocate_pdu() const {
     PDU::serialization_type buffer;
     buffer.reserve(total_size_);
@@ -108,7 +156,7 @@ PDU* IPv4Stream2::allocate_pdu() const {
         expected = it->offset() + it->payload().size();
         buffer.insert(buffer.end(), it->payload().begin(), it->payload().end());
     }
-    return Internals::pdu_from_flag(
+    return pdu_from_flag2(
         static_cast<Constants::IP::e>(first_fragment_.protocol()),
         buffer.empty() ? 0 : &buffer[0], static_cast<uint32_t>(buffer.size()));
 }

ouster_pcap/src/ip_reassembler.h

@@ -64,7 +64,7 @@ class IPv4Fragment2 {
     uint16_t offset_;
 };
 
-class TINS_API IPv4Stream2 {
+class IPv4Stream2 {
    public:
     IPv4Stream2();
 
@@ -119,7 +119,7 @@ class TINS_API IPv4Stream2 {
  * });
  * \endcode
  */
-class TINS_API IPv4Reassembler2 {
+class IPv4Reassembler2 {
    public:
     /**
      * The status of each processed packet.

ouster_viz/src/camera.cpp

@@ -14,6 +14,10 @@
 
 #include "ouster/point_viz.h"
 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
 namespace ouster {
 namespace viz {
 

ouster_viz/src/misc.cpp

@@ -18,6 +18,10 @@
 #include "glfw.h"
 #include "ouster/point_viz.h"
 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
 namespace ouster {
 namespace viz {
 namespace impl {

python/setup.py

@@ -178,6 +178,7 @@ def install_requires():
         install_requires.append(temp)
     return install_requires
 
+
 if __name__ == "__main__":
     setup(
         name='ouster-sdk',

python/src/ouster/sdk/examples/client.py

@@ -127,9 +127,9 @@ def filter_3d_by_range_and_azimuth(hostname: str,
     plt.figure()
     ax = plt.axes(projection='3d')
     r = 3
-    ax.set_xlim3d([-r, r])
-    ax.set_ylim3d([-r, r])
-    ax.set_zlim3d([-r, r])
+    ax.set_xlim3d([-r, r])  # type: ignore
+    ax.set_ylim3d([-r, r])  # type: ignore
+    ax.set_zlim3d([-r, r])  # type: ignore
 
     plt.title("Filtered 3D Points from {}".format(hostname))
 
@@ -155,7 +155,7 @@ def filter_3d_by_range_and_azimuth(hostname: str,
     # [doc-etag-filter-3d]
 
     [x, y, z] = [c.flatten() for c in np.dsplit(xyz_filtered, 3)]
-    ax.scatter(x, y, z, c=z / max(z), s=0.2)
+    ax.scatter(x, y, z, c=z / max(z), s=0.2)  # type: ignore
     plt.show()
 
 
@@ -210,9 +210,9 @@ def plot_xyz_points(hostname: str, lidar_port: int = 7502) -> None:
     plt.figure()
     ax = plt.axes(projection='3d')
     r = 3
-    ax.set_xlim3d([-r, r])
-    ax.set_ylim3d([-r, r])
-    ax.set_zlim3d([-r, r])
+    ax.set_xlim3d([-r, r])  # type: ignore
+    ax.set_ylim3d([-r, r])  # type: ignore
+    ax.set_zlim3d([-r, r])  # type: ignore
 
     plt.title("3D Points from {}".format(hostname))
 
@@ -224,7 +224,7 @@ def plot_xyz_points(hostname: str, lidar_port: int = 7502) -> None:
 
     # graph xyz
     [x, y, z] = [c.flatten() for c in np.dsplit(xyz, 3)]
-    ax.scatter(x, y, z, c=z / max(z), s=0.2)
+    ax.scatter(x, y, z, c=z / max(z), s=0.2)  # type: ignore
     plt.show()
 
 

python/src/ouster/sdk/examples/pcap.py

@@ -94,9 +94,9 @@ def pcap_display_xyz_points(source: client.PacketSource,
     plt.figure()
     ax = plt.axes(projection='3d')
     r = 6
-    ax.set_xlim3d([-r, r])
-    ax.set_ylim3d([-r, r])
-    ax.set_zlim3d([-r, r])
+    ax.set_xlim3d([-r, r])  # type: ignore
+    ax.set_ylim3d([-r, r])  # type: ignore
+    ax.set_zlim3d([-r, r])  # type: ignore
 
     plt.title("3D Points XYZ for scan")
 
@@ -107,7 +107,7 @@ def pcap_display_xyz_points(source: client.PacketSource,
     key = scan.field(client.ChanField.REFLECTIVITY)
 
     [x, y, z] = [c.flatten() for c in np.dsplit(xyz, 3)]
-    ax.scatter(x, y, z, c=normalize(key.flatten()), s=0.2)
+    ax.scatter(x, y, z, c=normalize(key.flatten()), s=0.2)  # type: ignore
     plt.show()
     # [doc-etag-pcap-plot-xyz-points]
 

tests/cartesian_test.cpp

@@ -6,6 +6,7 @@
 #include <gtest/gtest.h>
 
 #include <Eigen/Eigen>
+#include <iomanip>
 #include <numeric>
 #include <random>
 

tests/parsing_benchmark_test.cpp

@@ -5,6 +5,7 @@
 
 #include <gtest/gtest.h>
 
+#include <iomanip>
 #include <numeric>
 #include <random>