Merge branch 'lcm-proj:master' into file-level-comments

.github/workflows/build_wheels.yml

@@ -0,0 +1,50 @@
+name: Build wheels
+
+on: [push, pull_request]
+
+jobs:
+  unix:
+    name: ${{ matrix.os }} | ${{ matrix.arch }} | ${{ matrix.python }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        # macos-13 is an intel runner, macos-14 is apple silicon
+        os: [ubuntu-latest, macos-13, macos-14]
+        arch: [auto, aarch64]
+        python: [cp37-*, cp38-*, cp39-*, cp310-*, cp311-*, cp312-*,
+                 pp37-*, pp38-*, pp39-*, pp310-*]
+        include:
+          - os: macos-13
+            macos_deployment_target: 13
+          - os: macos-14
+            macos_deployment_target: 14
+        exclude:
+          - os: macos-13
+            arch: aarch64
+          - os: macos-14
+            arch: aarch64
+          - os: macos-14
+            python: cp37-*
+          - os: macos-14
+            python: pp37-*
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        if: runner.os == 'Linux'
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+
+      - name: Build wheels
+        uses: pypa/[email protected]
+        env:
+          MACOSX_DEPLOYMENT_TARGET: ${{ matrix.macos_deployment_target }}
+          CIBW_ARCHS: ${{ matrix.arch }}
+          CIBW_BUILD: ${{ matrix.python }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
+          path: ./wheelhouse/*.whl

.github/workflows/test.yml

@@ -10,7 +10,7 @@ jobs:
   ubuntu:
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
         build_type: [Debug, Release]
 
     runs-on: ${{ matrix.os }}
@@ -20,7 +20,7 @@ jobs:
 
     - name: Install Dependencies
       run: |
-        sudo apt install liblua5.3-dev lua5.3 libjchart2d-java
+        sudo apt install liblua5.3-dev lua5.3 libjchart2d-java libglib2.0-dev
 
     - name: Configure CMake
       run: cmake -B ${{github.workspace}}/build ${{env.CMAKE_FLAGS}} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
@@ -55,7 +55,7 @@ jobs:
         LD_LIBRARY_PATH=/usr/local/lib/ build/lcm_log_writer build/example.log
 
   fedora:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
 
     steps:
     - uses: actions/checkout@v3
@@ -66,7 +66,7 @@ jobs:
         docker run -v $(pwd):/work -d --rm -it --name lcm-fedora lcm-fedora /bin/bash
 
     - name: Configure CMake
-      run: docker exec lcm-fedora cmake -B ${{github.workspace}}/build ${{env.CMAKE_FLAGS}}
+      run: docker exec lcm-fedora cmake -B ${{github.workspace}}/build ${{env.CMAKE_FLAGS}} -DCMAKE_BUILD_TYPE=Debug
 
     - name: Build
       run: docker exec lcm-fedora cmake --build ${{github.workspace}}/build
@@ -97,7 +97,7 @@ jobs:
   macos:
     strategy:
       matrix:
-        os: [macos-11, macos-12]
+        os: [macos-13, macos-14]
 
     runs-on: ${{ matrix.os }}
 
@@ -184,15 +184,14 @@ jobs:
         ctest --output-on-failure
 
   docs:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout
         uses: actions/checkout@v3
 
       - name: Install Dependencies
         run: |
-          sudo apt install doxygen liblua5.4-dev lua5.4
-          pip install sphinx-rtd-theme Sphinx myst-parser
+          sudo apt install doxygen liblua5.4-dev lua5.4 python3-sphinx-rtd-theme python3-sphinx python3-myst-parser libglib2.0-dev
 
       - name: Build Docs
         run: |
@@ -201,20 +200,20 @@ jobs:
           make doc
 
       - name: Archive Docs
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: archived-docs
           path: build/docs/_build
 
   formatting:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout
         uses: actions/checkout@v3
 
       - name: Install Dependencies
         run: |
-          sudo apt install clang-format-12
+          sudo apt install clang-format-15
 
       - name: Check formatting
         run: |

.gitignore

@@ -6,4 +6,6 @@ docs/_build/
 .idea/
 .settings/
 .project
-.classpath
+.classpath
+.venv
+.DS_Store

CMakeLists.txt

@@ -6,6 +6,19 @@ endif()
 
 project(lcm)
 
+# https://www.kitware.com/cmake-and-the-default-build-type/
+# Set a default build type if none was specified
+set(default_build_type "Release")
+
+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)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 if(CMAKE_VERSION VERSION_LESS 3.7)
   list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/3.7")

README.md

@@ -32,9 +32,9 @@ feedback and involvement on new features.
 
 * Platforms:
   * GNU/Linux
-      * Ubuntu (20.04 and 22.04)
-      * Fedora (37)
-  * macOS (11 and 12)
+      * Ubuntu (22.04 and 24.04)
+      * Fedora (40)
+  * macOS (13 and 14)
   * Windows (2019 and 2022) via MSYS2
 * Languages
   * C

cmake/FindGLib2.cmake

@@ -70,6 +70,24 @@ endfunction()
 
 ###############################################################################
 
+find_package(PkgConfig)
+
+if(${PkgConfig_FOUND})
+
+  pkg_check_modules(GLIB glib-2.0)
+
+  if(${GLIB_FOUND})
+    add_library(GLib2::glib UNKNOWN IMPORTED)
+    set_target_properties(GLib2::glib PROPERTIES
+      IMPORTED_LOCATION "${pkgcfg_lib_GLIB_glib-2.0}"
+      INTERFACE_COMPILE_OPTIONS "${GLIB_CFLAGS_OTHER}"
+      INTERFACE_INCLUDE_DIRECTORIES "${GLIB_INCLUDE_DIRS}"
+    )
+    return()
+  endif()
+
+endif()
+
 _glib2_find_library(GLIB glib)
 _glib2_find_include(GLIB glib.h)
 _glib2_find_include(GLIBCONFIG glibconfig.h GLIB)

docker/Dockerfile.fedora

@@ -1,4 +1,4 @@
-FROM fedora:37
+FROM fedora:40
 
 # cmake3: To build LCM
 # clang: For compiling code with Clang

docs/content/build-instructions.md

@@ -21,6 +21,14 @@ release or the latest `master`, we recommend referring to the copy of this
 document (`docs/content/build-instructions.md`) found in your source
 distribution.
 
+## Installing the Python module
+
+To build the Python module from source and install it, run:
+
+```
+pip3 install -v .
+```
+
 ## CMake Overview
 
 These instructions assume that you will build in a directory named `build` as
@@ -33,6 +41,14 @@ generators. To users familiar with CMake, we recommend using
 A detailed description of how to use CMake is not specific to LCM and is beyond
 the scope of these instructions.
 
+By default CMake is configured to produce a release build. To build with debug symbols instead, use:
+
+```shell
+cmake .. -DCMAKE_BUILD_TYPE=Debug
+```
+
+when configuring a build directory in the following sections.
+
 ## Ubuntu and Debian
 
 Required packages:

docs/content/contributing-c.md

@@ -2,6 +2,17 @@
 
 Run `./format_code.sh` before committing to format the code.
 
+Configure with `cmake .. -DCMAKE_BUILD_TYPE=Debug` or `cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo` to debug.
+
+
+Modifying lcm-gen does not rebuild the tests. [#490](https://github.com/lcm-proj/lcm/issues/490). The following is a workaround:
+
+```bash
+cd build
+rm -r test && make -j
+make test
+```
+
 ## Code Quality
 
-Code in the directory `lcmgen` leaks memory. It is not an uncommon practice to allow this for short lived CLI tools. 
+Code in the directory `lcmgen` leaks memory. It is not an uncommon practice to allow this for short lived CLI tools. It is preferred to avoid and clean up after this practice though. [#484](https://github.com/lcm-proj/lcm/issues/484).

examples/cpp/lcm_log_writer/CMakeLists.txt

@@ -2,6 +2,13 @@ cmake_minimum_required(VERSION 3.5)
 
 project(lcm_log_writer)
 
+# Include this directory for finding GLib2, using the file FindGLib2.cmake.
+# **WARNING** If you want to reuse this example, you will need to copy
+# FindGLib2.cmake to your new project and adjust your CMAKE_MODULE_PATH.
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../../cmake")
+
+find_package(GLib2 REQUIRED)
+
 find_package(lcm REQUIRED)
 include(${LCM_USE_FILE})
 
@@ -16,4 +23,4 @@ target_include_directories(pjs_messages-cpp INTERFACE
 
 # Create executable
 add_executable(lcm_log_writer "main.cpp")
-lcm_target_link_libraries(lcm_log_writer pjs_messages-cpp ${LCM_NAMESPACE}lcm)
+lcm_target_link_libraries(lcm_log_writer pjs_messages-cpp ${LCM_NAMESPACE}lcm-static)

format_code.sh

@@ -6,12 +6,12 @@ set -o pipefail
 IFS=$'\n\t'
 
 # Bash script to automatically format LCM source code (currently C and C++).
-# Requires `clang-format-12` utility, which is part of the LLVM project. More
+# Requires `clang-format-15` utility, which is part of the LLVM project. More
 # information can be found here: https://clang.llvm.org/docs/ClangFormat.html
 #
-# To install `clang-format-12` on Ubuntu do:
+# To install `clang-format-15` on Ubuntu do:
 #
-#     $ sudo apt install clang-format-12
+#     $ sudo apt install clang-format-15
 #
 # This script does not format Java, Python, or Lua source code. At the moment,
 # it only formats C and C++ sources, i.e., *.h, *.c, *.hpp, and *.cpp. It only
@@ -33,7 +33,7 @@ LCM_FORMAT_DIRS=(
     "${LCM_ROOT}/test:/gtest/"
 )
 
-CLANG_FORMAT="clang-format-12"
+CLANG_FORMAT="clang-format-15"
 
 # Function: show_usage
 #

lcm-logger/CMakeLists.txt

@@ -1,8 +1,8 @@
 add_executable(lcm-logger lcm_logger.c glib_util.c)
-target_link_libraries(lcm-logger lcm GLib2::glib)
+target_link_libraries(lcm-logger lcm-static GLib2::glib)
 
 add_executable(lcm-logplayer lcm_logplayer.c)
-target_link_libraries(lcm-logplayer lcm GLib2::glib)
+target_link_libraries(lcm-logplayer lcm-static GLib2::glib)
 
 install(TARGETS
   lcm-logger

lcm-logger/glib_util.c

@@ -7,7 +7,7 @@
 #ifdef WIN32
 #define SIGKILL 2
 #include "../lcm/windows/WinPorting.h"
-//#include <Winsock2.h>
+// #include <Winsock2.h>
 #else
 #include <sys/stat.h>
 #include <sys/types.h>

lcm-python/CMakeLists.txt

@@ -1,13 +1,22 @@
 # FindPython added in 3.12
 cmake_minimum_required(VERSION 3.12)
 
-execute_process(
-  COMMAND "${Python_EXECUTABLE}" -c "if True:
-    from sysconfig import get_path
-    from os.path import sep
-    print(get_path('platlib').replace(get_path('data') + sep, ''))"
-  OUTPUT_VARIABLE PYTHON_SITE
-  OUTPUT_STRIP_TRAILING_WHITESPACE)
+option(LCM_PIP_BUILD "When true, adjusts install path to something appropriate for a Python wheel" OFF)
+
+if (NOT LCM_PIP_BUILD)
+  execute_process(
+    COMMAND "${Python_EXECUTABLE}" -c "if True:
+      from sysconfig import get_path
+      from os.path import sep
+      print(get_path('platlib').replace(get_path('data') + sep, ''))"
+    OUTPUT_VARIABLE PYTHON_SITE
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+    set(PYTHON_INSTALL_DIR ${PYTHON_SITE}/lcm)
+else()
+    set(PYTHON_INSTALL_DIR lcm)
+endif()
+
 
 set(lcm_python_sources
   module.c
@@ -28,11 +37,19 @@ if (WIN32 AND NOT CYGWIN)
   set_target_properties(lcm-python PROPERTIES SUFFIX .pyd)
 endif ()
 
-find_package (Python COMPONENTS Interpreter Development)
+if (WIN32)
+  find_package(Python COMPONENTS Interpreter Development.Module)
 
-target_include_directories(lcm-python PRIVATE
-  ${Python_INCLUDE_DIRS}
-)
+  target_include_directories(lcm-python PRIVATE
+    ${Python_INCLUDE_DIRS}
+  )
+else ()
+  find_package(Python3 COMPONENTS Interpreter Development.Module)
+
+  target_include_directories(lcm-python PRIVATE
+  ${Python3_INCLUDE_DIRS}
+  )
+endif ()
 
 target_link_libraries(lcm-python PRIVATE
   lcm-static
@@ -47,13 +64,13 @@ else()
 endif()
 
 install(TARGETS lcm-python
-  RUNTIME DESTINATION ${PYTHON_SITE}/lcm
-  LIBRARY DESTINATION ${PYTHON_SITE}/lcm
+  RUNTIME DESTINATION ${PYTHON_INSTALL_DIR}
+  LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
 )
 
 lcm_copy_file_target(lcm-python-init
   ${CMAKE_CURRENT_SOURCE_DIR}/lcm/__init__.py
   ${CMAKE_BINARY_DIR}/python/lcm/__init__.py
 )
 
-install(FILES lcm/__init__.py DESTINATION ${PYTHON_SITE}/lcm)
+install(FILES lcm/__init__.py DESTINATION ${PYTHON_INSTALL_DIR})