Makefile

# TESTBUILD_OUTPUT_PATH should only be defined during testing
ifdef TESTBUILD_OUTPUT_PATH
	BIN_OUTPUT_PATH = $(TESTBUILD_OUTPUT_PATH)
else
	BIN_OUTPUT_PATH = bin/$(shell uname -s)-$(shell uname -m)
endif

TOOL_BIN = bin/gotools/$(shell uname -s)-$(shell uname -m)

BUILD_CHANNEL ?= local

PATH_WITH_TOOLS="`pwd`/$(TOOL_BIN):`pwd`/node_modules/.bin:${PATH}"

GIT_REVISION = $(shell git rev-parse HEAD | tr -d '\n')
TAG_VERSION?=$(shell ./etc/dev-version.sh | sed 's/^v//')
# VERSION_SUFFIX (e.g. +focal) tags a build variant; appended only when a version exists.
FULL_VERSION = $(TAG_VERSION)$(if $(TAG_VERSION),$(VERSION_SUFFIX))
DATE_COMPILED?=$(shell date +'%Y-%m-%d')
COMMON_LDFLAGS = -X 'go.viam.com/rdk/config.Version=${FULL_VERSION}' -X 'go.viam.com/rdk/config.GitRevision=${GIT_REVISION}' -X 'go.viam.com/rdk/config.DateCompiled=${DATE_COMPILED}'
ifdef BUILD_DEBUG
	GCFLAGS = -gcflags "-N -l"
else
	COMMON_LDFLAGS += -s -w
endif

LDFLAGS = -ldflags "$(COMMON_LDFLAGS)"
LDFLAGS_WRAPPER = -ldflags "-extld=$(shell pwd)/etc/ld_wrapper.sh $(COMMON_LDFLAGS)"

default: build lint server

setup:
	bash etc/setup.sh

build: build-go

build-go:
	go build ./...

GO_FILES=$(shell find . -name "*.go")

GOOS ?= $(shell go env GOOS)
GOARCH ?= $(shell go env GOARCH)
bin/$(GOOS)-$(GOARCH)/viam-cli: $(GO_FILES) Makefile go.mod go.sum
	# no_cgo necessary here because of motionplan -> nlopt dependency.
	# can be removed if you can run CGO_ENABLED=0 go build ./cli/viam on your local machine.
	# CGO_ENABLED=0 is necessary after bedf954b to prevent go from sneakily doing a cgo build
	CGO_ENABLED=0 go build $(GCFLAGS) $(LDFLAGS) -tags no_cgo -o $@ ./cli/viam

.PHONY: cli
cli: bin/$(GOOS)-$(GOARCH)/viam-cli

.PHONY: cli-ci
cli-ci: bin/$(GOOS)-$(GOARCH)/viam-cli
	if [ -n "$(CI_RELEASE)" ]; then \
		mkdir -p bin/deploy-ci/; \
		cp $< bin/deploy-ci/viam-cli-$(CI_RELEASE)-$(GOOS)-$(GOARCH)$(EXE_SUFFIX); \
	fi

NFPM_VERSION = v2.47.0
GAR_PROJECT ?= static-file-server-310021
GAR_REPO ?= viam
GAR_LOCATION ?= us

# GOOS=linux GOARCH=amd64|arm64 make deb-cli; set TAG_VERSION on a dirty tree (nfpm rejects empty)
.PHONY: deb-cli
deb-cli: bin/linux-$(GOARCH)/viam-cli
	mkdir -p bin/deb
	sed -e 's/$${DEB_ARCH}/$(GOARCH)/g' -e 's/$${DEB_VERSION}/$(TAG_VERSION)/g' \
		etc/packaging/nfpm/viam-cli.yaml > bin/deb/.nfpm-$(GOARCH).yaml
	# GOTOOLCHAIN=auto: nfpm needs a newer Go than go.mod; CI's setup-go pins GOTOOLCHAIN=local
	GOOS= GOARCH= GOTOOLCHAIN=auto go run github.com/goreleaser/nfpm/v2/cmd/nfpm@$(NFPM_VERSION) package \
		--config bin/deb/.nfpm-$(GOARCH).yaml --packager deb --target bin/deb/

# needs gcloud auth with artifactregistry.writer; re-runs skip versions already in the repo
.PHONY: deb-cli-upload
deb-cli-upload:
	for deb in bin/deb/*.deb; do \
		out=$$(gcloud artifacts apt upload $(GAR_REPO) --project=$(GAR_PROJECT) --location=$(GAR_LOCATION) --source=$$deb 2>&1) \
			|| { echo "$$out" | grep -qi "already exists" && echo "skipping $$deb: already in repo" || { echo "$$out"; exit 1; }; }; \
	done

tool-install:
	GOBIN=`pwd`/$(TOOL_BIN) go install \
		github.com/AlekSi/gocov-xml \
		github.com/axw/gocov/gocov \
		gotest.tools/gotestsum \
		github.com/rhysd/actionlint/cmd/actionlint \
		golang.org/x/tools/cmd/stringer

lint: lint-go actionlint

actionlint:
	PATH=$(PATH_WITH_TOOLS) actionlint

generate-go: tool-install
	PATH=$(PATH_WITH_TOOLS) go generate ./...

# Yes this regex could be more specific but making it more specific in a way
# that works the same across GNU and BSD grep isn't currently worth the effort.
GOVERSION = $(shell grep '^go .\..' go.mod | head -n1 | cut -d' ' -f2)
lint-go:
	go mod tidy
	GOTOOLCHAIN=go$(GOVERSION) GOGC=50 go run github.com/golangci/golangci-lint/cmd/golangci-lint@v1.62.2 run --config=./etc/.golangci.yaml || true
	GOTOOLCHAIN=go$(GOVERSION) GOGC=50 go run github.com/golangci/golangci-lint/cmd/golangci-lint@v1.62.2 run -v --fix --config=./etc/.golangci.yaml
	./etc/lint_register_apis.sh

cover-only: tool-install
	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh cover

cover: test-go cover-only

test-go: tool-install
	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh race

test-go-no-race: tool-install
	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh

# CGO is only supported on amd64/arm64; elsewhere build pure-Go with the no_cgo tag.
# GO_BUILD_TAGS_EXTRA (comma-separated) lets callers inject additional build tags that augment --
# never replace -- the arch-derived tags below. The focal channel passes
# viam_rdk_cgo_have_cxx20_rt to opt into the trajex-backed build; empty by default.
GO_BUILD_TAGS_EXTRA ?=
comma := ,
empty :=
space := $(empty) $(empty)
# Arch tag (no_cgo off amd64/arm64) plus any injected extras, assembled into a single
# comma-separated -tags flag (or nothing when there are no tags at all). Commas in
# GO_BUILD_TAGS_EXTRA are normalized to spaces first, so the value works whether it is passed
# comma- or space-separated.
SERVER_TAG_WORDS := $(strip $(if $(filter amd64 arm64,$(GOARCH)),,no_cgo) $(subst $(comma),$(space),$(GO_BUILD_TAGS_EXTRA)))
SERVER_GO_TAGS := $(if $(SERVER_TAG_WORDS),-tags $(subst $(space),$(comma),$(SERVER_TAG_WORDS)),)

SERVER_TARGETS := $(BIN_OUTPUT_PATH)/viam-server $(BIN_OUTPUT_PATH)/viam-server-static
$(SERVER_TARGETS): CGO_ENABLED := $(if $(filter amd64 arm64,$(GOARCH)),1,0)
$(SERVER_TARGETS): CGO_TAGS := $(SERVER_GO_TAGS)

$(BIN_OUTPUT_PATH)/viam-server: $(GO_FILES) Makefile go.mod go.sum
	CGO_ENABLED=$(CGO_ENABLED) go build $(CGO_TAGS) $(GCFLAGS) $(LDFLAGS_WRAPPER) -o $@ ./web/cmd/server

# NOTE: the `server` make target is referenced in file_utils.go
.PHONY: server
server: $(BIN_OUTPUT_PATH)/viam-server

$(BIN_OUTPUT_PATH)/viam-server-static: $(GO_FILES) Makefile go.mod go.sum
	CGO_ENABLED=$(CGO_ENABLED) VIAM_STATIC_BUILD=1 GOFLAGS=$(GOFLAGS) go build $(CGO_TAGS) $(GCFLAGS) $(LDFLAGS_WRAPPER) -o $@ ./web/cmd/server

# NOTE: the `server-static` make target is referenced in file_utils.go
.PHONY: server-static
server-static: $(BIN_OUTPUT_PATH)/viam-server-static

bin/static/viam-server-$(GOARCH): $(GO_FILES) Makefile go.mod go.sum
	mkdir -p $(dir $@)
	CGO_ENABLED=0 go build -tags no_cgo $(GCFLAGS) $(LDFLAGS) -o $@ ./web/cmd/server

.PHONY: full-static
full-static: bin/static/viam-server-$(GOARCH)

# should be kept in sync with the windows build in the BuildViamServer helper in testutils/file_utils.go
bin/windows/viam-server-amd64.exe: $(GO_FILES) Makefile go.mod go.sum
	mkdir -p $(dir $@)
	CGO_ENABLED=0 GOOS=windows GOARCH=amd64 go build -tags no_cgo $(GCFLAGS) $(LDFLAGS) -o $@ ./web/cmd/server

.PHONY: windows
windows: bin/windows/viam-server-amd64.exe
	cd bin/windows && zip viam.zip viam-server-amd64.exe

$(BIN_OUTPUT_PATH)/viam-server-static-compressed: $(BIN_OUTPUT_PATH)/viam-server-static
	cp $< $@
	upx --best --lzma $@

.PHONY: server-static-compressed
server-static-compressed: $(BIN_OUTPUT_PATH)/viam-server-static-compressed

clean-all:
	git clean -fxd

license-check:
	license_finder version
	license_finder

FFMPEG_ROOT ?= etc/FFmpeg
$(FFMPEG_ROOT):
	cd etc && git clone https://github.com/FFmpeg/FFmpeg.git --depth 1 --branch release/6.1

# For ARM64 builds, use the image ghcr.io/viamrobotics/antique:arm64 for backward compatibility
FFMPEG_PREFIX ?= $(shell realpath .)/gostream/ffmpeg/$(shell uname -s)-$(shell uname -m)
# See compilation guide here https://trac.ffmpeg.org/wiki/CompilationGuide
FFMPEG_OPTS = --disable-programs --disable-doc --disable-everything --prefix=$(FFMPEG_PREFIX) --disable-autodetect --disable-x86asm
ifeq ($(shell uname -m),aarch64)
	# We only support hardware encoding on a Raspberry Pi.
	FFMPEG_OPTS += --enable-encoder=h264_v4l2m2m
	FFMPEG_OPTS += --enable-v4l2-m2m
endif
ffmpeg: $(FFMPEG_ROOT)
	cd $(FFMPEG_ROOT) && ($(MAKE) distclean || true)
	cd $(FFMPEG_ROOT) && ./configure $(FFMPEG_OPTS)
	cd $(FFMPEG_ROOT) && $(MAKE)
	cd $(FFMPEG_ROOT) && $(MAKE) install

	# Only keep archive files. Different architectures can share the same source files.
	find $(FFMPEG_PREFIX)/* -type d ! -wholename $(FFMPEG_PREFIX)/lib | xargs rm -rf


include *.make