ci/cd, fix sigint, LK_LOG -> std::cout/cerr, align with sdkl

.github/workflows/ci.yml

@@ -0,0 +1,112 @@
+# Copyright 2026 LiveKit, Inc.
+#
+# 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.
+
+name: CI
+on:
+  schedule:
+    - cron: 0 0 * * 1
+  workflow_dispatch:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  push:
+    branches: [main]
+concurrency:
+  group: "ci"
+  cancel-in-progress: true
+jobs:
+  license-check:
+    name: License Check
+    uses: ./.github/workflows/license_check.yml
+
+  pin-check:
+    name: Pin Check
+    uses: ./.github/workflows/pin_check.yml
+
+  build:
+    name: Build (${{ matrix.name }})
+    runs-on: ${{ matrix.runs_on }}
+    permissions:
+      contents: read
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: macOS arm64
+            runs_on: macos-latest
+          - name: Linux x64
+            runs_on: ubuntu-24.04
+          - name: Linux ARM64
+            runs_on: ubuntu-24.04-arm
+    steps:
+      - name: Checkout
+        uses: actions/checkout@34e114876b0b11c390a56381ad16ebd13914f8d5 # v4.3.1
+
+      - name: Install Linux dependencies
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            build-essential \
+            cmake \
+            git \
+            libgtk-3-dev \
+            libglfw3-dev \
+            libgl1-mesa-dev \
+            libglu1-mesa-dev \
+            liblz4-dev \
+            libprotobuf-dev \
+            libssl-dev \
+            libudev-dev \
+            libusb-1.0-0-dev \
+            libxss-dev \
+            libzstd-dev \
+            pkg-config \
+            protobuf-compiler \
+            wget \
+            zlib1g-dev \
+          && sudo apt-get autoremove -y && sudo apt-get clean -y
+
+      - name: Build and install librealsense2 from source (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          set -euxo pipefail
+          src="${{ runner.temp }}/librealsense"
+          librealsense_ref="v2.55.1"
+          git clone --branch "$librealsense_ref" --depth 1 --single-branch https://github.com/realsenseai/librealsense.git "$src"
+          cd "$src"
+          sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
+          sudo udevadm control --reload-rules && sudo udevadm trigger
+          mkdir -p build && cd build
+          cmake ../ -DCMAKE_BUILD_TYPE=Release
+          make -j"$(( $(nproc) - 1 ))"
+          sudo make install
+
+      - name: Install macOS dependencies
+        if: runner.os == 'macOS'
+        run: |
+          brew install \
+            cmake \
+            librealsense \
+            lz4 \
+            pkg-config \
+            protobuf \
+            zstd
+
+      - name: Setup project dependencies
+        run: ./setup_realsense.sh
+
+      - name: Build project
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        run: ./build.sh

.github/workflows/license_check.yml

@@ -0,0 +1,37 @@
+# Copyright 2026 LiveKit, Inc.
+#
+# 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.
+
+name: License Check
+on:
+  workflow_call: {}
+  workflow_dispatch: {}
+jobs:
+  license-check:
+    name: License Check
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+      - name: Checkout
+        uses: actions/checkout@34e114876b0b11c390a56381ad16ebd13914f8d5 # v4.3.1
+      - name: Check License Headers
+        shell: bash
+        run: |
+          shopt -s globstar
+          # ghcr.io/google/addlicense v1.2.0
+          docker run --rm -v ${PWD}:/src -w /src ghcr.io/google/addlicense@sha256:5a48f41ccc8cf3fdd04499649f02a9ee5877ab6f39fd1ac18fd1db5eb1062c5a \
+            -check \
+            -l apache \
+            -c "LiveKit, Inc." \
+            **/*.{cpp,h}

.github/workflows/pin_check.yml

@@ -0,0 +1,32 @@
+# Copyright 2026 LiveKit, Inc.
+#
+# 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.
+
+name: Pin Check
+on:
+  workflow_call: {}
+  workflow_dispatch:
+
+jobs:
+  pin-check:
+    name: Pin Check
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+      - name: Checkout
+        uses: actions/checkout@34e114876b0b11c390a56381ad16ebd13914f8d5 # v4.3.1
+      - name: Pin Check
+        uses: suzuki-shunsuke/pinact-action@cf51507d80d4d6522a07348e3d58790290eaf0b6 # v2.0.0
+        with:
+          skip_push: true

CMakeLists.txt

@@ -38,14 +38,40 @@ else()
 endif()
 find_package(LiveKit CONFIG REQUIRED)
 
-find_package(Protobuf REQUIRED CONFIG)
+if(TARGET LiveKit::livekit)
+  set(LIVEKIT_CORE_TARGET LiveKit::livekit)
+elseif(TARGET livekit)
+  set(LIVEKIT_CORE_TARGET livekit)
+else()
+  message(FATAL_ERROR
+    "Could not find a LiveKit core target (expected LiveKit::livekit or livekit).")
+endif()
+
+# Prefer a package config install so modern protobuf releases can expose their
+# absl/utf8_range transitive dependencies. Fall back to CMake's built-in module
+# for environments such as Ubuntu's libprotobuf-dev.
+find_package(Protobuf CONFIG QUIET)
+if(NOT TARGET protobuf::libprotobuf)
+  find_package(Protobuf REQUIRED)
+endif()
 find_package(realsense2 REQUIRED)
 find_package(PkgConfig REQUIRED)
-pkg_check_modules(SPDLOG REQUIRED IMPORTED_TARGET spdlog)
 pkg_check_modules(ZSTD REQUIRED IMPORTED_TARGET libzstd)
 pkg_check_modules(LZ4  REQUIRED IMPORTED_TARGET liblz4)
 find_package(ZLIB REQUIRED)
 
+function(prepend_livekit_includes target_name)
+  get_target_property(_livekit_include_dirs
+    ${LIVEKIT_CORE_TARGET}
+    INTERFACE_INCLUDE_DIRECTORIES
+  )
+  if(_livekit_include_dirs)
+    target_include_directories(${target_name} BEFORE PRIVATE
+      ${_livekit_include_dirs}
+    )
+  endif()
+endfunction()
+
 set(REALSENSE_MCAP_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 set(REALSENSE_EXTERNAL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/external")
 set(REALSENSE_GENERATED_DIR "${CMAKE_CURRENT_SOURCE_DIR}/generated")
@@ -90,12 +116,12 @@ add_executable(realsense_publisher
     ${CMAKE_CURRENT_SOURCE_DIR}
   )
   target_link_libraries(realsense_publisher PRIVATE
-    LiveKit::livekit
-    PkgConfig::SPDLOG
+    ${LIVEKIT_CORE_TARGET}
     ${realsense2_LIBRARY}
     protobuf::libprotobuf
     ZLIB::ZLIB
   )
+  prepend_livekit_includes(realsense_publisher)
 
   add_library(mcap_recorder_core
     ${REALSENSE_MCAP_DIR}/src/common/mcap_recorder_core.cpp
@@ -129,7 +155,7 @@ add_executable(realsense_publisher
   )
   target_link_libraries(mcap_recorder PRIVATE
     mcap_recorder_core
-    LiveKit::livekit
-    PkgConfig::SPDLOG
+    ${LIVEKIT_CORE_TARGET}
   )
+  prepend_livekit_includes(mcap_recorder)
 message(STATUS "LiveKit participants: realsense_publisher, mcap_recorder")

README.md

@@ -56,3 +56,5 @@ Then point this project at that prefix:
 - `mcap_recorder`: subscriber/recorder participant. It connects to the same room,
   subscribes to the published RGB + depth tracks, and writes the received data
   back out to an MCAP file.
+
+__NOTE: On macOS you may need to run executables with `sudo`__