initial commit

.canon.yaml

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+# This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
+MODULE:
+    default: true
+    image_amd64: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+    image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
+    update_interval: 168h0m0s
+    user: testbot
+    group: testbot
+    persistent: true
+
+MODULE-antique:
+    image_amd64: ghcr.io/viamrobotics/antique2:amd64-cache
+    image_arm64: ghcr.io/viamrobotics/antique2:arm64-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
+    update_interval: 168h0m0s
+    user: testbot
+    group: testbot
+    persistent: true

.github/actionlint.yml

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+self-hosted-runner:
+  labels:
+    - qemu-host
+    - buildjet-2vcpu-ubuntu-2204
+    - buildjet-4vcpu-ubuntu-2204
+    - buildjet-8vcpu-ubuntu-2204
+    - buildjet-16vcpu-ubuntu-2204
+    - buildjet-32vcpu-ubuntu-2204
+    - buildjet-2vcpu-ubuntu-2204-arm
+    - buildjet-4vcpu-ubuntu-2204-arm
+    - buildjet-8vcpu-ubuntu-2204-arm
+    - buildjet-16vcpu-ubuntu-2204-arm
+    - buildjet-32vcpu-ubuntu-2204-arm

.github/workflows/bump_dependencies.yml

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+name: Bump Versions
+
+concurrency: 
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+on:
+  schedule:
+    - cron: '30 17 * * WED' # 12:30 EST on wednesdays
+  workflow_dispatch:
+
+jobs:
+  bump-versions:
+    name: Bump Package Versions
+    if: github.repository_owner == 'viam-modules'
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/viamrobotics/rdk-devenv:amd64
+    timeout-minutes: 10
+
+    steps:
+    - name: Check out code
+      uses: actions/checkout@v3
+    - name: Update go dependencies
+      id: gobump
+      run: |
+        sudo chown -R testbot .
+        sudo -u testbot bash -lc 'go get -u .'
+        GEN_DIFF=$(git status -s)
+        
+        if [ -n "$GEN_DIFF" ]; then
+            echo "needs_pr=1" >> $GITHUB_OUTPUT
+        fi
+    - name: Add + Commit + Open PR
+      if: steps.gobump.outputs.needs_pr == 1
+      uses: peter-evans/create-pull-request@v5
+      with:
+          commit-message: '[WORKFLOW] Updating go dependencies'
+          branch: 'workflow/update-dependencies'
+          delete-branch: true
+          base: main
+          title: Automated Go Dependencies Update
+          body: This is an auto-generated PR to update go dependencies. Please confirm tests are passing before merging.

.github/workflows/license_finder.yml

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+name: License Finder
+
+on:
+  workflow_dispatch:
+  workflow_call:
+
+jobs:
+  license_finder:
+    name: Audit 3rd-Party Licenses
+    runs-on: [ubuntu-latest]
+    container:
+      image: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+      options: --platform linux/amd64
+    timeout-minutes: 30
+
+    steps:
+    - name: Check out code
+      if: github.event_name != 'pull_request_target'
+      uses: actions/checkout@v3
+
+    - name: Check out PR branch code
+      if: github.event_name == 'pull_request_target'
+      uses: actions/checkout@v3
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+
+    - name: Run license finder
+      run: |
+        sudo -Hu testbot bash -lc 'make license-check'

.github/workflows/main.yml

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+name: Build and Publish Latest
+
+concurrency: 
+  group: ${{ github.workflow }}-${{ github.ref }}
+
+on:
+  workflow_dispatch:
+  push:
+    branches: [ 'main' ]
+    paths-ignore:
+      - 'README.md'
+
+jobs:
+  test:
+    uses: ./.github/workflows/test.yml

.github/workflows/pr-labeler.yml

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+name: PR Test Label Manager
+
+on:
+  pull_request_target:
+    branches: [ main ]
+    types: [ opened, synchronize, reopened ]
+
+jobs:
+  pr_test_label_manager:
+    name: PR Test Label Manager
+    runs-on: ubuntu-latest
+    if: |
+      github.event_name == 'pull_request_target' &&
+      contains(fromJson('["opened", "synchronize", "reopened"]'), github.event.action)
+    steps:
+      - name: "Check Membership and Label PR"
+        uses: actions/github-script@v6
+        id: check-membership
+        with:
+          github-token: ${{ secrets.PR_TOKEN }}
+          script: |
+            let prNumber = context.payload.pull_request && context.payload.pull_request.number;
+            try {
+              await github.rest.issues.removeLabel({owner: "viam-modules", repo: "MODULE", issue_number: prNumber, name: "safe to test"});
+            } catch (err) {
+              core.info(`Non-fatal error ${err}, while trying to remove 'safe to test' label.`);
+            }
+            let orgResp = await github.rest.orgs.checkMembershipForUser({org: "viam-modules", username: context.payload.sender.login});
+            if (orgResp.status === 204) {
+              // order of labeling events must be preserved, so two seperate calls
+              await github.rest.issues.addLabels({owner: "viam-modules", repo: "MODULE", issue_number: prNumber, labels: ["safe to test"]});
+              return true;
+            }
+            return false;
+
+      - name: Add Unsafe PR Comment
+        if: steps.check-membership.outputs.result != 'true'
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          recreate: true
+          message: For security reasons, this PR must be labeled with `safe to test` in order for tests to run.

.github/workflows/pullrequest-trusted.yml

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+name: Pull Request Update
+
+concurrency:
+  group: pullrequest-${{ github.head_ref }}
+  cancel-in-progress: true
+
+on:
+  pull_request_target:
+    branches: [ main ]
+    types: [ labeled ]
+
+jobs:
+  test:
+    if: (github.event.label.name == 'safe to test' || github.event.label.name == 'appimage')
+    uses: viam-modules/MODULE/.github/workflows/test.yml@main
+    secrets:
+      MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
+      DOCKER_PUBLIC_READONLY_PAT: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}
+
+  license_finder:
+    uses: viam-modules/MODULE/.github/workflows/license_finder.yml@main

.github/workflows/release.yml

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+name: Build and Publish RC
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+
+on:
+  push:
+    tags:
+      - '[0-9]+.[0-9]+.[0-9]+'
+
+# To test workflow updates you need to work in a branch directly on viamrobotics/viam-cartographer
+# and tag your working branch instead of @main in any viamrobotics/viam-cartographer "uses" below.
+# Don't forget to tag back to @main before merge.
+
+jobs:
+  test:
+    uses: ./.github/workflows/test.yml
+
+  publish:
+    strategy:
+      matrix:
+        include:
+          - arch: buildjet-8vcpu-ubuntu-2204
+            image: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+            platform: linux/amd64
+            label: amd64
+          - arch: buildjet-8vcpu-ubuntu-2204-arm
+            image: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+            platform: linux/arm64
+            label: arm64
+
+    runs-on: ${{ matrix.arch }}
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set up Go
+      uses: actions/setup-go@v2
+      with:
+        go-version: 1.23
+
+    - name: Install canon
+      run: |
+        export PATH="$(go env GOPATH)/bin:$PATH"
+        go install github.com/viamrobotics/[email protected]
+
+    - name: Build and package
+      run: |
+        canon --profile MODULE
+        TARGET_OS=${{ matrix.platform }} TARGET_ARCH=${{ matrix.arch }} make module
+
+    - name: Upload MODULE module to registry
+      uses: viamrobotics/upload-module@main
+      with:
+        meta-path: meta.json
+        module-path: bin/module.tar.gz
+        platform: ${{ matrix.platform }}
+        version: ${{ github.ref_name }}
+        key-id: ${{ secrets.VIAM_DEV_API_KEY_ID }}
+        key-value: ${{ secrets.VIAM_DEV_API_KEY }}

.github/workflows/test.yml

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+name: Test
+
+on:
+  workflow_dispatch:
+  workflow_call:
+
+jobs:
+  build_and_test:
+    strategy:
+       matrix:
+        include:
+          - arch: buildjet-8vcpu-ubuntu-2204
+            image: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+            platform: linux/amd64
+            label: amd64
+          - arch: buildjet-8vcpu-ubuntu-2204-arm
+            image: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+            platform: linux/arm64
+            label: arm64
+    runs-on: ${{ matrix.arch }}
+    container:
+      image: ${{ matrix.image }}
+    timeout-minutes: 45
+    steps:
+
+    - name: Check out main branch code
+      if: github.event_name != 'pull_request_target'
+      uses: actions/checkout@v3
+
+    - name: Check out PR branch code
+      if: github.event_name == 'pull_request_target'
+      uses: actions/checkout@v3
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+
+    - name: apt update
+      run: |
+        apt-get update
+
+    - name: Verify no uncommitted changes from make lint
+      run: |
+        git init
+        git add .
+        chown -R testbot:testbot .
+        sudo -u testbot bash -lc 'make lint'
+
+        if [ -n "$GEN_DIFF" ]; then
+            echo '"make lint" resulted in changes not in git' 1>&2
+            git status
+            exit 1
+        fi
+
+    - name: make build
+      run: |
+        sudo -u testbot bash -lc 'make build'

.gitignore

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+# If you prefer the allow list template instead of the deny list, see community template:
+# https://github.com/github/gitignore/blob/main/community/Golang/Go.AllowList.gitignore
+#
+# Binaries for programs and plugins
+*.exe
+*.exe~
+*.dll
+*.so
+*.dylib
+
+# Test binary, built with `go test -c`
+*.test
+
+# Output of the go coverage tool, specifically when used with LiteIDE
+*.out
+
+# Dependency directories (remove the comment below to include it)
+# vendor/
+
+# Go workspace file
+go.work
+go.work.sum
+
+# env file
+.env
+
+# binaries
+bin/