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Build the python poc #239

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Build the python poc #239

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4f9f8af
feat: allow the developer to build the conan project in editable and …
CzBalti Apr 24, 2024
42e1ffa
fix: Implement review findings
CzBalti May 13, 2024
7ec0c14
fixup! fix: Implement review findings
CzBalti May 15, 2024
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19 changes: 13 additions & 6 deletions conanfile.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@ class Cloe(ConanFile):
"cloe-plugin-noisy-sensor",
"cloe-plugin-speedometer",
"cloe-plugin-virtue",
"cloe-databroker-bindings",
"cloe-python-api"
)
options = {
"shared": [True, False],
Expand Down Expand Up @@ -99,7 +101,7 @@ def requirements(self):
if self.options.engine_server:
self.requires("oatpp/1.3.0")
if self.options.python_api:
self.requires("pybind11/2.10.1")
self.requires("pybind11/2.11.1")

def build_requirements(self):
self.test_requires("gtest/1.13.0")
Expand Down Expand Up @@ -196,13 +198,17 @@ def package_info(self):
self.cpp_info.includedirs.append(os.path.join(self.build_folder, "include"))
bindir = os.path.join(self.build_folder, "bin")
luadir = os.path.join(self.source_folder, "engine/lua")
pydir = os.path.join(self.source_folder, "python/python_api")
pypath_build = os.path.join(self.build_folder, "lib/cloe/python")
pypath_source = os.path.join(self.source_folder, "python/python_api")
libdir = os.path.join(self.build_folder, "lib")
cloe_bindings_path = libdir
else:
self.cpp_info.builddirs.append(os.path.join("lib", "cmake", "cloe"))
bindir = os.path.join(self.package_folder, "bin")
luadir = os.path.join(self.package_folder, "lib/cloe/lua")
pydir = os.path.join(self.package_folder, "lib/cloe/python")
pypath_build = os.path.join(self.package_folder, "lib/cloe/python")
pypath_source = pypath_build
cloe_bindings_path = os.path.join(self.package_folder, "lib/cloe/python/cloe")
libdir = None

self.output.info(f"Appending PATH environment variable: {bindir}")
Expand All @@ -213,6 +219,7 @@ def package_info(self):
self.output.info(f"Appending LD_LIBRARY_PATH environment variable: {libdir}")
self.runenv_info.append_path("LD_LIBRARY_PATH", libdir)
if self.options.python_api:
self.output.info(f"Appending PYHTONPATH and CLOE_PYTHON_BINDINGS environment variables: {pydir}")
self.runenv_info.prepend_path("PYTHONPATH", str(pydir))
self.runenv_info.prepend_path("CLOE_PYTHON_BINDINGS", str(pydir))
self.output.info(f"Appending PYHTONPATH and CLOE_PYTHON_BINDINGS environment variables")
self.runenv_info.prepend_path("PYTHONPATH", str(pypath_source))
self.runenv_info.prepend_path("PYTHONPATH", str(cloe_bindings_path))
self.runenv_info.prepend_path("CLOE_PYTHON_BINDINGS", str(pypath_build))
8 changes: 8 additions & 0 deletions plugins/basic/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,14 @@ set_target_properties(_basic_bindings PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED ON
)

set_target_properties(_basic_bindings
PROPERTIES
ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloe/python"
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloe/python"
)


install(TARGETS _basic_bindings LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/cloe/python)

include(CTest)
Expand Down
2 changes: 1 addition & 1 deletion python/python_api/cloe/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
from ._runner import TestRunner, Simulation
from ._cloe_bindings import CallbackResult
from _cloe_bindings import CallbackResult
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Is this necessary / safe?

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Above you're still importing from ._runner, implying that mechanism still works.
So what is removing relative import gaining here?

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In editable mode the _cloe_bindings.so file is not next to the python file so relative import won't work.
Python finds it through the PYTHONPATH env variable.

14 changes: 5 additions & 9 deletions python/python_api/cloe/_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,13 @@
from datetime import timedelta
from pathlib import Path
import os
import sys
from time import sleep
from typing import Optional, Dict, Any
from queue import Queue, Empty

from ._cloe_bindings import SimulationDriver, CallbackResult, DataBrokerAdapter, SimulationDriver, Stack
from ._cloe_bindings import Simulation as _Simulation
from _cloe_bindings import SimulationDriver, CallbackResult, DataBrokerAdapter, SimulationDriver, Stack
from _cloe_bindings import Simulation as _Simulation


@dataclass
Expand Down Expand Up @@ -176,8 +177,7 @@ def log_level(self, value):
self._sim.log_level = value

def bind_plugin_types(self, lib: Path):
import importlib
import sys
import importlib.util
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components = str(lib.name).split('.')
module_name = components[0]
print(f"Attempting to load module {module_name} from {lib}")
Expand All @@ -194,11 +194,7 @@ def bind_plugin_types(self, lib: Path):
def __init__(self, stack: Optional[Dict[str, Any]] = None):
self.databroker_adapter = DataBrokerAdapter()
self.driver = SimulationDriver(self.databroker_adapter)
if "CLOE_PLUGIN_PATH" not in os.environ:
# todo this is just here for debugging
plugin_paths = ["/home/ohf4fe/dev/sil/cloe/build/linux-x86_64-gcc-8/Debug/lib/cloe"]
else:
plugin_paths = os.environ["CLOE_PLUGIN_PATH"].split(":")
plugin_paths = os.environ["CLOE_PLUGIN_PATH"].split(":")
full_config_stack = Stack(plugin_paths)
if not stack:
# todo this is just here for debugging
Expand Down
9 changes: 0 additions & 9 deletions python/python_api/cloe/src/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,3 @@
set(PYTHON_BINDINGS_LOCAL_DEV OFF CACHE BOOL "This sets the compiler output to the local source tree so
the cloe python project can be simply imported.")
set(CLOE_FIND_PACKAGES ON CACHE BOOL "Call find_package() for cloe packages")
set(CLOE_ENGINE_VERSION ${CLOE_PROJECT_VERSION})
if(CLOE_FIND_PACKAGES)
Expand All @@ -24,13 +22,6 @@ set_target_properties(_cloe_bindings PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED ON
)
if(PYTHON_BINDINGS_LOCAL_DEV)
set_target_properties(_cloe_bindings
PROPERTIES
ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/.."
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/.."
)
endif()

target_link_libraries(_cloe_bindings PUBLIC cloe::stacklib cloe::databroker-bindings cloe::simulation)
target_include_directories(_cloe_bindings PRIVATE ${PROJECT_SOURCE_DIR}/engine/src)
Expand Down
31 changes: 29 additions & 2 deletions python/python_api/cloe/test/config_minimator_infinite.json
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Expand Up @@ -15,8 +15,35 @@
},
"simulators": [
{
"binding": "minimator"
// name is automatically "minimator"
"binding": "minimator",
"args": {
"vehicles": {
"ego1": {
"ego_sensor_mockup": {
"ego_object": {
"velocity": 20.0,
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
},
"object_sensor_mockup": {
"objects": [
{
"velocity": 0.0,
"position": {
"x": 10.0,
"y": 0.0,
"z": 0.0
}
}
]
}
}
}
}
}
],
"vehicles": [
Expand Down
31 changes: 25 additions & 6 deletions python/python_api/cloe/test/config_minimator_smoketest.json
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Expand Up @@ -3,18 +3,37 @@
"include": [
"config_minimator_infinite.json"
],
"logging": [
{
"name": "*",
"level": "error"
}
],
"server": {
"listen": false,
"listen_port": 23456
},
"triggers": [
{"event": "virtue/failure", "action": "fail"},
{
"label": "Vehicle default should never move with the minimator binding.",
"event": "default_speed/kmph=>0.0", "action": "fail"
"event": "virtue/failure",
"action": "fail"
},
{"event": "start", "action": "log=info: Running minimator/basic smoketest."},
{"event": "start", "action": "realtime_factor=-1"},
{"event": "time=60", "action": "succeed"}
{
"label": "Vehicle default should never move at a velocity greater that 72 kmph with the minimator binding.",
"event": "default_speed/kmph=>80.0",
"action": "fail"
},
{
"event": "start",
"action": "log=info: Running minimator/basic smoketest."
},
{
"event": "start",
"action": "realtime_factor=-1"
},
{
"event": "time=60",
"action": "succeed"
}
]
}
1 change: 1 addition & 0 deletions runtime/include/cloe/databroker/data_broker_meta_information.hpp
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Expand Up @@ -3,6 +3,7 @@
#include <typeindex>
#include <any>
#include <unordered_map>
#include <string>

namespace cloe {
/**
Expand Down
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