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Add documentation for installation and python module (#27)
* Add documentation for installation and python module * Type corrections * Updates
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| Original file line number | Diff line number | Diff line change |
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| # CARMA Time Library | ||
| # CARMA Clock Python Module | ||
| This directory includes the source files for building the CARMA Clock Python Module bindings with [pybind11](https://pybind11.readthedocs.io/en/stable/). It includes a `src/carma_clock-py.cpp` file which calls the pybind11 library functions/macros to build python module bindings and a `/cmake/dependencies.cmake` file which pulls in pybind11 and finds python3 for CMake. It also includes a CMake test for which runs the `python_wrapper.test.py` to ensure the resulting library built can be imported as a python module. | ||
| ## Dependencies | ||
| The CMake dependencies script relies on [CPM](https://github.com/cpm-cmake/CPM.cmake) and Python3 to be installed and discoverable to CMake. | ||
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| 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. | ||
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| # CI Status | ||
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| These badges are for the default branch only. | ||
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| [](https://github.com/usdot-fhwa-stol/carma-time-lib/actions/workflows/build.yml) | ||
| [](https://sonarcloud.io/summary/new_code?id=usdot-fhwa-stol_carma-time-lib) | ||
| [](https://sonarcloud.io/summary/new_code?id=usdot-fhwa-stol_carma-time-lib) | ||
| # Architecture | ||
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| 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. | ||
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| This internal time value is stored as a TODO value representing TODO since TODO. | ||
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| 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. | ||
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| # Building the Library | ||
| ## Configuring Build Environment | ||
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| 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. | ||
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| To load the project in VSCode: | ||
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| 1. Clone this repository. | ||
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| ``` | ||
| git clone git@github.com:usdot-fhwa-stol/carma-time-lib.git | ||
| cd carma-time-lib/ | ||
| ``` | ||
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| 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)."** | ||
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|  | ||
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| 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. | ||
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|  | ||
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| 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. | ||
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| ## Building | ||
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| 1. In VSCode, open **Build the Terminal > Run Build Task...**. | ||
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|  | ||
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| 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.). | ||
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| ## Additional IDE Configuration | ||
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| Some additional configurations are provided out-of-the-box to streamline the developer's setup process. These are included for Visual Studio Code: | ||
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| | 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. | | | | | ||
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| ## Deploying | ||
| TODO | ||
| # Using the Library | ||
| ## Dependency Management | ||
| TODO | ||
| ## Linking Against the Library | ||
| TODO | ||
| ## Configuration | ||
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| The following operating modes are available in the library: | ||
| * Real-time | ||
| * Simulated time | ||
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| TODO How the library is configured | ||
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| TODO Move this configuration logic into a time manager tool in a separate library. | ||
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| # CARMA Projects | ||
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| See all CARMA projects in the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol) organization on GitHub. | ||
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| In particular, the CARMA Simulation framework is available [here](https://github.com/usdot-fhwa-stol/carma-simulation). | ||
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| ## Contribution | ||
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| 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) | ||
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| ## Code of Conduct | ||
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| 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. | ||
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| ## Attribution | ||
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| 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) | ||
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| ## License | ||
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| 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) | ||
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| ## Contact | ||
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| Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website. | ||
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| [](https://highways.dot.gov/research/research-programs/operations/CARMA) |
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| #include <pybind11/pybind11.h> | ||
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| #include <string> | ||
| #include <carma_clock.h> | ||
| namespace py = pybind11; | ||
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| 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")); | ||
| PYBIND11_MODULE(libcarma_clock, m) | ||
| { | ||
| m.doc() = R"(CARMA Time Module provides the CarmaClock object, which is a | ||
| wrapper for direct calls to system time. It is intended for use when it is | ||
| necessary to have control over each increment in time. An example of a use | ||
| case is in a simulation environment where time may progress non-linearly. | ||
| The CarmaClock constructor takes a boolean parameter to indicate whether | ||
| to directly make calls to system time or to use its internal store value | ||
| for time. Calls to its update() method will update the internal stored value, | ||
| while calls to its now* or sleep* will return or unblock threads depending | ||
| on the stored value respectively.)"; | ||
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| 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 , | ||
| R"(Get current time in seconds)") | ||
| .def("nowInMilliseconds", &fwha_stol::lib::time::CarmaClock::nowInMilliseconds , | ||
| R"(Get current time in milliseconds)") | ||
| .def("update", &fwha_stol::lib::time::CarmaClock::update, py::arg("current_time"), | ||
| R"("Update current time to value (ms). Only valid for simulation mode True)") | ||
| .def("is_simulation_mode", &fwha_stol::lib::time::CarmaClock::is_simulation_mode, | ||
| R"(Return True if simulation mode set to True and False if not.)") | ||
| .def("wait_for_initialization", &fwha_stol::lib::time::CarmaClock::wait_for_initialization, | ||
| R"(Method will block thread until update() is called on CarmaClock. | ||
| This method should be called once before any calls to sleep or now methods | ||
| to ensure that time has a value.)") | ||
| .def("sleep_until", &fwha_stol::lib::time::CarmaClock::sleep_until, py::arg("future_time"), | ||
| R"(Method will block thread until given time (ms))") | ||
| .def("sleep_for", &fwha_stol::lib::time::CarmaClock::sleep_for, py::arg("time_to_sleep"), | ||
| R"(Method will block thread for given time (ms))"); | ||
| } |