Add CUDA support and example in devcontainer and CMake configuration

.devcontainer/Dockerfile

@@ -74,10 +74,6 @@ RUN if id -u $USERNAME >/dev/null 2>&1; then \
 
 USER $USERNAME
 
-# * Post-installation Actions for CUDA
-RUN echo "export PATH=\${PATH}:/usr/local/cuda/bin" >> ~/.bashrc
-RUN echo "export LD_LIBRARY_PATH=\${LD_LIBRARY_PATH}:/usr/local/cuda/lib64" >> ~/.bashrc
-
 # * Setup python virtual environment
 # RUN python3 -m venv venv \
 #     && . venv/bin/activate \

.devcontainer/devcontainer.json

@@ -36,6 +36,11 @@
 		"gpu": "optional"
 	},
 
+	"remoteEnv": {
+		"PATH": "${containerEnv:PATH}:/usr/local/cuda/bin",
+		"LD_LIBRARY_PATH": "${containerEnv:LD_LIBRARY_PATH}:/usr/local/cuda/lib64"
+	},
+
 	// Use 'postCreateCommand' to run commands after the container is created.
 	"postCreateCommand": "/bin/bash -c 'uname -a && source ~/.bashrc && pre-commit install --install-hooks' && /bin/bash",
 

.vscode/settings.json

@@ -20,6 +20,7 @@
     "c-cpp-flylint.excludeFromWorkspacePaths": [
         "/usr/include/**",
         "/usr/local/include/**",
+        // "/usr/local/cuda/include/**"
     ],
     "c-cpp-flylint.standard": [
         "c11",

CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.18)
 
 # Include cmake module path
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
@@ -46,6 +46,9 @@ cmake_dependent_option(BUILD_TESTING "Enable testing" ON "CMAKE_PROJECT_NAME STR
 # Set the default position-independent code option
 cmake_dependent_option(CMAKE_POSITION_INDEPENDENT_CODE "Generate position-independent code" ON "BUILD_SHARED_LIBS" OFF)
 
+# Dependencies Setup
+include(cuda)
+
 # Setup the test
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
     include(CTest)
@@ -101,6 +104,13 @@ target_compile_options(example_debug PUBLIC
     -g # Generate debug information
 )
 
+# CUDA executable example
+if(CMAKE_CUDA_COMPILER)
+    add_executable(example_cuda
+        src/example_cuda.cu
+    )
+endif()
+
 # Setup sanitizers
 add_custom_target(sanitizer)
 include(cppcheck)

README.md

@@ -80,6 +80,7 @@ This template is designed with a primary focus on enabling individuals to set up
     ┃ ┣ 📜ExampleProjectConfig.cmake.in
     ┃ ┣ 📜Version.h.in
     ┃ ┣ 📜clang-tidy.cmake
+    ┃ ┣ 📜cuda.cmake
     ┃ ┗ 📜cppcheck.cmake
     ┣ 📦docs
     ┃ ┣ 📜index.md
@@ -88,7 +89,8 @@ This template is designed with a primary focus on enabling individuals to set up
     ┃ ┃ ┗ 📜Version.h
     ┣ 📂src
     ┃ ┣ 📜example_debug.cpp
-    ┃ ┗ 📜example_project.cpp
+    ┃ ┣ 📜example_project.cpp
+    ┃ ┗ 📜example_cuda.cu
     ┣ 📂test
     ┃ ┣ 📜CMakeLists.txt
     ┃ ┗ 📜test_example.cpp
@@ -110,6 +112,13 @@ This template is designed with a primary focus on enabling individuals to set up
   - Rename folder name of [***include/ExampleProject***](include)
   - Rename [***cmake/ExampleProjectConfig.cmake.in***](cmake)
 
+3. CUDA (Optional)
+  - Uncomment cuda features in [***devcontainer.json***](.devcontainer/devcontainer.json)
+
+4. Documentations via mkdocs (Optional)
+  - Check **GitHub Pages** and Select **Deploy from a branch**, Branch as **gh-pages**, **/(root)**.
+  - Check [***docs workflow***](.github/workflows/docs.yml), [***mkdocs configuration***](mkdocs.yml)
+
 ---
 
 ## 📜 License
@@ -129,7 +138,7 @@ For any inquiries or support, please contact [email protected]
 ---
 
 ## ✅ TODO
-- [ ] Automatically detect CUDA and CUDA hardware.
+- [x] Automatically detect CUDA and CUDA hardware.
 - [ ] ROS2 branch, for ROS2-based packages.
 - [x] Project documentation template (using mkdocs).
 - [ ] Option for direct use of Docker image including all major features.

cmake/cuda.cmake

@@ -0,0 +1,27 @@
+# Copyright 2024 timetravelCat
+#
+# 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
+#
+# https://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.
+
+include(CheckLanguage)
+check_language(CUDA)
+
+if(CMAKE_CUDA_COMPILER)
+    enable_language(CUDA)
+    set(CMAKE_CUDA_STANDARD 17)
+    set(CMAKE_CUDA_STANDARD_REQUIRED ON)
+    set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
+
+    # https://developer.nvidia.com/cuda-gpus
+    # native is available in 3.24 https://cmake.org/cmake/help/latest/prop_tgt/CUDA_ARCHITECTURES.html#prop_tgt:CUDA_ARCHITECTURES
+    set(CMAKE_CUDA_ARCHITECTURES 86)
+endif()

src/example_cuda.cu

@@ -0,0 +1,49 @@
+/* Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *  * Neither the name of NVIDIA CORPORATION nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// System includes
+#include <stdio.h>
+
+// CUDA runtime
+#include <cuda_runtime.h>
+
+__global__ void testKernel(int val) {
+    printf("[%d, %d]:\t\tValue is:%d\n", blockIdx.y * gridDim.x + blockIdx.x, threadIdx.z * blockDim.x * blockDim.y + threadIdx.y * blockDim.x + threadIdx.x, val);
+}
+
+int main(int argc, char** argv) {
+    printf("printf() is called. Output:\n\n");
+
+    // Kernel configuration, where a two-dimensional grid and
+    // three-dimensional blocks are configured.
+    dim3 dimGrid(2, 2);
+    dim3 dimBlock(2, 2, 2);
+    testKernel<<<dimGrid, dimBlock>>>(10);
+    cudaDeviceSynchronize();
+
+    return EXIT_SUCCESS;
+}