Add copilot-setup-steps.yml and update build system for Goby 3.4.0

.github/workflows/copilot-setup-steps.yml

@@ -0,0 +1,53 @@
+name: "Copilot Setup Steps"
+
+# Automatically run the setup steps when they are changed to allow for easy validation, and
+# allow manual testing through the repository's "Actions" tab
+on:
+  workflow_dispatch:
+  push:
+    paths:
+      - .github/workflows/copilot-setup-steps.yml
+  pull_request:
+    paths:
+      - .github/workflows/copilot-setup-steps.yml
+
+jobs:
+  # The job MUST be called `copilot-setup-steps` or it will not be picked up by Copilot.
+  copilot-setup-steps:
+    runs-on: ubuntu-24.04
+
+    # Set the permissions to the lowest permissions possible needed for your steps.
+    # Copilot will be given its own token for its operations.
+    permissions:
+      # If you want to clone the repository as part of your setup steps, for example to install dependencies, you'll need the `contents: read` permission.
+      # If you don't clone the repository in your setup steps, Copilot will do this for you automatically after the steps complete.
+      contents: read
+
+    # You can define any steps you want, and they will run before the agent starts.
+    # If you do not check out your code, Copilot will do this for you.
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v5
+        with:
+          fetch-depth: 0 # required to ensure we have tags
+
+      - name: Set up GobySoft apt repository
+        run: |
+          echo "deb http://packages.gobysoft.org/ubuntu/release/ $(lsb_release -c -s)/" | sudo tee /etc/apt/sources.list.d/gobysoft_release.list
+          sudo apt-key adv --recv-key --keyserver keyserver.ubuntu.com 19478082E2F8D3FE
+          sudo apt-get update
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get install -y \
+            cmake \
+            g++ \
+            libjack-jackd2-dev \
+            libgoby3-dev \
+            libgoby3-moos-dev \
+            libdccl4-dev \
+            libboost-dev \
+            libboost-serialization-dev \
+            libb64-dev \
+            protobuf-compiler \
+            libprotobuf-dev

CMakeLists.txt

@@ -4,9 +4,12 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake_modules/")
 
 cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 
-# require C++14
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+# require C++17 (Goby 3.x headers use C++17 features such as if constexpr)
+if(NOT CMAKE_CXX_STANDARD OR CMAKE_CXX_STANDARD LESS 17)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  message(STATUS "Setting CMAKE_CXX_STANDARD to 17 as required by Goby 3.x")
+endif()
 
 # versions
 set(PROJECT_VERSION_MAJOR "1")
@@ -16,20 +19,20 @@ set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT
 
 set(PROJECT_SOVERSION "1")
 
-find_package(ProtobufLocal REQUIRED)
-include_directories(${PROTOBUF_INCLUDE_DIRS})
+find_package(Protobuf REQUIRED)
+include_directories(${Protobuf_INCLUDE_DIRS})
+
+include(GobyTarget)
 
 find_package(DCCL REQUIRED)
 get_target_property(DCCL_INCLUDE_DIR dccl INTERFACE_INCLUDE_DIRECTORIES)
 
 message("Using DCCL in ${DCCL_INCLUDE_DIR}")
 include_directories("${DCCL_INCLUDE_DIR}")
-protobuf_include_dirs("${DCCL_INCLUDE_DIR}")
 
 find_package(GOBY 3 REQUIRED zeromq moos)
 message("Using Goby in ${GOBY_INCLUDE_DIR}")
 include_directories("${GOBY_INCLUDE_DIR}")
-protobuf_include_dirs("${GOBY_INCLUDE_DIR}")
 
 find_package(MOOS 10 REQUIRED)
 
@@ -73,7 +76,12 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${project_LIB_DIR} CACHE PATH
   "Output directory for the static libraries (archives)" )
 
 include_directories(${project_INC_DIR})
-protobuf_include_dirs(${project_INC_DIR})
+
+# Set import dirs for protoc used by GobyTarget functions
+list(APPEND GOBY_PROTOBUF_IMPORT_DIRS
+  "${DCCL_INCLUDE_DIR}"
+  "${GOBY_INCLUDE_DIR}"
+  "${project_INC_DIR}")
 
 
 ## set instructions for `make install`
@@ -129,6 +137,7 @@ file(GLOB_RECURSE INCLUDE_FILES RELATIVE ${project_SRC_DIR}/lib
   src/lib/messages/*.proto
   src/lib/messages/*.h
   src/lib/tcp/*.h
+  src/lib/acousticstoolbox/*.proto
   src/lib/acousticstoolbox/*.h
   src/lib/core/*.h
   )

cmake_modules/GobyTarget.cmake

@@ -0,0 +1,177 @@
+# GobyTarget.cmake - convenience functions for building Goby targets
+#
+# Provides:
+#   add_goby_executable(TARGET <name>
+#     SOURCES <files>...
+#     [PROTOS <proto_files>...]
+#     [LINK_LIBRARIES <libs>...]
+#     [PROTO_IMPORT_DIRS <dirs>...]
+#     [PROTOC_OUT_DIR <dir>])
+#
+#   add_goby_library(TARGET <name>
+#     [SOURCES <files>...]
+#     [PROTOS <proto_files>...]
+#     [LINK_LIBRARIES <libs>...]
+#     [PROTO_IMPORT_DIRS <dirs>...]
+#     [PROTOC_OUT_DIR <dir>]
+#     [STATIC] [MODULE])
+#
+# For add_goby_executable, linking against goby is implied.
+# Proto files are compiled with protoc --cpp_out + --dccl_out (matching the
+# original protobuf_generate_cpp_dccl behaviour).
+
+# Internal helper: compile .proto files with --cpp_out + --dccl_out.
+# Sets OUT_VAR in the caller's scope to the list of generated source files.
+function(_goby_generate_protos OUT_VAR PROTOC_OUT_DIR PROTOS IMPORT_DIRS)
+  # Build deduplicated list of -I flags.
+  # We intentionally omit CMAKE_CURRENT_SOURCE_DIR and PROTOC_OUT_DIR here:
+  # each .proto is first copied into PROTOC_OUT_DIR so that protoc sees it at
+  # the path <PROTOC_OUT_DIR>/<name>.proto.  protoc then derives the canonical
+  # proto name by matching the file path against the -I import dirs; because
+  # PROTOC_OUT_DIR is a subdirectory of one of the IMPORT_DIRS (e.g.
+  # build/include/netsim/acousticstoolbox is under build/include), the
+  # canonical name becomes the correct full path such as
+  # "netsim/acousticstoolbox/environment.proto" rather than just
+  # "environment.proto" from CMAKE_CURRENT_SOURCE_DIR.  This ensures the
+  # descriptor table names in all generated .pb.cc files are consistent when
+  # one proto imports another (e.g. svp_request_response.proto imports
+  # environment.proto), preventing "has not been declared" link/compile errors.
+  set(_import_flags)
+  set(_seen_dirs)
+  foreach(_dir
+      ${CMAKE_CURRENT_BINARY_DIR}
+      ${IMPORT_DIRS}
+      ${GOBY_PROTOBUF_IMPORT_DIRS})
+    if(_dir)
+      get_filename_component(_abs_dir "${_dir}" ABSOLUTE)
+      if(NOT "${_abs_dir}" IN_LIST _seen_dirs)
+        list(APPEND _seen_dirs "${_abs_dir}")
+        list(APPEND _import_flags -I "${_abs_dir}")
+      endif()
+    endif()
+  endforeach()
+
+  set(_all_generated)
+  foreach(_proto ${PROTOS})
+    get_filename_component(_abs_proto "${_proto}" ABSOLUTE)
+    get_filename_component(_proto_we  "${_abs_proto}" NAME_WE)
+
+    # Copy the source .proto into PROTOC_OUT_DIR so that protoc's canonical
+    # name resolution works correctly (see comment above).
+    set(_proto_dest "${PROTOC_OUT_DIR}/${_proto_we}.proto")
+    set(_pb_h  "${PROTOC_OUT_DIR}/${_proto_we}.pb.h")
+    set(_pb_cc "${PROTOC_OUT_DIR}/${_proto_we}.pb.cc")
+
+    # Run protoc with --cpp_out first, then --dccl_out last.
+    # This ordering matches the original protobuf_generate_cpp_dccl and ensures
+    # that the DCCL plugin can insert into the cpp-generated files.
+    add_custom_command(
+      OUTPUT "${_pb_h}" "${_pb_cc}"
+      COMMAND ${CMAKE_COMMAND} -E copy_if_different "${_abs_proto}" "${_proto_dest}"
+      COMMAND protobuf::protoc
+      ARGS --cpp_out "${PROTOC_OUT_DIR}"
+           "${_proto_dest}"
+           ${_import_flags}
+           --dccl_out "${PROTOC_OUT_DIR}"
+      DEPENDS "${_abs_proto}" protobuf::protoc
+      COMMENT "Running dccl protocol buffer compiler on ${_proto}"
+      VERBATIM)
+
+    set_source_files_properties("${_pb_h}" "${_pb_cc}" PROPERTIES GENERATED TRUE)
+    list(APPEND _all_generated "${_pb_h}" "${_pb_cc}")
+  endforeach()
+
+  set(${OUT_VAR} "${_all_generated}" PARENT_SCOPE)
+endfunction()
+
+# add_goby_executable - build a Goby application binary
+# Linking against goby is implied; list any additional libs in LINK_LIBRARIES.
+function(add_goby_executable)
+  cmake_parse_arguments(args
+    ""
+    "TARGET;PROTOC_OUT_DIR"
+    "SOURCES;PROTOS;LINK_LIBRARIES;PROTO_IMPORT_DIRS"
+    ${ARGN})
+
+  if(NOT args_TARGET)
+    message(FATAL_ERROR "add_goby_executable: TARGET is required")
+  endif()
+
+  set(_sources ${args_SOURCES})
+
+  if(args_PROTOS)
+    if(args_PROTOC_OUT_DIR)
+      set(_protoc_out_dir "${args_PROTOC_OUT_DIR}")
+    else()
+      set(_protoc_out_dir "${CMAKE_CURRENT_BINARY_DIR}/${args_TARGET}")
+    endif()
+    file(MAKE_DIRECTORY "${_protoc_out_dir}")
+
+    _goby_generate_protos(
+      _proto_generated
+      "${_protoc_out_dir}"
+      "${args_PROTOS}"
+      "${args_PROTO_IMPORT_DIRS}")
+
+    list(APPEND _sources ${_proto_generated})
+  endif()
+
+  add_executable(${args_TARGET} ${_sources})
+
+  if(args_PROTOS)
+    target_include_directories(${args_TARGET} PRIVATE "${_protoc_out_dir}")
+  endif()
+
+  target_link_libraries(${args_TARGET} goby ${args_LINK_LIBRARIES})
+endfunction()
+
+# add_goby_library - build a Goby library target (SHARED by default)
+# Pass STATIC or MODULE to change the library type.
+function(add_goby_library)
+  cmake_parse_arguments(args
+    "STATIC;MODULE"
+    "TARGET;PROTOC_OUT_DIR"
+    "SOURCES;PROTOS;LINK_LIBRARIES;PROTO_IMPORT_DIRS"
+    ${ARGN})
+
+  if(NOT args_TARGET)
+    message(FATAL_ERROR "add_goby_library: TARGET is required")
+  endif()
+
+  set(_lib_type SHARED)
+  if(args_STATIC)
+    set(_lib_type STATIC)
+  elseif(args_MODULE)
+    set(_lib_type MODULE)
+  endif()
+
+  set(_sources ${args_SOURCES})
+
+  if(args_PROTOS)
+    if(args_PROTOC_OUT_DIR)
+      set(_protoc_out_dir "${args_PROTOC_OUT_DIR}")
+    else()
+      set(_protoc_out_dir "${CMAKE_CURRENT_BINARY_DIR}/${args_TARGET}")
+    endif()
+    file(MAKE_DIRECTORY "${_protoc_out_dir}")
+
+    _goby_generate_protos(
+      _proto_generated
+      "${_protoc_out_dir}"
+      "${args_PROTOS}"
+      "${args_PROTO_IMPORT_DIRS}")
+
+    list(APPEND _sources ${_proto_generated})
+  endif()
+
+  add_library(${args_TARGET} ${_lib_type} ${_sources})
+
+  if(args_PROTOS)
+    target_include_directories(${args_TARGET} PUBLIC
+      $<BUILD_INTERFACE:${_protoc_out_dir}>)
+  endif()
+
+  if(args_LINK_LIBRARIES)
+    target_link_libraries(${args_TARGET} ${args_LINK_LIBRARIES})
+  endif()
+endfunction()

src/apps/iBellhop/CMakeLists.txt

@@ -1,14 +1,8 @@
-add_executable(iBellhop
-  iBellhop.cpp
-  iBellhopMain.cpp
-  )
-
-target_link_libraries(iBellhop
-  ${MOOS_LIBRARIES}
-  netsim_acousticstoolbox
-  goby_moos
-  ${Boost_LIBRARIES}
-  ${PROTOBUF_LIBRARIES}
+add_goby_executable(TARGET iBellhop
+  SOURCES
+    iBellhop.cpp
+    iBellhopMain.cpp
+  LINK_LIBRARIES ${MOOS_LIBRARIES} netsim_acousticstoolbox goby_moos ${Boost_LIBRARIES}
 )
 
 project_install_bin(iBellhop)

src/apps/netsim_core/CMakeLists.txt

@@ -1,9 +1,10 @@
-add_executable(netsim_core
-  netsim_core_main.cpp
-  jack_thread.cpp)
-
-# -rdynamic is required so that the shared libraries can access the interthread static objects correctly 
-target_link_libraries(netsim_core "-rdynamic" goby goby_zeromq jack netsim_messages)
+add_goby_executable(TARGET netsim_core
+  SOURCES
+    netsim_core_main.cpp
+    jack_thread.cpp
+  # -rdynamic is required so that the shared libraries can access the interthread static objects correctly
+  LINK_LIBRARIES -rdynamic goby_zeromq jack netsim_messages
+)
 
 if(export_goby_interfaces)
   generate_interfaces_params(netsim_core "-extra-arg=-DNETSIM_MAX_MODEMS=${NETSIM_VISUALIZE_MAX_MODEMS}")

src/apps/netsim_manager/CMakeLists.txt

@@ -1,7 +1,8 @@
-add_executable(netsim_manager
-  manager.cpp)
+add_goby_executable(TARGET netsim_manager
+  SOURCES manager.cpp
+  LINK_LIBRARIES goby_zeromq netsim_tcp netsim_messages
+)
 
-target_link_libraries(netsim_manager goby goby_zeromq netsim_tcp netsim_messages)
 if(export_goby_interfaces)
   generate_interfaces(netsim_manager)
 endif()

src/apps/netsim_postprocess/CMakeLists.txt

@@ -1,10 +1,8 @@
-protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_CURRENT_BINARY_DIR} config.proto)
-
-add_executable(netsim_postprocess
-  netsim_postprocess_main.cpp
-  ${PROTO_SRCS} ${PROTO_HDRS})
-
-target_link_libraries(netsim_postprocess goby goby_zeromq netsim_messages)
+add_goby_executable(TARGET netsim_postprocess
+  SOURCES netsim_postprocess_main.cpp
+  PROTOS config.proto
+  LINK_LIBRARIES goby_zeromq netsim_messages
+)
 
 if(export_goby_interfaces)
   generate_interfaces(netsim_postprocess)

src/apps/netsim_tool/CMakeLists.txt

@@ -1,18 +1,8 @@
-protobuf_generate_cpp(
-  PROTO_SRCS PROTO_HDRS ${CMAKE_CURRENT_BINARY_DIR} config.proto)
-
-
-add_executable(netsim_tool
-  main.cpp
-  ${PROTO_SRCS} ${PROTO_HDRS})
-
-target_link_libraries(netsim_tool
-  goby
-  goby_moos
-  goby_zeromq
-  netsim_messages
-  netsim_tcp
-  )
+add_goby_executable(TARGET netsim_tool
+  SOURCES main.cpp
+  PROTOS config.proto
+  LINK_LIBRARIES goby_moos goby_zeromq netsim_messages netsim_tcp
+)
 
 if(export_goby_interfaces)
   generate_interfaces(netsim_tool)