clean up build cache between systems/envs

.github/workflows/ci.yml

@@ -24,16 +24,37 @@ jobs:
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      # The dev shell pins eigen_5. Ubuntu ships 3.4.0 through at least 26.04
-      # LTS, which lacks Matrix::canonicalEulerAngles() -- so this cannot be an
-      # apt-based job without patching the source.
       - name: Build all targets
         run: |
           nix develop --command bash -c '
             cmake -B build .
             make -C build -j"$(nproc)" vision_processor geometry_benchmark blob_benchmark
           '
 
+  build-apt:
+    name: Build (Ubuntu 24.04, apt)
+    # Pinned, not ubuntu-latest: 24.04 is the release target, and its packages
+    # (protobuf 3.21, OpenCV 4.6, ffmpeg 6.1) are far older than nixpkgs'.
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      # setup.sh's Debian package list, minus its runtime-only and Python
+      # packages. Keep the two in sync.
+      - name: Install dependencies
+        run: |
+          sudo apt-get update -qq
+          sudo apt-get install -y --no-install-recommends build-essential cmake pkg-config libyaml-cpp-dev \
+            ocl-icd-opencl-dev libeigen3-dev libopencv-dev protobuf-compiler libprotobuf-dev \
+            libavcodec-dev libavformat-dev libavutil-dev libdc1394-dev
+
+      - name: Build all targets
+        run: |
+          cmake -B build .
+          make -C build -j"$(nproc)" vision_processor geometry_benchmark blob_benchmark
+
   python:
     name: Python (wrapper_backend)
     runs-on: ubuntu-latest

.gitlab-ci.yml

@@ -10,6 +10,6 @@ build:
   stage: build
   script:
     - apt -qq update
-    - DEBIAN_FRONTEND=noninteractive apt -y install --no-install-recommends build-essential cmake pkg-config libyaml-cpp-dev ocl-icd-opencl-dev libeigen3-dev libopencv-dev protobuf-compiler libprotobuf-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev > /dev/null
+    - DEBIAN_FRONTEND=noninteractive apt -y install --no-install-recommends build-essential cmake pkg-config libyaml-cpp-dev ocl-icd-opencl-dev libeigen3-dev libopencv-dev protobuf-compiler libprotobuf-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libdc1394-dev > /dev/null
     - cmake -B build .
     - make -C build -j vision_processor

CMakeLists.txt

@@ -13,20 +13,36 @@
 #    limitations under the License.
 
 cmake_minimum_required(VERSION 3.22)
+
+# A build directory belongs to one toolchain: nix develop or the distro's
+# packages. CMake caches the first one's compiler and library paths and would
+# otherwise silently mix them with the other's; a build from the other one
+# makes a binary that only runs in the first.
+option(TOOLCHAIN_CHECK "Stop when a build directory is used from the toolchain that didn't configure it" ON)
+if(TOOLCHAIN_CHECK AND DEFINED CACHE{CMAKE_CXX_COMPILER})
+    set(TOOLCHAIN_COMPILER "$CACHE{CMAKE_CXX_COMPILER}")
+    set(TOOLCHAIN_BUILD_DIR "${CMAKE_BINARY_DIR}")
+    include("${CMAKE_SOURCE_DIR}/cmake/CheckToolchain.cmake")
+endif()
+
 project(vision_processor)
 enable_language(ASM)
 
 option(WITH_SPINNAKER "Build with Spinnaker support (if library available)" ON)
 option(WITH_MVIMPACT "Build with mvIMPACT/Bluefox support (if library available)" ON)
 option(WITH_DC1394 "Build with DC1394 (IIDC FireWire) support (if library available)" ON)
+option(NATIVE_ARCH "Optimize Release builds for this machine's CPU (-march=native); the binary may not run on others" ON)
 
 # Adapted from https://stackoverflow.com/a/48832234 CC BY-SA 4.0 by einpoklum
 if (NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
     set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
 endif()
 
 set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_FLAGS_RELEASE "-O3 -march=native -ftree-vectorize -ffast-math")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -ffast-math")
+if(NATIVE_ARCH)
+    string(APPEND CMAKE_CXX_FLAGS_RELEASE " -march=native")
+endif()
 add_compile_options("-Wall")
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
@@ -61,8 +77,21 @@ include_directories(SYSTEM ${YAML_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${SPINNAK
 
 include_directories(src)
 
-set(PROTOC_OUT_DIR "${CMAKE_SOURCE_DIR}/src/proto")
-include_directories("${PROTOC_OUT_DIR}")
+# Generated code lives in the build directory, so each build directory (one per
+# toolchain) has its own: protoc's output only compiles against the protobuf
+# headers of the protoc that wrote it.
+set(GENERATED_DIR "${CMAKE_BINARY_DIR}/generated")
+set(PROTOC_OUT_DIR "${GENERATED_DIR}/proto")
+include_directories("${GENERATED_DIR}" "${PROTOC_OUT_DIR}")
+
+# Older checkouts generated into src/, where a quoted #include from src/ would
+# find these before the build directory's copies. They're gitignored output.
+foreach(stale "src/proto" "src/cl_kernels.h" "src/cl_kernels.S")
+    if(EXISTS "${CMAKE_SOURCE_DIR}/${stale}")
+        file(REMOVE_RECURSE "${CMAKE_SOURCE_DIR}/${stale}")
+        message(STATUS "Removed generated ${stale}, now generated in ${GENERATED_DIR}")
+    endif()
+endforeach()
 
 # league proto repository provides a generator function that fixes OUT_DIR limitations with protoc provided function
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/proto/cmake")
@@ -104,25 +133,37 @@ foreach(input_file IN LISTS CL_KERNELS)
 endforeach()
 
 # Don't override cl_kernels.h or cl_kernels.S if already up-to-date to prevent unnecessary recompilation
-if(EXISTS "${CMAKE_SOURCE_DIR}/src/cl_kernels.h")
-    file(READ "${CMAKE_SOURCE_DIR}/src/cl_kernels.h" CL_KERNEL_HEADER_OLD)
+set(CL_KERNEL_H "${GENERATED_DIR}/cl_kernels.h")
+set(CL_KERNEL_S "${GENERATED_DIR}/cl_kernels.S")
+
+if(EXISTS "${CL_KERNEL_H}")
+    file(READ "${CL_KERNEL_H}" CL_KERNEL_HEADER_OLD)
 endif()
 if(NOT "${CL_KERNEL_HEADER_OLD}" STREQUAL "${CL_KERNEL_HEADER}")
-    file(WRITE "${CMAKE_SOURCE_DIR}/src/cl_kernels.h" "${CL_KERNEL_HEADER}")
+    file(WRITE "${CL_KERNEL_H}" "${CL_KERNEL_HEADER}")
     message(STATUS "(Re-)Generated cl_kernels.h")
 endif()
 
-if(EXISTS "src/cl_kernels.S")
-    file(READ "src/cl_kernels.S" CL_KERNEL_ASM_OLD)
+if(EXISTS "${CL_KERNEL_S}")
+    file(READ "${CL_KERNEL_S}" CL_KERNEL_ASM_OLD)
 endif()
 if(NOT "${CL_KERNEL_ASM_OLD}" STREQUAL "${CL_KERNEL_ASM}")
-    file(WRITE "src/cl_kernels.S" "${CL_KERNEL_ASM}")
+    file(WRITE "${CL_KERNEL_S}" "${CL_KERNEL_ASM}")
     message(STATUS "(Re-)Generated cl_kernels.S")
 endif()
 
-add_custom_target(AUTOGENERATE DEPENDS "src/cl_kernels.S" ${PROTO_SRCS} ${PROTO_HDRS})
-set_property(SOURCE "src/cl_kernels.S" APPEND PROPERTY OBJECT_DEPENDS ${CL_KERNEL_PATHS})
-list(APPEND SRC ${PROTO_SRCS} "src/cl_kernels.S")
+add_custom_target(AUTOGENERATE DEPENDS "${CL_KERNEL_S}" ${PROTO_SRCS} ${PROTO_HDRS})
+
+# No outputs, so it runs on every build, before anything is generated or compiled.
+if(TOOLCHAIN_CHECK)
+    add_custom_target(CHECK_TOOLCHAIN
+            COMMAND ${CMAKE_COMMAND} "-DTOOLCHAIN_COMPILER=${CMAKE_CXX_COMPILER}" "-DTOOLCHAIN_BUILD_DIR=${CMAKE_BINARY_DIR}"
+                    -P "${CMAKE_SOURCE_DIR}/cmake/CheckToolchain.cmake"
+            VERBATIM)
+    add_dependencies(AUTOGENERATE CHECK_TOOLCHAIN)
+endif()
+set_property(SOURCE "${CL_KERNEL_S}" APPEND PROPERTY OBJECT_DEPENDS ${CL_KERNEL_PATHS})
+list(APPEND SRC ${PROTO_SRCS} "${CL_KERNEL_S}")
 
 add_executable(${PROJECT_NAME} ${SRC} "src/main.cpp")
 add_executable("geometry_benchmark" ${SRC} "src/geometry_benchmark.cpp")
@@ -137,4 +178,5 @@ if (SPINNAKER_LIBS)
     add_executable("spinnaker_probe" "tools/spinnaker_probe.cpp")
 endif ()
 
-install(TARGETS ${PROJECT_NAME} DESTINATION /usr/local/bin)
+include(GNUInstallDirs)
+install(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_BINDIR})

README.md

@@ -54,13 +54,17 @@ Installation with PIP: `pip install protobuf pyyaml`
    - OpenCV
    - protobuf
    - yaml-cpp
+   - libdc1394 (optional, for FireWire cameras)
 
 3. Compile vision_processor:
 
     git submodule update --init --recursive
     cmake -B build .
     make -C build vision_processor
 
+   The same works inside `nix develop` (see `flake.nix`). A build directory belongs to the toolchain that configured
+   it: to switch between nix and the distro packages, delete `build` first, or CMake stops with an error.
+
 
 ## Setup
 

cmake/CheckToolchain.cmake

@@ -0,0 +1,16 @@
+# Stops a build directory being used from the toolchain that didn't configure
+# it: nix develop's or the distro's packages. CMakeLists.txt includes this when
+# reconfiguring, and runs it with cmake -P before every build.
+#
+# Expects TOOLCHAIN_COMPILER (the build directory's C++ compiler) and
+# TOOLCHAIN_BUILD_DIR.
+
+string(FIND "${TOOLCHAIN_COMPILER}" "/nix/store/" _toolchain_nix_compiler)
+
+if(DEFINED ENV{IN_NIX_SHELL} AND _toolchain_nix_compiler EQUAL -1)
+    message(FATAL_ERROR "You're in nix develop, but ${TOOLCHAIN_BUILD_DIR} was configured outside it. "
+            "Leave nix develop to build it, or delete it and configure it again here.")
+elseif(NOT DEFINED ENV{IN_NIX_SHELL} AND NOT _toolchain_nix_compiler EQUAL -1)
+    message(FATAL_ERROR "You're not in nix develop, but ${TOOLCHAIN_BUILD_DIR} was configured inside it. "
+            "Enter nix develop to build it, or delete it and configure it again here.")
+endif()

setup.sh

@@ -59,12 +59,12 @@ fi
 # Determine distribution/package manager
 if [[ -f /etc/arch-release ]]; then
     echo -e "\e[92m »  Arch based distribution\e[39m"
-    packages="gcc make cmake pkgconf eigen opencv yaml-cpp opencl-clhpp python-protobuf python-yaml $opencl_arch"
+    packages="gcc make cmake pkgconf eigen opencv yaml-cpp opencl-clhpp libdc1394 python-protobuf python-yaml $opencl_arch"
     check_cmd="pacman -Qi $packages"
     install_cmd="sudo pacman -S $packages"
 elif [[ -f /etc/debian_version ]]; then
     echo -e "\e[92m »  Debian based distribution\e[39m"
-    packages="build-essential cmake pkg-config libyaml-cpp-dev ocl-icd-opencl-dev libeigen3-dev libopencv-dev protobuf-compiler libprotobuf-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev python3-protobuf python3-yaml $opencl_debian"
+    packages="build-essential cmake pkg-config libyaml-cpp-dev ocl-icd-opencl-dev libeigen3-dev libopencv-dev protobuf-compiler libprotobuf-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libdc1394-dev python3-protobuf python3-yaml $opencl_debian"
     check_cmd="dpkg -s $packages"
     install_cmd="sudo apt install --no-install-recommends $packages"
 else