From 2c9b1d5b58d42f204a1cd7b49c84f23c0f3b89a9 Mon Sep 17 00:00:00 2001
From: dev <paul.k.bourelly@leidos.com>
Date: Mon, 20 May 2024 17:11:08 -0400
Subject: [PATCH] Update carma-clock to compile into python module using boost
 python

---
 .devcontainer/devcontainer.json |  2 +-
 CMakeLists.txt                  | 16 ++++++++++++++--
 Config.cmake.in                 |  4 ++++
 include/carma_clock.h           |  6 ++++++
 install_dependencies.sh         |  1 +
 python_wrapper_test.py          |  6 ++++++
 src/python_wrapper.cpp          | 16 ++++++++++++++++
 7 files changed, 48 insertions(+), 3 deletions(-)
 create mode 100755 python_wrapper_test.py
 create mode 100644 src/python_wrapper.cpp

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index bd64a37..d55574b 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -2,7 +2,7 @@
 // README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
 {
 	"name": "CARMA build image",
-	"image" : "ghcr.io/usdot-fhwa-stol/carma-builds-x64:latest",
+	"image" : "ghcr.io/usdot-fhwa-stol/carma-builds-x64:jammy",
 //	"image" : "carma_cmake_builder_x64",
 
 	// Features to add to the dev container. More info: https://containers.dev/features.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 416e773..795a296 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,23 +6,35 @@ set(CMAKE_MODULE_PATH "$ENV{CARMA_OPT_DIR}/cmake")
 set(CMAKE_CXX_STANDARD 17)
 
 
-project(carma-clock
+project(carma_clock
     DESCRIPTION "CARMA time library"
     HOMEPAGE_URL https://github.com/usdot-fhwa-stol/carma-time-lib
 	VERSION 0.0.1
     LANGUAGES CXX
 )
-find_package(Threads)
+include(cmake/dependencies.cmake)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 
 
 add_library(${PROJECT_NAME} SHARED)
+target_include_directories(${PROJECT_NAME} 
+  PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+)
+target_link_libraries( ${PROJECT_NAME} PUBLIC
+    Boost::python
+    Python3::Python
+)
+
 set_target_properties(${PROJECT_NAME} PROPERTIES
     SOVERSION 1
 )
 
 include(CommonSource)
 include(Testing)
+# Test for Python inclusion
+FILE(COPY python_wrapper_test.py DESTINATION .)
+ADD_TEST(NAME python_wrapper_test COMMAND ${PYTHON_EXECUTABLE} python_wrapper_test.py)
 include(CodeCoverage)
 include(InstallingGeneral)
 include(InstallingConfigs)
diff --git a/Config.cmake.in b/Config.cmake.in
index 8c9ad12..2896c58 100644
--- a/Config.cmake.in
+++ b/Config.cmake.in
@@ -2,4 +2,8 @@
 
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
 
+find_dependency(Boost COMPONENTS python REQUIRED )
+find_dependency(Threads)
+find_dependency(Python3 COMPONENTS Interpreter Development)
+
 check_required_components(@PROJECT_NAME@)
diff --git a/include/carma_clock.h b/include/carma_clock.h
index 85f8443..2adc0c8 100644
--- a/include/carma_clock.h
+++ b/include/carma_clock.h
@@ -21,6 +21,7 @@
 #include <mutex>
 #include <vector>
 
+
 namespace fwha_stol::lib::time {
 
 /** Alias for a timestamp in seconds. */
@@ -48,6 +49,11 @@ class CarmaClock {
      * @brief Destructor
     */
     ~CarmaClock() = default;
+    // Public move constructor and move assignment operator
+    CarmaClock(const CarmaClock&) = delete; // Deleted copy constructor
+    CarmaClock& operator=(const CarmaClock&) = delete; // Deleted copy assignment operator
+    CarmaClock(CarmaClock&&) = delete; // Deleted move constructor
+    CarmaClock& operator=(CarmaClock&&) = delete; // Deleted move assignment operator
 
 public:
     /**
diff --git a/install_dependencies.sh b/install_dependencies.sh
index 973ea90..d411f39 100755
--- a/install_dependencies.sh
+++ b/install_dependencies.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
 set -ex
+apt install libboost-python1.74-dev
 
 # TODO
diff --git a/python_wrapper_test.py b/python_wrapper_test.py
new file mode 100755
index 0000000..ecc614d
--- /dev/null
+++ b/python_wrapper_test.py
@@ -0,0 +1,6 @@
+#!/usr/bin/python3
+
+import libcarma_clockd
+print("Creating Clock Object")
+
+# clock = libcarma_clockd.CarmaClock()
diff --git a/src/python_wrapper.cpp b/src/python_wrapper.cpp
new file mode 100644
index 0000000..96a7f8c
--- /dev/null
+++ b/src/python_wrapper.cpp
@@ -0,0 +1,16 @@
+#include <boost/python.hpp>
+#include <boost/python/def.hpp>
+#include "carma_clock.h"
+
+BOOST_PYTHON_MODULE(libcarma_clockd) {
+    using namespace boost::python;
+    class_<fwha_stol::lib::time::CarmaClock, boost::noncopyable>("CarmaClock", init<bool>())
+        .def("nowInSeconds", &fwha_stol::lib::time::CarmaClock::nowInSeconds)
+        .def("nowInMilliseconds", &fwha_stol::lib::time::CarmaClock::nowInMilliseconds)
+        .def("update", &fwha_stol::lib::time::CarmaClock::update,args("current_time"))
+        .def("is_simulation_mode", &fwha_stol::lib::time::CarmaClock::is_simulation_mode)
+        .def("wait_for_initialization",&fwha_stol::lib::time::CarmaClock::wait_for_initialization)
+        .def("sleep_until",&fwha_stol::lib::time::CarmaClock::sleep_until,args("future_time"))
+        .def("sleep_for",&fwha_stol::lib::time::CarmaClock::sleep_for,args("time_to_sleep"));
+        init_module_libcarma_clockd();
+}
\ No newline at end of file