Holoscan SDK 2.5.0 Release

Co-authored-by: Alexis Girault <[email protected]> Co-authored-by: Andreas Heumann <[email protected]> Co-authored-by: Cindy Wilkinson <[email protected]> Co-authored-by: Cristiana Dinea <[email protected]> Co-authored-by: Denis Leshchev <[email protected]> Co-authored-by: Gigon Bae <[email protected]> Co-authored-by: Gregory Lee <[email protected]> Co-authored-by: Ian Stewart <[email protected]> Co-authored-by: Julien Jomier <[email protected]> Co-authored-by: Shekhar Dwivedi <[email protected]> Co-authored-by: Tom Birdsong <[email protected]> Co-authored-by: Victor Chang <[email protected]> Co-authored-by: Wendell Hom <[email protected]>
nvidia-holoscan · Oct 1, 2024 · f3d80c6 · f3d80c6
1 parent 9856d17
commit f3d80c6
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diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -278,7 +278,7 @@
             "name": "(gdb) examples/conditions/periodic/cpp",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${command:cmake.buildDirectory}/examples/conditions/periodic/cpp/periodic_ping",
+            "program": "${command:cmake.buildDirectory}/examples/conditions/periodic/cpp/ping_periodic",
             "args": [],
             "stopAtEntry": false,
             "cwd": "${command:cmake.buildDirectory}",

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -184,6 +184,8 @@ list(APPEND HOLOSCAN_INSTALL_TARGETS
     holoinfer
     infer_utils
     logger
+    nvtx3-c
+    nvtx3-cpp
     op_async_ping_rx
     op_async_ping_tx
     op_bayer_demosaic
@@ -200,6 +202,7 @@ list(APPEND HOLOSCAN_INSTALL_TARGETS
     op_video_stream_recorder
     op_video_stream_replayer
     op_v4l2
+    profiler
     spdlog_logger
 )
 if(HOLOSCAN_BUILD_LIBTORCH)

diff --git a/Dockerfile b/Dockerfile
@@ -134,6 +134,8 @@ RUN git clone --depth 1 --branch v${GRPC_VERSION} \
          https://github.com/grpc/grpc.git src
 RUN cmake -S src -B build -G Ninja \
          -D CMAKE_BUILD_TYPE=Release \
+         -D CMAKE_CXX_VISIBILITY_PRESET=hidden \
+         -D CMAKE_VISIBILITY_INLINES_HIDDEN=1 \
          -D gRPC_INSTALL=ON \
          -D gRPC_BUILD_TESTS=OFF
 RUN cmake --build build -j $(( `nproc` > ${MAX_PROC} ? ${MAX_PROC} : `nproc` ))
@@ -288,7 +290,8 @@ RUN install -m 0755 -d /etc/apt/keyrings \
         tee /etc/apt/sources.list.d/docker.list > /dev/null
 
 # APT INSTALLS
-#  valgrind - static analysis
+#  valgrind - dynamic analysis
+#  clang-tidy - static analysis
 #  xvfb - testing on headless systems
 #  libx* - X packages
 #  libvulkan-dev, glslang-tools - for Vulkan apps (Holoviz)
@@ -306,6 +309,7 @@ RUN install -m 0755 -d /etc/apt/keyrings \
 RUN apt-get update \
     && apt-get install --no-install-recommends -y \
         valgrind="1:3.18.1-*" \
+        clang-tidy="1:14.0-*" \
         xvfb="2:21.1.4-*" \
         libx11-dev="2:1.7.5-*" \
         libxcb-glx0="1.14-*" \

diff --git a/NOTICE.txt b/NOTICE.txt
@@ -231,6 +231,10 @@ nvpro_core (https://github.com/nvpro-samples/nvpro_core)
 Copyright (c) 2014-2023, NVIDIA CORPORATION.  All rights reserved.
 Licensed under Apache 2.0 (https://github.com/nvpro-samples/nvpro_core/blob/master/LICENSE)
 
+NVTX
+Copyright 2009-2022, NVIDIA CORPORATION
+Licensed under Apache-2.0 (http://www.apache.org/licenses/LICENSE-2.0)
+
 ONNX Runtime (https://github.com/microsoft/onnxruntime)
 Copyright (c) Microsoft Corporation
 Licensed under MIT (https://github.com/microsoft/onnxruntime/blob/v1.15.1/LICENSE)

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.4.0
+2.5.0
diff --git a/cmake/deps/gtest_rapids.cmake b/cmake/deps/gtest_rapids.cmake
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -13,10 +13,40 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# https://docs.rapids.ai/api/rapids-cmake/stable/packages/rapids_cpm_gtest.html
-include(${rapids-cmake-dir}/cpm/gtest.cmake)
-include(${rapids-cmake-dir}/cpm/package_override.cmake)
+# Derived from https://docs.rapids.ai/api/rapids-cmake/stable/packages/rapids_cpm_gtest
+#
+# Workaround for issue where `FetchContent_Declare(GTest)` does not respect `SOURCE_DIR` for caching.
+# https://github.com/google/googletest/issues/4384
+# https://gitlab.kitware.com/cmake/cmake/-/issues/25714
+set(version 1.12.1)
+rapids_cpm_find(googletest ${version}
+    GLOBAL_TARGETS GTest::gtest GTest::gmock GTest::gtest_main GTest::gmock_main
+    CPM_ARGS FIND_PACKAGE_ARGUMENTS "EXACT"
+    GIT_REPOSITORY "https://github.com/google/googletest.git"
+    GIT_TAG release-${version}
+    GIT_SHALLOW ON
+    PATCH_COMMAND ""
+    EXCLUDE_FROM_ALL OFF
+    OPTIONS "INSTALL_GTEST OFF"
+)
+
+# Propagate up variables that CPMFindPackage provide
+set(googletest_SOURCE_DIR "${googletest_SOURCE_DIR}" PARENT_SCOPE)
+set(googletest_BINARY_DIR "${googletest_BINARY_DIR}" PARENT_SCOPE)
+set(googletest_ADDED "${googletest_ADDED}" PARENT_SCOPE)
+set(googletest_VERSION ${version} PARENT_SCOPE)
+
+if(TARGET GTest::gtest AND NOT TARGET GTest::gmock)
+    message(WARNING "The googletest package found doesn't provide gmock. If you run into 'GTest::gmock target not found' issues you need to use a different version of GTest.The easiest way is to request building GTest from source by adding the following to the cmake invocation:
+    '-DCPM_DOWNLOAD_googletest=ON'")
+endif()
+
+if(NOT TARGET GTest::gtest AND TARGET gtest)
+    add_library(GTest::gtest ALIAS gtest)
+    add_library(GTest::gtest_main ALIAS gtest_main)
+endif()
 
-# Using GTest 1.12.1
-rapids_cpm_package_override("${CMAKE_SOURCE_DIR}/cmake/deps/rapids-cmake-packages.json")
-rapids_cpm_gtest()
+if(NOT TARGET GTest::gmock AND TARGET gmock)
+    add_library(GTest::gmock ALIAS gmock)
+    add_library(GTest::gmock_main ALIAS gmock_main)
+endif()
diff --git a/cmake/deps/nvtx3.cmake b/cmake/deps/nvtx3.cmake
@@ -0,0 +1,35 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# https://docs.rapids.ai/api/rapids-cmake/stable/command/rapids_find_package.html#
+include(${rapids-cmake-dir}/cpm/find.cmake)
+
+rapids_cpm_find(nvtx3 3.1
+    GLOBAL_TARGETS nvtx3-c nvtx3-cpp
+
+    CPM_ARGS
+    GITHUB_REPOSITORY NVIDIA/NVTX
+    GIT_TAG v3.1.0-c-cpp
+    GIT_SHALLOW TRUE
+    EXCLUDE_FROM_ALL
+)
+
+if(nvtx3_ADDED)
+    # Install the headers needed for development with the SDK
+    install(DIRECTORY ${nvtx3_SOURCE_DIR}/include
+        DESTINATION "include"
+        COMPONENT "holoscan-dependencies"
+        )
+endif()
diff --git a/cmake/deps/rapids-cmake-packages.json b/cmake/deps/rapids-cmake-packages.json
diff --git a/cmake/deps/yaml-cpp_rapids.cmake b/cmake/deps/yaml-cpp_rapids.cmake
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -34,10 +34,13 @@ include(${rapids-cmake-dir}/cpm/find.cmake)
 # (https://cmake.org/cmake/help/latest/variable/CMAKE_FIND_USE_PACKAGE_REGISTRY.html#variable:CMAKE_FIND_USE_PACKAGE_REGISTRY)
 set(CMAKE_FIND_USE_PACKAGE_REGISTRY FALSE)
 
+set(patch_command ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_SOURCE_DIR}/patches/yaml-cpp.patch <SOURCE_DIR> && git apply <SOURCE_DIR>/yaml-cpp.patch)
+
 # https://github.com/cpm-cmake/CPM.cmake/wiki/More-Snippets#yaml-cpp
 set(YAML_CPP_CPM_ARGS
     GITHUB_REPOSITORY jbeder/yaml-cpp
     GIT_TAG yaml-cpp-0.7.0
+    PATCH_COMMAND ${patch_command}
     OPTIONS
     "YAML_CPP_BUILD_TESTS Off"
     "YAML_CPP_BUILD_CONTRIB Off"

diff --git a/cmake/modules/HoloscanCPack.cmake b/cmake/modules/HoloscanCPack.cmake
@@ -59,67 +59,47 @@ set(CPACK_COMPONENTS_ALL
   holoscan-cpack
   )
 
-# Method to get all CUDA debian package names up to the current MAJOR-MINOR version
-if(NOT DEFINED CUDAToolkit_VERSION)
-  find_package(CUDAToolkit REQUIRED)
-endif()
-function(get_minor_version_packages dep_name output_string)
-  foreach(minor RANGE ${CUDAToolkit_VERSION_MINOR} 0 -1)
-    list(APPEND packages "${dep_name}-${CUDAToolkit_VERSION_MAJOR}-${minor}")
-  endforeach()
-  list(JOIN packages " | " ${output_string})
-  set(${output_string} ${${output_string}} PARENT_SCOPE)
-endfunction()
-set(CUDA_MAJOR ${CUDAToolkit_VERSION_MAJOR})
 
 # - cuda-nvcc: needed to find Holoscan with CMake (FindCUDAToolkit requirement)
 #   Note: not needed at runtime
 # - cuda-cudart-dev: needed for holoscan core and some operators
 #   Note: only cuda-cudart (non dev) needed at runtime
-get_minor_version_packages("cuda-nvcc" NVCC_PACKAGES)
-get_minor_version_packages("cuda-cudart-dev" CUDART_DEV_PACKAGES)
 set(CPACK_DEBIAN_PACKAGE_DEPENDS
-"${NVCC_PACKAGES}, libcudart.so.${CUDA_MAJOR}-dev | ${CUDART_DEV_PACKAGES}"
+  "cuda-nvcc-12-2 | cuda-nvcc-12-9 | cuda-nvcc-12-8 | cuda-nvcc-12-7 | cuda-nvcc-12-6 | cuda-nvcc-12-5 | cuda-nvcc-12-4 | cuda-nvcc-12-3 | cuda-nvcc-12-1 | cuda-nvcc-12-0, \
+  cuda-cudart-dev-12-2 | libcudart.so.12-dev"
 )
 # - libnvinfer-bin: meta package including required nvinfer libs, cublas, and cudnn.
-#   Needed for TensorRT and OnnxRuntime inference backends
-# - cuda-nvrtc: needed by cupy
-#   Note: only libcudart (non dev) needed at runtime
-#   Note: also a dependency of cuda-nvcc
-# - libcublas: needed by TensorRT and OnnxRuntime inference backends
+#   Needed for all inference backends
+#   Note: only libnvonnxparsers and libnvinfer-plugin needed at runtime
+# - libcublas: needed by all inference backends
 #   Note: also a dependency of the libnvinfer packages
+# - cuda-nvrtc: libtorch & CuPy dependency
+#   Note: also a dependency of cuda-nvcc
+#   Note: should be able to use libnvrtc.so.12, but doesn't work
 # - libcufft: needed by cupy and OnnxRuntime inference backend
-# - libcurand: needed by cupy
+# - libcurand: needed by libtorch and cupy
 # - libcusolver: needed by cupy
 # - libcusparse: needed by cupy
 # - libnpp-dev: needed for format_converter and bayer_demosaic operators
 #   Note: only libnpp (non dev) needed at runtime
 # - libnvjitlink: needed by cupy
-# - libgomb1: needed by cupy
-# - libvulkan1 : needed for holoviz operator
+# - libgomp1: needed by cupy
+# - libvulkan1: needed for holoviz operator
 # - libegl1: needed for holoviz operator in headless mode
 # - libv4l-0: needed for v4l2 operator
 # - python3-cloudpickle: needed for python distributed applications
 # - python3-pip: needed for holoscan CLI (packager, runner)
-get_minor_version_packages("cuda-nvrtc" NVRTC_PACKAGES)
-get_minor_version_packages("libcublas" CUBLAS_PACKAGES)
-get_minor_version_packages("libcufft" CUFFT_PACKAGES)
-get_minor_version_packages("libcurand" CURAND_PACKAGES)
-get_minor_version_packages("libcusolver" CUSOLVER_PACKAGES)
-get_minor_version_packages("libcusparse" CUSPARSE_PACKAGES)
-get_minor_version_packages("libnpp-dev" NPP_DEV_PACKAGES)
-get_minor_version_packages("libnvjitlink" NVJITLINK_PACKAGES)
-set(CPACK_DEBIAN_PACKAGE_RECOMMENDS
-"libnvinfer-bin (>= 8.6.1), \
-${NVRTC_PACKAGES}, \
-libcublas.so.${CUDA_MAJOR} | ${CUBLAS_PACKAGES}, \
-libcufft.so.${CUDA_MAJOR} | ${CUFFT_PACKAGES}, \
-libcurand.so.${CUDA_MAJOR} | ${CURAND_PACKAGES}, \
-libcusolver.so.${CUDA_MAJOR} | ${CUSOLVER_PACKAGES}, \
-libcusparse.so.${CUDA_MAJOR} | ${CUSPARSE_PACKAGES}, \
-libnpp.so.${CUDA_MAJOR}-dev | ${NPP_DEV_PACKAGES}, \
-libnvJitLink.so.${CUDA_MAJOR} | ${NVJITLINK_PACKAGES}, \
-libgomb1, \
+set(CPACK_DEBIAN_PACKAGE_RECOMMENDS "\
+libnvinfer-bin (>=8.6), libnvinfer-bin (<<9), \
+libcublas-12-2 | libcublas.so.12, \
+cuda-nvrtc-12-2 | cuda-nvrtc-12-9 | cuda-nvrtc-12-8 | cuda-nvrtc-12-7 | cuda-nvrtc-12-6 | cuda-nvrtc-12-5 | cuda-nvrtc-12-4 | cuda-nvrtc-12-3 | cuda-nvrtc-12-1 | cuda-nvrtc-12-0, \
+libcufft-12-2 | libcufft.so.11, \
+libcurand-12-2 | libcurand.so.10, \
+libcusolver-12-2 | libcusolver.so.11, \
+libcusparse-12-2 | libcusparse.so.12, \
+libnpp-dev-12-2 | libnpp.so.12-dev, \
+libnvjitlink-12-2 | libnvjitlink.so.12, \
+libgomp1, \
 libvulkan1, \
 libegl1, \
 libv4l-0, \

diff --git a/cmake/setup_dependencies.cmake b/cmake/setup_dependencies.cmake
@@ -50,6 +50,7 @@ superbuild_depend(ucx)
 superbuild_depend(v4l2)
 superbuild_depend(yaml-cpp_rapids)
 superbuild_depend(gxf)
+superbuild_depend(nvtx3)
 
 # Testing dependencies
 if(HOLOSCAN_BUILD_TESTS)
@@ -60,4 +61,4 @@ endif()
 if(HOLOSCAN_BUILD_PYTHON)
     find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
     superbuild_depend(pybind11)
-endif()
+endif()
diff --git a/docs/Dockerfile b/docs/Dockerfile
@@ -1,4 +1,4 @@
-# syntax=docker/dockerfile:1.2
+# syntax=docker/dockerfile:1.2@sha256:e2a8561e419ab1ba6b2fe6cbdf49fd92b95912df1cf7d313c3e2230a333fdbcc
 
 # SPDX-FileCopyrightText: Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0

diff --git a/docs/cli/hap.md b/docs/cli/hap.md
@@ -6,13 +6,11 @@
 
 ## Introduction
 
-The Holoscan Application Package specification extends the MONAI Deploy Application Package specification to provide
-the streaming capabilities, multi-fragment and other features of the Holoscan SDK.
+The Holoscan Application Package specification extends the MONAI Deploy Application Package specification to provide the streaming capabilities, multi-fragment, and other features of the Holoscan SDK.
 
 ## Overview
 
-This document includes the specification of the Holoscan Application Package (HAP). A HAP is a containerized application
-or service which is self-descriptive, as defined by this document.
+This document includes the specification of the Holoscan Application Package (HAP). A HAP is a containerized application or service which is self-descriptive, as defined by this document.
 
 ### Goal
 
@@ -63,8 +61,7 @@ The following assumptions relate to HAP execution, inspection and general usage:
 
 ## Requirements
 
-The following requirements MUST be met by the HAP specification to be considered complete and approved.
-All requirements marked as `MUST` or `SHALL` MUST be implemented in order to be supported by a HAP-ready hosting service.
+The following requirements MUST be met by the HAP specification to be considered complete and approved. All requirements marked as `MUST` or `SHALL` MUST be implemented in order to be supported by a HAP-ready hosting service.
 
 ### Single Artifact
 
@@ -381,7 +378,7 @@ The Application Manifest file provides information about the HAP's Application.
 | `version`                                            | No       | 0.0.0                   | string      | semantic version          | Version of the package.                                                                                       |
 
 > [Notes]
-> (1) Use of resource limits depend on the orchestration service or the hosting environement's configuration and implementation.
+> (1) Use of resource limits depend on the orchestration service or the hosting environment's configuration and implementation.
 > (2) Consider rounding up to a whole number as decimal values may not be supported by all orchestration/hosting services.
 
 The Package Manifest file provides information about the HAP's package layout. It is not intended as a mechanism for controlling how the HAP is used or how the HAP's Application is executed.
@@ -602,7 +599,7 @@ A HAP SHOULD provide at least one method to access the _embedded application_, _
 
     -   `/var/run/holoscan/export/`: when detected without any of the above being detected, the Method SHALL copy all of the above.
 
-Since a HAP is an OCI compliant container, a user can also run a HAP and log in to an interactive shell, using a method supported by the container engine and its command line interface, e.g. Docker supports this by setting the entrypoint option. The files in the HAP can then be opened or copied to the mapped volumes with shell commands or scripts. A specific implementation of a HAP may choose to streamline such a process with scripts and applicable user documentation.
+Since a HAP is an OCI compliant container, a user can also run a HAP and log in to an interactive shell, using a method supported by the container engine and its command line interface; e.g., Docker supports this by setting the entrypoint option. The files in the HAP can then be opened or copied to the mapped volumes with shell commands or scripts. A specific implementation of a HAP may choose to streamline such a process with scripts and applicable user documentation.
 
 ### Table of Important Paths