RSDK-13040 Split tflite_mlmodel code into a separate library

.clang-format

@@ -0,0 +1,29 @@
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+BasedOnStyle: Google
+BinPackArguments: false
+BinPackParameters: false
+ColumnLimit: 100
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex: "<.*>"
+    Priority: 1
+    SortPriority: 0
+  - Regex: '^(<|"(boost|google|grpc)/)'
+    Priority: 3
+    SortPriority: 0
+  - Regex: ".*"
+    Priority: 1
+    SortPriority: 0
+IncludeIsMainRegex: "(Test)?$"
+IncludeIsMainSourceRegex: ""
+IndentWidth: 4
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+SortIncludes: true
+SpaceBeforeAssignmentOperators: true
+Standard: Cpp11
+UseTab: Never

.github/workflows/test.yml

@@ -2,16 +2,16 @@ name: Run linter and build
 
 on:
   push:
-    branches: [ "main" ]
+    branches: ["main"]
   pull_request:
-    branches: [ "main" ]
+    branches: ["main"]
 
 jobs:
   build:
     strategy:
       matrix:
         # TODO(RSDK-10636): run the build on windows-2019, too, when it's is tolerably fast
-        runs_on: [ubuntu-22.04, ubuntu-22.04-arm, macos-14, macos-13]
+        runs_on: [ubuntu-22.04, ubuntu-22.04-arm, macos-14]
     name: "Lint and build on each platform"
     runs-on: ${{ matrix.runs_on }}
 

.gitignore

@@ -28,4 +28,5 @@
 *.app
 
 CMakeUserPresets.json
-build-conan
+build-conan/
+build/

CMakeLists.txt

@@ -38,16 +38,20 @@ find_package(Threads REQUIRED)
 find_package(viam-cpp-sdk REQUIRED)
 find_package(tensorflowlite REQUIRED)
 
-add_executable(tflite_cpu
-  src/tflite_cpu.cpp
-)
+add_library(tflite_cpu_service src/tflite_cpu.cpp)
 
-target_link_libraries(tflite_cpu
-  PRIVATE Threads::Threads
-  PRIVATE viam-cpp-sdk::viamsdk
+target_link_libraries(tflite_cpu_service
+  PUBLIC Threads::Threads
+  PUBLIC viam-cpp-sdk::viamsdk
   PRIVATE tensorflow::tensorflowlite
 )
 
+add_executable(tflite_cpu
+  src/main.cpp
+)
+
+target_link_libraries(tflite_cpu PRIVATE tflite_cpu_service)
+
 install(
   TARGETS tflite_cpu
-)
+)

conanfile.py

@@ -44,6 +44,7 @@ def requirements(self):
         # NOTE: If you update the `viam-cpp-sdk` dependency here, it
         # should also be updated in `bin/setup.{sh,ps1}`.
         self.requires("viam-cpp-sdk/0.20.1")
+        self.requires("boost/[>=1.74.0]")
         self.requires("tensorflow-lite/2.15.0")
         # NOTE: This should match what the viam-cpp-sdk pulls (indirectly, via grpc/protobuf)
         # TODO: Is there a way to express that better than hardcoding it?

src/main.cpp

@@ -0,0 +1,64 @@
+#include <stdexcept>
+
+#include <viam/sdk/common/instance.hpp>
+#include <viam/sdk/module/service.hpp>
+#include <viam/sdk/registry/registry.hpp>
+
+#include "tflite_cpu.hpp"
+
+namespace {
+
+int serve(const std::string& socket_path) try {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    viam::sdk::Instance inst;
+
+    // Create a new model registration for the service.
+    auto module_registration = std::make_shared<viam::sdk::ModelRegistration>(
+        // Identify that this resource offers the MLModelService API
+        viam::sdk::API::get<viam::sdk::MLModelService>(),
+
+        // Declare a model triple for this service.
+        viam::sdk::Model{"viam", "mlmodel-tflite", "tflite_cpu"},
+
+        // Define the factory for instances of the resource.
+        [](viam::sdk::Dependencies deps, viam::sdk::ResourceConfig config) {
+            return std::make_shared<viam::mlmodel_tflite::MLModelServiceTFLite>(std::move(deps),
+                                                                                std::move(config));
+        });
+
+    // Register the newly created registration with the Registry.
+    viam::sdk::Registry::get().register_model(module_registration);
+
+    // Construct the module service and tell it where to place the socket path.
+    auto module_service = std::make_shared<viam::sdk::ModuleService>(socket_path);
+
+    // Add the server as providing the API and model declared in the
+    // registration.
+    module_service->add_model_from_registry(module_registration->api(),
+                                            module_registration->model());
+
+    // Start the module service.
+    module_service->serve();
+
+    return EXIT_SUCCESS;
+} catch (const std::exception& ex) {
+    std::cout << "ERROR: A std::exception was thrown from `serve`: " << ex.what() << std::endl;
+    return EXIT_FAILURE;
+} catch (...) {
+    std::cout << "ERROR: An unknown exception was thrown from `serve`" << std::endl;
+    return EXIT_FAILURE;
+}
+}  // namespace
+
+int main(int argc, char* argv[]) {
+    const auto usage = std::string("usage: ") + argv[0] + " /path/to/unix/socket";
+
+    if (argc < 2) {
+        std::cout << "ERROR: insufficient arguments\n";
+        std::cout << usage << "\n";
+        return EXIT_FAILURE;
+    }
+
+    return serve(argv[1]);
+}