RSDK-14226: Use docker images in CI jobs

.github/workflows/linter.yml

@@ -11,14 +11,15 @@ jobs:
   cpp-linter:
     if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
-    container: ghcr.io/viamrobotics/cpp-base:bullseye-amd64
+    container: ghcr.io/viamrobotics/cpp-sdk-system-debian:bullseye
     steps:
       - name: Checkout Code
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: verify no uncommitted changes
         run: |
+          ln -sf "$(command -v clang-format-19)" /usr/local/bin/clang-format
           chown $(whoami) .
           git init
           git add .

.github/workflows/release.yml

@@ -151,11 +151,11 @@ jobs:
         include:
           - target: aarch64-ubuntu-jammy-gnu
             platform: linux_aarch64-ubuntu-jammy
-            image: ubuntu:22.04
+            image: ghcr.io/viamrobotics/cpp-sdk-system-ubuntu:jammy
             runs_on: github-linux-arm64-8core
           - target: x86_64-ubuntu-jammy-gnu
             platform: linux_x86_64-ubuntu-jammy
-            image: ubuntu:22.04
+            image: ghcr.io/viamrobotics/cpp-sdk-system-ubuntu:jammy
             runs_on: ubuntu-large
 
     steps:
@@ -164,39 +164,6 @@ jobs:
         with:
           ref: ${{ needs.prepare.outputs.sha }}
 
-      - name: Install dependencies
-        run: |
-          apt-get update
-          apt-get -y dist-upgrade
-          DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
-              build-essential \
-              ca-certificates \
-              curl \
-              doxygen \
-              g++ \
-              gdb \
-              git \
-              gnupg \
-              gpg \
-              less \
-              libboost-all-dev \
-              libgrpc++-dev \
-              libprotobuf-dev \
-              libssl-dev \
-              ninja-build \
-              pkg-config \
-              protobuf-compiler \
-              protobuf-compiler-grpc \
-              software-properties-common \
-              sudo \
-              wget \
-
-          sudo wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
-          sudo echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
-
-          apt-get update
-          apt-get -y install cmake=3.25.2-0kitware1ubuntu22.04.1 cmake-data=3.25.2-0kitware1ubuntu22.04.1
-
       - name: Setup build directory
         run: mkdir builds
 
@@ -234,11 +201,11 @@ jobs:
         include:
           - target: aarch64-debian-bookworm
             platform: linux_aarch64-debian-bookworm
-            image: debian:bookworm
+            image: ghcr.io/viamrobotics/cpp-sdk-system-debian:bookworm
             runs_on: github-linux-arm64-8core
           - target: x86_64-debian-bookworm
             platform: linux_x86_64-debian-bookworm
-            image: debian:bookworm
+            image: ghcr.io/viamrobotics/cpp-sdk-system-debian:bookworm
             runs_on: ubuntu-large
 
     steps:
@@ -247,36 +214,6 @@ jobs:
         with:
           ref: ${{ needs.prepare.outputs.sha }}
 
-      - name: Install dependencies
-        run: |
-          apt-get update
-          apt-get -y dist-upgrade
-          DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
-              build-essential \
-              ca-certificates \
-              cmake \
-              curl \
-              doxygen \
-              g++ \
-              gdb \
-              git \
-              gnupg \
-              gpg \
-              less \
-              libboost-all-dev \
-              libc-ares-dev \
-              libgrpc++-dev \
-              libprotobuf-dev \
-              libre2-dev \
-              libssl-dev \
-              ninja-build \
-              pkg-config \
-              protobuf-compiler-grpc \
-              software-properties-common \
-              sudo \
-              wget \
-              zlib1g-dev
-
       - name: Setup build directory
         run: mkdir builds
 

.github/workflows/test.yml

@@ -16,7 +16,7 @@ jobs:
     if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
     container:
-      image: debian:bookworm
+      image: ghcr.io/viamrobotics/cpp-sdk-system-debian:bookworm
     strategy:
       fail-fast: false
       matrix:
@@ -26,46 +26,13 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Install dependencies
+      - name: Install test-only dependencies
         run: |
           apt-get update
-          apt-get -y dist-upgrade
           DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
-              build-essential \
-              ca-certificates \
-              cmake \
               curl \
-              doxygen \
-              g++ \
               gettext \
-              gdb \
-              git \
-              gnupg \
-              gpg \
-              less \
-              libboost-all-dev \
-              libc-ares-dev \
-              libgrpc++-dev \
-              libprotobuf-dev \
-              libre2-dev \
-              libssl-dev \
-              lsof \
-              ninja-build \
-              pkg-config \
-              protobuf-compiler-grpc \
-              software-properties-common \
-              sudo \
-              wget \
-              zlib1g-dev
-
-          bash -c 'wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|apt-key add -'
-          apt-add-repository -y 'deb http://apt.llvm.org/bookworm/ llvm-toolchain-bookworm-15 main'
-          apt-add-repository -y 'deb http://apt.llvm.org/bookworm/ llvm-toolchain-bookworm-15 main'
-          apt-get update
-          DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install -t llvm-toolchain-bookworm-15 \
-            clang-15 \
-            clang-tidy-15 \
-            clang-format
+              lsof
 
       - name: Build viam server
         run: |

src/viam/sdk/CMakeLists.txt

@@ -48,8 +48,9 @@ if (VIAMCPPSDK_SANITIZED_BUILD)
   target_compile_options(viamsdk PRIVATE -fsanitize=undefined -fno-omit-frame-pointer -fno-sanitize-recover)
 endif()
 if (VIAMCPPSDK_CLANG_TIDY)
-  find_program(CLANG_TIDY_EXE NAMES "clang-tidy-15" "clang-tidy")
-  set(CLANG_TIDY_COMMAND "${CLANG_TIDY_EXE}" "--config-file=../.clang-tidy")
+  find_program(CLANG_TIDY_EXE NAMES "clang-tidy-19" "clang-tidy-15" "clang-tidy")
+  # -Wno-enum-constexpr-conversion: Boost MPL headers trip this hard clang error on clang>=16; not our code.
+  set(CLANG_TIDY_COMMAND "${CLANG_TIDY_EXE}" "--config-file=../.clang-tidy" "--extra-arg=-Wno-enum-constexpr-conversion")
   set_target_properties(viamsdk PROPERTIES CXX_CLANG_TIDY "${CLANG_TIDY_COMMAND}")
 endif()
 

src/viam/sdk/common/utils.cpp

@@ -95,6 +95,8 @@ std::string bytes_to_string(const std::vector<unsigned char>& b) {
     return img_string;
 }
 
+namespace {
+
 std::string random_debug_key() {
     static const char alphanum[] = "abcdefghijklmnopqrstuvwxyz";
     static std::default_random_engine generator(
@@ -111,6 +113,8 @@ std::string random_debug_key() {
     return key;
 }
 
+}  // namespace
+
 ProtoStruct debug_map() {
     return debug_map(random_debug_key());
 }

src/viam/sdk/common/version_metadata.cpp

@@ -18,6 +18,8 @@ std::string sdk_version() {
     return result;
 }
 
+namespace {
+
 int get_sub_version(int which) {
     static const std::array<int, 3> components = [] {
         std::array<int, 3> result;
@@ -38,6 +40,8 @@ int get_sub_version(int which) {
     return components[which];
 }
 
+}  // namespace
+
 int sdk_major_version() {
     return get_sub_version(0);
 }