Build the python poc

conanfile.py

@@ -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],
@@ -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")
@@ -131,6 +133,7 @@ def generate(self):
         tc.cache_variables["CLOE_ENGINE_WITH_SERVER"] = self.options.engine_server
         tc.cache_variables["CLOE_ENGINE_WITH_LRDB"] = self.options.engine_lrdb
         tc.cache_variables["CLOE_PYTHON_API"] = self.options.python_api
+        tc.cache_variables["PYTHON_BINDINGS_LOCAL_DEV"] = not self.in_local_cache
         tc.generate()
 
     def build(self):
@@ -196,23 +199,26 @@ 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")
+            pydir = os.path.join(self.build_folder, "lib/cloe/python")
+            py_path = os.path.join(self.source_folder, "python/python_api")
             libdir = os.path.join(self.build_folder, "lib")
         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")
+            py_path = pydir
             libdir = None
 
         self.output.info(f"Appending PATH environment variable: {bindir}")
         self.runenv_info.prepend_path("PATH", bindir)
         self.output.info(f"Appending CLOE_LUA_PATH environment variable: {luadir}")
         self.runenv_info.prepend_path("CLOE_LUA_PATH", luadir)
         if libdir is not None:
+            #TODO
             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 BASIC_CLOE_PYTHON_BINDINGS environment variables: {pydir}")
+            self.runenv_info.prepend_path("PYTHONPATH", str(py_path))
+            self.runenv_info.prepend_path("BASIC_CLOE_PYTHON_BINDINGS", str(pydir))

plugins/basic/CMakeLists.txt

@@ -32,6 +32,15 @@ set_target_properties(_basic_bindings PROPERTIES
         CXX_STANDARD 17
         CXX_STANDARD_REQUIRED ON
 )
+
+if(PYTHON_BINDINGS_LOCAL_DEV)
+    set_target_properties(_basic_bindings
+            PROPERTIES
+            ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloe/python"
+            LIBRARY_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloe/python"
+    )
+endif()
+
 install(TARGETS _basic_bindings LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/cloe/python)
 
 include(CTest)

python/python_api/cloe/_runner.py

@@ -177,6 +177,7 @@ def log_level(self, value):
 
     def bind_plugin_types(self, lib: Path):
         import importlib
+        import importlib.util
         import sys
         components = str(lib.name).split('.')
         module_name = components[0]
@@ -194,11 +195,7 @@ 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
@@ -211,11 +208,11 @@ def __init__(self, stack: Optional[Dict[str, Any]] = None):
 
         self._sim = _Simulation(full_config_stack, self.driver, uuid="123")
 
-        if "CLOE_PYTHON_BINDINGS" in os.environ:
+        if "BASIC_CLOE_PYTHON_BINDINGS" in os.environ:
             import importlib.util
             import sys
             binding_libs = []
-            for binding_dir in os.environ["CLOE_PYTHON_BINDINGS"].split(":"):
+            for binding_dir in os.environ["BASIC_CLOE_PYTHON_BINDINGS"].split(":"):
                 if len(str(binding_dir)) > 1:
                     binding_path = Path(binding_dir)
                     if binding_path.exists():

python/python_api/cloe/test/config_minimator_infinite.json

@@ -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": [

python/python_api/cloe/test/config_minimator_smoketest.json

@@ -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"
+    }
   ]
-}
+}

runtime/include/cloe/databroker/data_broker_meta_information.hpp

@@ -3,6 +3,7 @@
 #include <typeindex>
 #include <any>
 #include <unordered_map>
+#include <string>
 
 namespace cloe {
 /**