build(pixi): plugins build under conda — dependency normalization + pixi backbone by facontidavide · Pull Request #156 · PlotJuggler/pj-official-plugins

facontidavide · 2026-06-18T17:31:13Z

Summary

Brings the plugin collection onto pixi/conda-forge while keeping the Conan build green during the transition. Two layers:

1. Dependency-target normalization (`cmake/PjDependencyTargets.cmake`)

pj_target_link_<dep>(target visibility) helpers route the deps whose CMake target differs between providers (Conan static vs conda shared/pkg-config): arrow, parquet, zstd, lz4, asio, paho_mqtt, lua + pj_arrow_available. Under Conan they select the existing *_static targets (no behavior change); under conda the shared / pkg-config equivalents. Migrated: arrow_helpers, parquet, lerobot, mcap, pj_bridge, udp, mqtt, colormap. mosaico Flight probe extended for conda; zmq needs no change (documented); zstd pin unified to 1.5.7.

2. pixi build backbone

pixi.toml (channels conda-forge + https://prefix.dev/plotjuggler for the SDK; multi-env features) + the critical sysroot_linux-64 >=2.34 pin (conda's libstdcxx 15 references __libc_single_threaded, a glibc-2.32 symbol the default sysroot 2.28 lacks → message-parser plugins fail to link without it). kissfft vendored into toolbox_fft/contrib/ (absent on conda-forge; C compiled as C++).

Verification

Conan stays green — every changed plugin builds + tests under Conan (incl. parser_protobuf, toolbox_colormap, toolbox_fft re-verified after the Phase 3 additions).
conda: all 15 backbone plugins build + test green on linux-64 against the published plotjuggler_sdk 0.8.1 from prefix.dev — json, protobuf, ros, data_tamer, csv, parquet, mcap, ulog, zmq, mqtt, udp, dummy, quaternion, colormap, fft.

Notes

Two normalization gaps were exposed only by the conda build (Conan has both targets): protobuf::protobuf umbrella → libprotobuf/libprotoc; lua's conda-only builtin FindLua → pj_target_link_lua.
Scope is linux-64 + conda-forge-available, non-Qt, non-Python-embed plugins. Follow-ons: Qt, the libdatachannel recipe, Python-embed, media, ROS2/RoboStack, mosaico Flight, self-contained bundling, osx-64/win-64.

🤖 Generated with Claude Code

Introduces cmake/PjDependencyTargets.cmake with pj_target_link_{arrow, parquet,zstd,lz4,asio,paho_mqtt} and pj_arrow_available helpers that resolve the correct CMake target regardless of whether the provider is Conan (static targets) or conda-forge (shared / pkg-config targets). Included at the root so all plugin subdirectories inherit the functions with no behavior change under the existing Conan build. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

…review) pkg_check_modules(... IMPORTED_TARGET) re-creates PkgConfig::PJ_LZ4/PJ_ASIO on each call; mcap links lz4 three times in one CMakeLists. Guard with if(NOT TARGET ...) so repeated/cross-subdir calls are idempotent. Validated under conda with a second lz4/asio consumer.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

Unlike the arrow/zstd/paho helpers, lz4/asio only checked for the target. After plugins drop their find_package(lz4/asio), nothing created the Conan target, so the helper fell to pkg-config — failing (asio) or silently linking system liblz4 instead of Conan's static (mcap). Add find_package(... QUIET CONFIG) first. Verified: mcap now links .conan2/.../liblz4.a; conda pkg-config path intact.

…features)

…ndLua)

…buf::protobuf umbrella)

Compile its C sources as C++ (root project is CXX-only; kissfft headers have extern "C" guards so linkage stays correct). kissfft::kissfft ALIAS keeps the plugin link unchanged; Conan kissfft dep dropped. Builds+tests pass under both Conan and conda.

Builds libdatachannel 0.24.0 shared (OpenSSL, bundled libjuice ICE, websocket + media) -> LibDataChannel::LibDataChannel, for data_stream_webrtc under conda. Validated: package builds + the webrtc plugin builds+tests against it + the published SDK 0.8.1. Pre-clone+path source (rattler git source doesn't recurse submodules); openssl pinned <4 (cmake 4.x needs openssl 3.x).

Both 'Qt' stream plugins need no Qt at build: the port replaced the original's Qt WebSockets with ixwebsocket, and pj_embed_ui bakes the .ui into a constexpr char[]. conda-forge ships ixwebsocket 11.4.6 with the same ixwebsocket::ixwebsocket target Conan uses -> no normalization helper needed; a 'bridge' pixi feature wires it into the default env. Both plugins build + 3/3 tests pass under conda gcc-14. Also reserve() the frame buffer in pj_bridge_protocol_test to the exact final size: silences a GCC-14 -O3 -Wstringop-overflow false positive on the incrementally grown vector (test-only; the shipped plugin .o already compiled clean).

Mosaico was EXILED from the Conan build: arrow:with_flight_rpc dragged in protobuf 3.21, colliding with the repo's 6.33. conda-forge resolves the whole Flight/gRPC/Arrow graph against a SINGLE libprotobuf 6.33.5, so mosaico rejoins the unified build. Validated: plugin .so builds + all 20 tests pass under conda. - pixi 'mosaico' feature: libarrow-flight 23 (pulls libgrpc + the same protobuf already in the protobuf feature) + fmt; wired into the default env. - find_package(ArrowFlight): conda ships Flight as a separate config package, so the target must be found explicitly before the existing probe (no-op on Conan). - lua via pj_target_link_lua (plugin + 2 query tests): conda lua has no lua::lua config target, only the builtin FindLua — same gap Phase 3a fixed for colormap. - Alias conda's ArrowFlight::arrow_flight_shared -> arrow::arrow_flight so the CPM-fetched mosaico-cpp-sdk's (shared-unaware) internal probe configures. Guarded; no-op under Conan and once that SDK's probe learns the shared name. - plugin task: -DBUILD_TESTING=ON (only mosaico gates its tests on it).

… 3d) Default build (PJ_REACTIVE_ENABLE_PYTHON=OFF, the shipping Linux artifact) needed only the lua fix: drop find_package(lua) + link via pj_target_link_lua (conda lua has no lua::lua config target, only builtin FindLua — same gap as colormap/mosaico). Builds + 2/2 tests under conda, links liblua, NO libpython (as intended). The opt-in Python path (pybind11 + cpython, shared libpython) ties into D11 bundling and is validated separately.

…se 3e) FFmpeg is the last normalization gap: Conan ships an ffmpeg CMake config (ffmpeg::avformat/avcodec/avutil) but conda-forge ffmpeg ships pkg-config (.pc) ONLY. Add pj_target_link_ffmpeg(tgt vis <components...>) — Conan targets when present, else IMPORTED targets from the libav* pkg-config modules (GLOBAL + per-component guard so mp4 and pj_video_demux can both link avformat in one build) — plus a pj_ffmpeg_available probe so pj_video_demux's graceful-skip detects ffmpeg under BOTH providers (not just the CMake config). The probe's pkg-config fallback is gated on DEFINED ENV{CONDA_PREFIX} so the Conan aggregate build (no ffmpeg dep) keeps SKIPPING pj_video_demux and never silently links a SYSTEM ffmpeg from the host pkg-config. Verified: video_demux.cpp compiles under conda (CONDA_PREFIX set) and is skipped without it. - common/pj_video_demux + data_load_mp4 migrated to the helper. - data_load_lerobot reaches ffmpeg transitively via pj_video_demux (no change). - 'media' pixi feature (ffmpeg + pkg-config) wired into the default env. - Both plugins build + tests pass under conda ffmpeg 8.1.2 (mp4 4/4, lerobot 8/8). This completes linux-64: all ~21 plugins now build under conda.

facontidavide and others added 18 commits June 18, 2026 18:58

build(arrow_helpers): link Arrow via pj_target_link_arrow

9907041

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

build(parquet): link Arrow/Parquet via pj_target_link_*

3a91533

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

build(lerobot): link Arrow/Parquet via pj_target_link_*

bcb4224

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

build(mcap): link lz4/zstd via pj_target_link_*

e8907f4

build(pj_bridge): link zstd via pj_target_link_zstd + unify pin to 1.5.7

599d828

build(udp): link asio via pj_target_link_asio

e076a49

build(mqtt): link paho-mqtt-cpp via pj_target_link_paho_mqtt

c7a1c96

build(mosaico): probe conda ArrowFlight::arrow_flight_shared

8d6c097

docs(zmq): note cppzmq needs no dependency normalization

1d2a75f

build(pixi): plugins pixi.toml backbone (sysroot>=2.34, SDK channel, …

1d7c328

…features)

build(cmake): add pj_target_link_lua (conda lua ships only builtin Fi…

eecc661

…ndLua)

build(protobuf): test links libprotobuf/libprotoc (conda has no proto…

58e82fc

…buf::protobuf umbrella)

build(colormap): link lua via pj_target_link_lua

0ebabd0

build(pixi): point SDK channel at prefix.dev (0.8.1 published)

763ed16

facontidavide changed the title ~~build(cmake): dependency-target normalization layer (Conan↔conda-forge)~~ build(pixi): plugins build under conda — dependency normalization + pixi backbone Jun 18, 2026

facontidavide added 5 commits June 18, 2026 23:09

facontidavide marked this pull request as draft June 24, 2026 19:47

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build(pixi): plugins build under conda — dependency normalization + pixi backbone#156

build(pixi): plugins build under conda — dependency normalization + pixi backbone#156
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phase2-dep-normalization

facontidavide commented Jun 18, 2026 •

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facontidavide commented Jun 18, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Summary

1. Dependency-target normalization (cmake/PjDependencyTargets.cmake)

2. pixi build backbone

Verification

Notes

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facontidavide commented Jun 18, 2026 •

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1. Dependency-target normalization (`cmake/PjDependencyTargets.cmake`)