Add ESmini simulator

.github/workflows/build-cloe.yaml

@@ -22,7 +22,7 @@ jobs:
           - "cloe-normal"
         package_target:
           # 1. Build each test configuration in Conan cache and run all tests
-          - "export smoketest-deps smoketest"
+          - "export export-vendor smoketest-deps smoketest"
     env:
       CONAN_NON_INTERACTIVE: "yes"
       DEBIAN_FRONTEND: noninteractive

.gitignore

@@ -7,6 +7,10 @@ setup.sh
 # Standard out-of-source build
 build/
 
+# Vendored Conan recipes sometimes extract fetched sources
+vendor/**/src/
+**/vendor/**/src/
+
 # Documentation
 docs/_build/
 docs/_extra/

Dockerfile

@@ -69,7 +69,7 @@ WORKDIR /cloe
 SHELL ["/bin/bash", "-c"]
 
 ARG PROJECT_VERSION=unknown
-ARG PACKAGE_TARGET="export smoketest-deps"
+ARG PACKAGE_TARGET="export-vendor export smoketest-deps"
 ARG KEEP_SOURCES=0
 
 COPY . /cloe

Makefile.all

@@ -37,7 +37,7 @@ SUBMAKEFLAGS :=
 
 META_PKG := cloe
 PLUGIN_PKGS := $(wildcard plugins/*)
-ALL_PKGS := fable runtime models oak engine ${PLUGIN_PKGS} ${META_PKG}
+ALL_PKGS := fable runtime models oak osi engine ${PLUGIN_PKGS} ${META_PKG}
 WITHOUT_PKGS :=
 UNSELECT_PKGS := ${WITHOUT_PKGS}
 WITH_PKGS :=
@@ -48,7 +48,7 @@ SELECT_PKGS := $(call uniq, $(filter-out ${UNSELECT_PKGS}, ${ALL_PKGS}) ${WITH_P
 ##
 ## Functions analogously to normal package selection.
 ##
-ALL_VENDOR :=
+ALL_VENDOR := $(wildcard vendor/*)
 WITHOUT_VENDOR :=
 UNSELECT_VENDOR := ${WITHOUT_VENDOR}
 WITH_VENDOR :=
@@ -61,7 +61,13 @@ runtime: fable
 models: runtime
 oak: runtime
 engine: models oak
+osi: runtime models vendor/open-simulation-interface
 ${PLUGIN_PKGS}: runtime models
+plugins/esmini: vendor/open-simulation-interface vendor/esmini
+
+vendor/esmini: vendor/open-simulation-interface
+vendor/esmini-data:
+vendor/open-simulation-interface:
 
 ## BUILD_POLICY
 ##   Usage: make BUILD_POLICY="missing"
@@ -119,9 +125,9 @@ ${META_PKG}:
 	done
 
 # Usage: $(call make_vendor_target, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY)
-# define make_vendor_target
-# $(eval $(call _make_target_rules,${1},${2},${3},${SELECT_VENDOR}))
-# endef
+define make_vendor_target
+$(eval $(call _make_target_rules,${1},${2},${3},${SELECT_VENDOR}))
+endef
 
 # Usage: $(call make_every_target, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY)
 define make_every_target
@@ -141,9 +147,9 @@ endef
 help::
 	$(call print_help_section, "Available build targets")
 
-# $(call make_vendor_target, export-vendor, "export all vendor packages", "[conan-cache]")
-# $(call make_vendor_target, package-vendor, "create all vendor packages", "[conan-cache]")
-# $(call make_vendor_target, download-vendor, "download or build vendor packages", "[conan-cache]")
+$(call make_vendor_target, export-vendor, "export all vendor packages", "[conan-cache]")
+$(call make_vendor_target, package-vendor, "create all vendor packages", "[conan-cache]")
+$(call make_vendor_target, download-vendor, "download or build vendor packages", "[conan-cache]")
 
 help::
 	echo
@@ -179,15 +185,15 @@ $(call make_select_target, clean-select, "remove build artifacts", "[in-source]"
 help::
 	echo
 	$(call print_help_subsection, "Options")
-#	$(call print_help_option, WITH_VENDOR, "", "include optional vendor packages from ${_grn}UNSELECT_VENDOR${_rst}")
+	$(call print_help_option, WITH_VENDOR, "", "include optional vendor packages from ${_grn}UNSELECT_VENDOR${_rst}")
 	$(call print_help_option, WITH_PKGS, "", "include optional packages from ${_grn}UNSELECT_PKGS${_rst}")
 	$(call print_help_option, LOCKFILE_SOURCE, "", "use specified conanfile as lockfile source for build")
 	echo
 	$(call print_help_subsection, "Defines")
 	$(call print_help_option, BUILD_POLICY, ${BUILD_POLICY})
 	$(call print_help_define, CONAN_OPTIONS, ${CONAN_OPTIONS})
-#	$(call print_help_define_lines, UNSELECT_VENDOR, ${UNSELECT_VENDOR})
-#	$(call print_help_define_lines, SELECT_VENDOR, ${SELECT_VENDOR})
+	$(call print_help_define_lines, UNSELECT_VENDOR, ${UNSELECT_VENDOR})
+	$(call print_help_define_lines, SELECT_VENDOR, ${SELECT_VENDOR})
 	$(call print_help_define_lines, UNSELECT_PKGS, ${UNSELECT_PKGS})
 	$(call print_help_define_lines, SELECT_PKGS, ${SELECT_PKGS})
 	echo

Makefile.docker

@@ -12,6 +12,7 @@ DOCKER := DOCKER_BUILDKIT=1 docker
 DOCKER_IMAGE_NAME := cloe/cloe-engine
 DOCKER_IMAGE_VERSION := ${PROJECT_VERSION}
 DOCKER_IMAGE := ${DOCKER_IMAGE_NAME}:${DOCKER_IMAGE_VERSION}
+DOCKER_DEVIMAGE := ${DOCKER_IMAGE_NAME}-dev:${DOCKER_IMAGE_VERSION}
 DOCKER_CONTEXT := ${PROJECT_ROOT}
 
 DOCKER_USER_ARGS +=
@@ -115,6 +116,13 @@ ubuntu-%: FORCE build-ubuntu-% test-ubuntu-%
 .PHONY: all
 all: $(addprefix ubuntu-,${UBUNTU_VERSIONS})
 
+build-devc-%: FORCE Dockerfile
+	${DOCKER} build -f Dockerfile ${DOCKER_BUILD_ARGS} ${DOCKER_USER_ARGS} \
+		--build-arg UBUNTU_VERSION=$* \
+		--target stage-setup-system \
+		-t ${DOCKER_DEVIMAGE}-ubuntu-$* \
+		${DOCKER_CONTEXT}
+
 build-ubuntu-%: FORCE Dockerfile
 	${DOCKER} build -f Dockerfile ${DOCKER_BUILD_ARGS} ${DOCKER_USER_ARGS} \
 		--build-arg UBUNTU_VERSION=$* \
@@ -125,6 +133,9 @@ test-ubuntu-%: FORCE
 	docker run ${DOCKER_RUN_ARGS} ${DOCKER_USER_ARGS} ${DOCKER_IMAGE}-ubuntu-$* \
 		bash -ec "[ -f /root/setup.sh ] && source /root/setup.sh; make smoketest"
 
+run-devc-%: FORCE
+	docker run -it ${DOCKER_RUN_ARGS} ${DOCKER_USER_ARGS} --mount type=bind,source=$$(pwd),destination=/cloe ${DOCKER_DEVIMAGE}-ubuntu-$*
+
 run-ubuntu-%: FORCE
 	docker run -it ${DOCKER_RUN_ARGS} ${DOCKER_USER_ARGS} ${DOCKER_IMAGE}-ubuntu-$*
 

Makefile.package

@@ -316,7 +316,7 @@ smoketest-deps:
 	@for conanfile in ${TEST_CONANFILES}; do \
 		test -f "$${conanfile}" || continue; \
 		echo "Building dependencies for conanfile: $${conanfile}"; \
-		${CLOE_LAUNCH} prepare -P "$${conanfile}" || break; \
+		${CLOE_LAUNCH} prepare -P "$${conanfile}" || exit 1; \
 	done
 
 # CONFIGURATION TARGETS -------------------------------------------------------

Makefile.setup

@@ -114,14 +114,18 @@ install-ubuntu-deps::
 		git \
 		graphviz \
 		jq \
+		libgl-dev \
+		libxinerama-dev \
+		libxrandr-dev \
+		libfontconfig1-dev \
 		netcat-openbsd \
 		patchelf \
 		psmisc \
 		python3-pip \
 		python3-setuptools \
+		python3-venv \
 		time \
 		tmux \
-		python3-venv \
 		;
 
 	# Require GCC and G++ version >= 8

conanfile.py

@@ -18,13 +18,15 @@ class Cloe(ConanFile):
     settings = "os", "compiler", "build_type", "arch"
     options = {
         "with_vtd": [True, False],
+        "with_esmini": [True, False],
         "with_engine": [True, False],
 
         # Doesn't affect package ID:
         "pedantic": [True, False],
     }
     default_options = {
         "with_vtd": False,
+        "with_esmini": True,
         "with_engine": True,
 
         "pedantic": True,
@@ -54,6 +56,8 @@ def cloe_requires(dep):
         cloe_requires("cloe-plugin-noisy-sensor")
         cloe_requires("cloe-plugin-speedometer")
         cloe_requires("cloe-plugin-virtue")
+        if self.options.with_esmini:
+            cloe_requires("cloe-plugin-esmini")
         if self.options.with_vtd:
             cloe_requires("cloe-plugin-vtd")
 
@@ -62,6 +66,7 @@ def cloe_requires(dep):
             cloe_requires("cloe-engine")
 
         # Overrides:
+        self.requires("zlib/1.2.13", override=True)
         self.requires("fmt/9.1.0", override=True)
         self.requires("inja/3.4.0", override=True)
         self.requires("nlohmann_json/3.11.2", override=True)

docs/reference/plugins.rst

@@ -30,6 +30,7 @@ installation of these simulators.
 
    plugins/nop_simulator
    plugins/minimator
+   plugins/esmini
    plugins/vtd
 
 .. rubric:: Controller Plugins

docs/reference/plugins/esmini.rst

@@ -0,0 +1,22 @@
+.. reference-gen: esmini
+
+ESMini Simulator
+===================
+
+.. todo:: Describe the esmini simulator.
+
+Defaults
+--------
+
+The following help can be viewed with :command:`cloe-engine usage esmini`:
+
+.. literalinclude:: esmini.yaml
+   :language: yaml
+
+JSON Schema
+-----------
+
+The following can be viewed with :command:`cloe-engine usage --json esmini`:
+
+.. literalinclude:: esmini_schema.json
+   :language: json

docs/reference/plugins/esmini.yaml

@@ -0,0 +1,14 @@
+Name: esmini
+Type: simulator
+Path: ~/.conan/data/cloe-plugin-esmini/0.22.0/cloe/develop/package/edd33cfae11b1ac2558435742ce028cfc34c7917/lib/cloe/simulator_esmini.so
+Usage: {
+  "headless": "boolean :: run esmini without viewer",
+  "scenario": "string :: absolute path to open scenario file",
+  "vehicles": "object :: vehicle configuration like sensors and component mapping",
+  "write_images": "boolean :: save an image for each step"
+}
+Defaults: {
+  "headless": true,
+  "scenario": "",
+  "write_images": false
+}

docs/reference/plugins/esmini_schema.json

@@ -0,0 +1,42 @@
+{
+  "$id": "~/.conan/data/cloe-plugin-esmini/0.22.0/cloe/develop/package/edd33cfae11b1ac2558435742ce028cfc34c7917/lib/cloe/simulator_esmini.so",
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "additionalProperties": false,
+  "description": "basic OpenScenario player",
+  "properties": {
+    "headless": {
+      "description": "run esmini without viewer",
+      "type": "boolean"
+    },
+    "scenario": {
+      "description": "absolute path to open scenario file",
+      "type": "string"
+    },
+    "vehicles": {
+      "additionalProperties": {
+        "additionalProperties": false,
+        "properties": {
+          "closed_loop": {
+            "description": "control the esmini vehicle",
+            "type": "boolean"
+          },
+          "filter_distance": {
+            "description": "filter distance for ground truth data",
+            "maximum": 1.7976931348623157e+308,
+            "minimum": -1.7976931348623157e+308,
+            "type": "number"
+          }
+        },
+        "type": "object"
+      },
+      "description": "vehicle configuration like sensors and component mapping",
+      "type": "object"
+    },
+    "write_images": {
+      "description": "save an image for each step",
+      "type": "boolean"
+    }
+  },
+  "title": "esmini",
+  "type": "object"
+}