PyBind to bind CarmaClock to Python Module

.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.

.github/workflows/build.yml

@@ -27,7 +27,7 @@ jobs:
             build: false
           - architecture: armhf
             ubuntu: jammy
-            build: true
+            build: false
           - architecture: arm64
             ubuntu: focal
             build: false

.github/workflows/sonar-scanner.yml

@@ -11,9 +11,10 @@ on:
 name: Sonar Workflow
 jobs:
   sonarcloud:
-    uses: usdot-fhwa-stol/actions/.github/workflows/sonar-scanner-cpp.yml@main
+    uses: usdot-fhwa-stol/actions/.github/workflows/sonar-scanner-cpp.yml@fix-coverage
     with:
       sonar-project-key: usdot-fhwa-stol_carma-time-lib
+      build-image-tag: jammy
     secrets:
       github-token: ${{ secrets.GITHUB_TOKEN }}
       sonarcloud-token: ${{ secrets.SONAR_TOKEN }}

CMakeLists.txt

@@ -6,24 +6,51 @@ 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)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 
+include(cmake/dependencies.cmake)
+add_library(${PROJECT_NAME} SHARED )
+
+target_include_directories(${PROJECT_NAME} 
+  PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+)
 
-add_library(${PROJECT_NAME} SHARED)
 set_target_properties(${PROJECT_NAME} PROPERTIES
     SOVERSION 1
 )
 
+if (DEFINED ENV{BUILD_ARCHITECTURE})
+    message(STATUS "Building Python Module binding NOT supported for crosss compiling " $ENV{BUILD_ARCHITECTURE} " builds...")
+else()
+    include(carma_clock_py/cmake/dependencies.cmake)
+    target_link_libraries( ${PROJECT_NAME} PUBLIC
+        Python3::Python
+        pybind11::module
+    )
+    message(STATUS "Building Python Module binding only supported for native x64 builds...")
+    # set up sources based on target name
+    target_sources (${PROJECT_NAME}
+        PRIVATE
+            carma_clock_py/src/carma_clock_py.cpp
+    )
+    FILE(COPY carma_clock_py/python_wrapper_test.py DESTINATION .)
+    add_test(NAME test_carma_clock_python_module_binding COMMAND ${PYTHON_EXECUTABLE} python_wrapper_test.py )
+endif()
+
 include(CommonSource)
 include(Testing)
 include(CodeCoverage)
 include(InstallingGeneral)
 include(InstallingConfigs)
+set(CPACK_DEBIAN_PACKAGE_DEPENDS carma-clock-1 python3-dev)
+set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "")
+
 include(Packing)
+
+

carma_clock_py/README.md

@@ -0,0 +1,118 @@
+# CARMA Time Library
+
+The CARMA Time Library is a focused library providing classes and utilities which enable a consuming project to synchronize mock time with the CARMA simulation framework.
+
+# CI Status
+
+These badges are for the default branch only.
+
+[![Build Workflow](https://github.com/usdot-fhwa-stol/carma-time-lib/actions/workflows/build.yml/badge.svg)](https://github.com/usdot-fhwa-stol/carma-time-lib/actions/workflows/build.yml)
+[![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_carma-time-lib&metric=alert_status)](https://sonarcloud.io/summary/new_code?id=usdot-fhwa-stol_carma-time-lib)
+[![Coverage](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_carma-time-lib&metric=coverage)](https://sonarcloud.io/summary/new_code?id=usdot-fhwa-stol_carma-time-lib)
+# Architecture
+
+The CarmaClock class contains an internal representation for time which serves as a replacement for the epoch tracked by the system clock, or any other related time-keeping machinery.
+
+This internal time value is stored as a TODO value representing TODO since TODO.
+
+The framework provides the following capabilities:
+1. Initialization and update functions which set the internal time representation mode and value.
+2. Current time available for query.
+3. Time representation available in real-time and simulation mode.
+4. The framework falls back to system time if not running in simulation mode.
+5. Utility functions.
+
+# Building the Library
+## Configuring Build Environment
+
+The project build environment is supplied as a single-image [Docker Dev Environment](https://docs.docker.com/desktop/dev-environments/), with Visual Studio Code editor configurations to enable streamlined setup.
+
+To load the project in VSCode:
+
+1. Clone this repository.
+
+```
+git clone [email protected]:usdot-fhwa-stol/carma-time-lib.git
+cd carma-time-lib/
+```
+
+2. Open the VSCode editor.
+3. Open the cloned project folder.
+4. Accept the **Reopen in Container** prompt for **"Folder contains a Dev Container configuration file. Reopen folder to develop in a container (learn more)."**
+
+![Dev Container Rebuild Notification](doc/images/DevContainerRebuildNotification.png)
+
+7. If that prompt did not appear, open the **View > Command Palette** and type to locate **"Dev Containers: Rebuild and Reopen in Container"**.
+6. The editor should refresh and display the updated activity in the command line.
+
+![Dev Container Rebuild Log](doc/images/DevContainerRebuildLog.png)
+
+If the container startup was successful, the development environment is up and running and contains the library dependencies and compilation environment. It is possible to proceed with the build.
+
+## Building
+
+1. In VSCode, open **Build the Terminal > Run Build Task...**.
+
+![Library Build Log](doc/images/LibraryBuildLog.png)
+
+2. If the build is successful, tests are automatically executed and a Debian package is generated.
+3. TODO more details (output product locations, reference information for generalized docker dev solution including container configured locations etc.).
+
+## Additional IDE Configuration
+
+Some additional configurations are provided out-of-the-box to streamline the developer's setup process. These are included for Visual Studio Code:
+
+| Item                                  | Description                                                                                                          |
+|---------------------------------------|----------------------------------------------------------------------------------------------------------------------|
+| .devcontainer/devcontainer.json       | Docker Dev Environment definition file.                                                                              |  |  |  |
+| .editorconfig                         | Some standard, robust VSCode editor configurations.                                                                  |  |  |  |
+| .github/workflows/build.yml           | GitHub CI build definition.                                                                                          |  |  |  |
+| .github/workflows/sonar-scanner.yml   | TODO                                                                                                                 |  |  |  |
+| .gitignore                            | Some helpful Git Ignore rules that should apply to Cmake-based C++ projects developed with most modern code editors. |  |  |  |
+| install_dependencies.sh               | Docker Dev Environment internal script. TODO move this file?                                                         |  |  |  |
+| .vscode/tasks.json                    | Build task definition utilizing Docker Dev Environment.                                                              |  |  |  |
+
+## Deploying
+TODO
+# Using the Library
+## Dependency Management
+TODO
+## Linking Against the Library
+TODO
+## Configuration
+
+The following operating modes are available in the library:
+* Real-time
+* Simulated time
+
+TODO How the library is configured
+
+TODO Move this configuration logic into a time manager tool in a separate library.
+
+# CARMA Projects
+
+See all CARMA projects in the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol) organization on GitHub.
+
+In particular, the CARMA Simulation framework is available [here](https://github.com/usdot-fhwa-stol/carma-simulation).
+
+## Contribution
+
+Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
+
+## Code of Conduct
+
+Please read our [CARMA Code of Conduct](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Code_of_Conduct.md) which outlines our expectations for participants within the CARMA community, as well as steps to reporting unacceptable behavior. We are committed to providing a welcoming and inspiring community for all and expect our code of conduct to be honored. Anyone who violates this code of conduct may be banned from the community.
+
+## Attribution
+
+The development team would like to acknowledge the people who have made direct contributions to the design and code in this repository. [CARMA Attribution](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/ATTRIBUTION.md)
+
+## License
+
+By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. [CARMA License](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/docs/License.md)
+
+## Contact
+
+Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website.
+
+[![CARMA Image](https://raw.githubusercontent.com/usdot-fhwa-stol/CARMAPlatform/develop/docs/image/CARMA_icon.png)](https://highways.dot.gov/research/research-programs/operations/CARMA)

carma_clock_py/cmake/dependencies.cmake

@@ -0,0 +1,15 @@
+find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+include(GetCPM)
+set(CPM_USE_LOCAL_PACKAGES ON)
+set(PYBIND11_INSTALL ON) 
+set(PYBIND11_TEST OFF) 
+CPMAddPackage(
+    NAME pybind11
+    GITHUB_REPOSITORY pybind/pybind11
+    SYSTEM ON
+    GIT_TAG v2.12.0
+    OPTIONS
+        "PYBIND11_INSTALL ON"
+        "PYBIND11_TEST OFF"
+)
+

carma_clock_py/python_wrapper_test.py

@@ -0,0 +1,29 @@
+#!/usr/bin/python3
+import unittest
+import libcarma_clock
+import time
+
+"""Test Case for testing basic CarmaClock functionality in python
+"""
+class TestCarmaClock(unittest.TestCase):
+
+    def testSimClockInitializeException(self):
+        sim_clock = libcarma_clock.CarmaClock(True)
+        with self.assertRaises(ValueError) as e:
+            sim_clock.nowInMilliseconds()
+
+        self.assertIn('Clock is not initialized!',str(e.exception))
+
+    def testRealClockTime(self):
+        clock = libcarma_clock.CarmaClock()
+        self.assertAlmostEqual(time.time()*1000, clock.nowInMilliseconds(),delta=10)
+
+    def testSimClockUpdate(self):
+        sim_clock = libcarma_clock.CarmaClock(True)
+        sim_clock.update(100)
+        self.assertEqual(100, sim_clock.nowInMilliseconds())
+        sim_clock.update(1500)
+        self.assertEqual(1500, sim_clock.nowInMilliseconds())
+
+if __name__ == '__main__': 
+    unittest.main()

carma_clock_py/src/carma_clock_py.cpp

@@ -0,0 +1,17 @@
+#include <pybind11/pybind11.h>
+
+#include <carma_clock.h>
+namespace py = pybind11;
+
+PYBIND11_MODULE(libcarma_clock, m) {
+    py::class_<fwha_stol::lib::time::CarmaClock>(m, "CarmaClock")
+        .def(py::init<bool>(), py::arg("simulation_mode")=false)
+        .def("nowInSeconds", &fwha_stol::lib::time::CarmaClock::nowInSeconds)
+        .def("nowInMilliseconds", &fwha_stol::lib::time::CarmaClock::nowInMilliseconds)
+        .def("update", &fwha_stol::lib::time::CarmaClock::update, py::arg("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, py::arg("future_time"))
+        .def("sleep_for",&fwha_stol::lib::time::CarmaClock::sleep_for, py::arg("time_to_sleep"));
+
+}

cmake/dependencies.cmake

@@ -0,0 +1,2 @@
+find_package(Threads)
+

install_dependencies.sh

@@ -1,5 +1,11 @@
 #!/bin/bash
 
 set -ex
-
-# TODO
+# export BUILD_ARCHITECTURE=arm64
+# Get ubuntu distribution code name. All STOL APT debian packages are pushed to S3 bucket based on distribution codename.
+echo "BUILD_ARCHITECTURE=${BUILD_ARCHITECTURE}"
+if [[ "${BUILD_ARCHITECTURE}" =~ arm* ]]; then
+    echo "WARNING: Python module support currently only exists for native x64 builds. Skipping Python module binding ... "
+else
+    /opt/carma/scripts/install_dependencies_script.sh python3-dev
+fi