Version 3.0.0: Major naming updates

Updating the variable naming of the generated datatypes from CamelCase
to under_score_case and some other naming conventions. These are
interface braking changes, therefore updating to 3.0.0
Providing basic renaming script that covers for many of the changes.

Building:
- support gcc-13 and Ubuntu 24.04 and Python versions 3.10-3.13
- support newer spdlog: adding formatters for datatype logging
- remove spdlog submodule to make use of system delivered version
- Harmonize CXX standard to 17
- update BUILDING.md on how to work with python venv (enforced with
Ubunut 24.04)
- fix python binding build and test

Generated DataTypes:
introduced more safe datatype operations by restricting their values to
the limits after the operations
allow automatic conversion of datatypes to their basetypes with
"operator double()" if explicit type conversion is disabled

added ad::geometry namespace and library

added some ad::physics operations

ad_map_access:
- extended and hardened route/routing and predictions operations
- added support for qgis correction functions
- Added route::planning::predictRoutes* overloads which already provide
the object yaw via the object data to get rid of extra calculation
efforts
- Fix getLaneENUHeading(match::MapMatchedPosition): set correct geo
reference, otherwise returned heading is wrong
- Add Heading constants
- Add allowedObjectDistanceToLane to getMapMatchedBoundingBox()
- Add ad::map::geometry namespace with polygon operations and extraction
of occluded regions
- Allow getLateralAlignementEdge() for physics::RatioValue
- Fix ad::map::route::findWaypoint( distance == 0., route)
- Added match:getENUBorder(LaneOccupiedRegion) function
- Added point::getUnion(BoundingSphere, BoundingSphere) for use in
python
- Allow shortenRouteToDistance to cut intersections on request

ad_map_access_qgis:
- add polygon operations
- remove unused partition manager
- add lane correction abilities
- add lane contact correction abilities
- add traffic light layer
- add ClickedPoint debug output and support altitude unknown matching
- Support default intersection contact creation on adm load
- Add support for exporting adm files

Author: berndgassmann

.github/workflows/build_test.yml

@@ -29,13 +29,26 @@ jobs:
             EXTRA_PACKAGES: clang-14
             CC: /usr/bin/clang-14
             CXX: /usr/bin/clang++-14
-            PYTHON_BINDING_VERSION: "3.10"
+            PYTHON_BINDING_VERSION: "3.11"
+          - os: ubuntu-24.04
+            compiler: gcc13
+            EXTRA_PACKAGES: ""
+            CC: ""
+            CXX: ""
+            PYTHON_BINDING_VERSION: "3.12"
+          - os: ubuntu-24.04
+            compiler: clang18
+            EXTRA_PACKAGES: clang-18
+            CC: /usr/bin/clang-18
+            CXX: /usr/bin/clang++-18
+            PYTHON_BINDING_VERSION: "3.13"
 
     name: ${{ matrix.os }}, ${{ matrix.compiler }}, python-${{ matrix.PYTHON_BINDING_VERSION }}
     runs-on: ${{ matrix.os }}
     env:
       PYTHON_BINDING_VERSION: ${{ matrix.PYTHON_BINDING_VERSION }}
       EXTRA_PACKAGES: ${{ matrix.EXTRA_PACKAGES }}
+      PYTHONNOUSERSITE: 1
 
     steps:
     - name: Harden Runner
@@ -57,4 +70,4 @@ jobs:
       run: |
         sudo apt-get install ${EXTRA_PACKAGES}
         rm -rf log build install
-        eval CC=${CC} CXX=${CXX} ${BUILDCMD}
+        source map-build-venv/bin/activate && eval CC=${CC} CXX=${CXX} ${BUILDCMD}

.github/workflows/check_documentation.yml

@@ -36,6 +36,7 @@ jobs:
 
     - name: Build Documentation and Test
       run: |
+        source map-build-venv/bin/activate
         GTEST_OUTPUT="xml:test_results"
         colcon build --event-handlers console_direct+ --executor sequential --packages-up-to ad_map_access ad_physics --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=ON -DBUILD_COVERAGE=ON -DBUILD_APIDOC=ON
         colcon test --event-handlers console_direct+ --packages-select ad_map_access ad_physics

.github/workflows/code_format_check.yml

@@ -1,4 +1,4 @@
-name: Check Code Formatting for AD-Map Library
+name: Check Code Formatting for carla-map libraries
 
 on:
   push:
@@ -11,7 +11,7 @@ permissions:
 
 jobs:
   check_cpp:
-
+ 
     name: Check Code Formatting
 
     runs-on: ubuntu-22.04

.github/workflows/codeql.yml

@@ -94,7 +94,7 @@ jobs:
 
       - name: Build 
         run: |
-          colcon build --event-handlers console_direct+ --executor sequential --packages-up-to ad_map_access --cmake-args -DBUILD_HARDENING=ON -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDING=ON
+          source map-build-venv/bin/activate && colcon build --event-handlers console_direct+ --executor sequential --packages-up-to ad_map_access --cmake-args -DBUILD_HARDENING=ON -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDING=ON
 
       - name: Perform CodeQL Analysis
         uses: github/codeql-action/analyze@b7bf0a3ed3ecfa44160715d7c442788f65f0f923 # v3.23.2

.github/workflows/install_dependencies.sh

@@ -1,32 +1,89 @@
 #!/bin/bash
 
-sudo apt-get update
-sudo apt-get install -y lsb-core
-sudo apt-get install -y --no-install-recommends build-essential castxml cmake libgtest-dev liblapacke-dev libopenblas-dev libpugixml-dev sqlite3
+install_boost() {
+  if ((IS_DEFAULT_PYTHON_VERSION)); then
+    echo "!!!!!!! The default python version $(which python${PYTHON_BINDING_VERSION}): install system boost !!!!!!!"
+    sudo apt-get install -y --no-install-recommends libboost-all-dev
+  else
+    echo "!!!!!!! Not the default python version $(which python${PYTHON_BINDING_VERSION}): compile boost 1.83 !!!!!!!"
+    pushd dependencies
 
-IS_PYTHON_3_10=0
-echo "!!!!!!! Python version: ${PYTHON_BINDING_VERSION} !!!!!!!"
-if [ "${PYTHON_BINDING_VERSION}" == "3.10" ]; then
-  echo "!!!!!!! Python version is 3.10 detected !!!!!!!"
-  IS_PYTHON_3_10=1
-fi
+    BOOST_VERSION=1.83.0
+    BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_}
+    wget "https://archives.boost.io/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz"
+
+    tar -xzf ${BOOST_PACKAGE_BASENAME}.tar.gz
+    pushd ${BOOST_PACKAGE_BASENAME}
+
+    py3=`which python${PYTHON_BINDING_VERSION}`
+    py3_root=`${py3} -c "import sys; print(sys.prefix)"`
+    pyv=`$py3 -c "import sys;x='{v[0]}.{v[1]}'.format(v=list(sys.version_info[:2]));sys.stdout.write(x)";`
+
+    ./bootstrap.sh \
+      --prefix="/usr" \
+      --with-libraries=python,filesystem,system,program_options \
+      --with-python=${py3} --with-python-version=${pyv} --with-python-root=${py3_root}
+    if (( $? )); then
+      echo "!!!!!!! boost bootstrap failed !!!!!!!"
+      cat bootstrap.log
+    fi
 
+    # the python headers were installed via system and not by the virtual environment
+    ./b2 --prefix="/usr" cxxflags="-fPIC -I/usr/include/python${PYTHON_BINDING_VERSION}" -j 10 stage release
+    sudo ./b2 --prefix="/usr" cxxflags="-fPIC -I/usr/include/python${PYTHON_BINDING_VERSION}" -j 10 install
+
+    # ensure our colcon build process ignores boost sources
+    touch COLCON_IGNORE
+
+    popd
+  fi
+}
+
+IS_DEFAULT_PYTHON_VERSION=1
 if [ `lsb_release -a | grep Release | grep "22.04" | wc -l` == 1 ]; then
   if [ "${PYTHON_BINDING_VERSION}" == "" ]; then
     echo "!!!!!!! Setting default python version for Ubuntu22.04 !!!!!!!"
-    IS_PYTHON_3_10=1
     PYTHON_BINDING_VERSION="3.10"
+  elif [ "${PYTHON_BINDING_VERSION}" != "3.10" ]; then
+    IS_DEFAULT_PYTHON_VERSION=0
   fi
 fi
 
-sudo apt-get install -y --no-install-recommends libboost-all-dev
+if [ `lsb_release -a | grep Release | grep "24.04" | wc -l` == 1 ]; then
+  if [ "${PYTHON_BINDING_VERSION}" == "" ]; then
+    echo "!!!!!!! Setting default python version for Ubuntu24.04 !!!!!!!"
+    PYTHON_BINDING_VERSION="3.12"
+  elif [ "${PYTHON_BINDING_VERSION}" != "3.12" ]; then
+    IS_DEFAULT_PYTHON_VERSION=0
+  fi
+fi
+
+echo "!!!!!!! Python version: ${PYTHON_BINDING_VERSION} !!!!!!!"
+
+if ((! IS_DEFAULT_PYTHON_VERSION)); then
+  sudo add-apt-repository ppa:deadsnakes/ppa
+fi
+
+sudo apt-get update
+
+sudo apt-get install -y lsb-core
+sudo apt-get install -y --no-install-recommends build-essential castxml cmake sqlite3 libgtest-dev libpugixml-dev libgtest-dev liblapacke-dev libspdlog-dev
 
-sudo apt-get install -y --no-install-recommends python${PYTHON_BINDING_VERSION}-dev libpython${PYTHON_BINDING_VERSION}-dev
-curl -sS https://bootstrap.pypa.io/get-pip.py | sudo python${PYTHON_BINDING_VERSION}
+
+
+sudo apt-get install -y --no-install-recommends python${PYTHON_BINDING_VERSION}-dev python${PYTHON_BINDING_VERSION}-venv libpython${PYTHON_BINDING_VERSION}-dev
 
 if [[ "${BUILD_DOCU}x" != "x" ]]; then
   sudo apt-get install doxygen graphviz lcov
 fi
 
 sudo apt remove python3-pygments
-sudo python${PYTHON_BINDING_VERSION} -m pip install -r .github/workflows/requirements.txt
+
+echo "creating virtual python${PYTHON_BINDING_VERSION} environment at $PWD/map-build-venv"
+export PYTHONNOUSERSITE=1
+python${PYTHON_BINDING_VERSION} -m venv map-build-venv
+source map-build-venv/bin/activate && \
+echo "activating virtual environment at $(which python${PYTHON_BINDING_VERSION})" && \
+curl -sS https://bootstrap.pypa.io/get-pip.py | python${PYTHON_BINDING_VERSION}  && \
+python${PYTHON_BINDING_VERSION} -m pip install -r .github/workflows/requirements.txt && \
+install_boost

.github/workflows/release_qgis_plugin.yml

@@ -29,7 +29,7 @@ jobs:
 
     - name: Build Libraries
       run: |
-        colcon build --event-handlers console_direct+ --executor sequential --metas colcon_python.meta --packages-up-to ad_map_access_qgis
+        source map-build-venv/bin/activate && colcon build --event-handlers console_direct+ --executor sequential --metas colcon_python.meta --packages-up-to ad_map_access_qgis
 
     - name: Build Package
       run: |

.github/workflows/requirements.txt

@@ -11,5 +11,6 @@ pyplusplus==1.8.5
 setuptools==80.8.0
 six==1.16.0
 testresources==2.0.1
+typeguard==4.4.4
 unittest-xml-reporting==3.2.0
 

.github/workflows/wheels.yml

@@ -0,0 +1,74 @@
+name: Wheels
+
+on:
+  release:
+    types: [published]
+  push:
+    branches: master
+  pull_request:
+    branches: master
+
+permissions:
+  contents: read
+
+jobs:
+  wheels:
+    strategy:
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            PYTHON_BINDING_VERSION: "3.10"
+          - os: ubuntu-22.04
+            PYTHON_BINDING_VERSION: "3.11"
+          - os: ubuntu-22.04
+            PYTHON_BINDING_VERSION: "3.12"
+          - os: ubuntu-22.04
+            PYTHON_BINDING_VERSION: "3.13"
+
+    name: ${{ matrix.os }}, python-${{ matrix.PYTHON_BINDING_VERSION }}
+    runs-on: ${{ matrix.os }}
+    env:
+      WHEEL_PLATFORM: manylinux_2_35_x86_64
+      PYTHON_BINDING_VERSION: ${{ matrix.PYTHON_BINDING_VERSION }}
+      PYTHONNOUSERSITE: 1
+    steps:
+      - name: Harden Runner
+        uses: step-security/harden-runner@4d991eb9b905ef189e4c376166672c3f2f230481 # v2.11.0
+        with:
+          egress-policy: audit
+
+      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
+        with:
+          fetch-depth: 1
+          submodules: recursive
+
+      - name: Install Dependencies
+        run: |
+          bash .github/workflows/install_dependencies.sh
+          source map-build-venv/bin/activate && python${PYTHON_BINDING_VERSION} -m pip install auditwheel &&  python${PYTHON_BINDING_VERSION} -m pip install --upgrade patchelf>=0.14
+
+      - name: Build wheels
+        shell: bash
+        run: |
+          source map-build-venv/bin/activate && colcon build --packages-select PROJ4 --event-handlers console_direct+ --cmake-args -DCMAKE_POSITION_INDEPENDENT_CODE=ON
+          source install/setup.bash
+          source map-build-venv/bin/activate && colcon build --packages-up-to ad_map_access --event-handlers console_direct+ --cmake-args -DPYTHON_BINDING_VERSION=${PYTHON_BINDING_VERSION}  --metas colcon_python.meta
+
+      - name: Repair wheels
+        shell: bash
+        run: |
+          source install/setup.bash
+          for whl in install/ad_physics/dist/*.whl; do
+            source map-build-venv/bin/activate && auditwheel repair $whl --plat ${WHEEL_PLATFORM} --wheel-dir wheelhouse
+          done
+          for whl in install/ad_map_access/dist/*.whl; do
+            source map-build-venv/bin/activate && auditwheel repair $whl --plat ${WHEEL_PLATFORM} --wheel-dir wheelhouse
+          done
+
+      - name: Publish wheels to PyPI
+        uses: pypa/gh-action-pypi-publish@76f52bc884231f62b9a034ebfe128415bbaabdfc # release/v1
+        if: ${{ github.event_name == 'release'}}
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+          packages_dir: wheelhouse/

.gitignore

@@ -3,3 +3,5 @@
 /log/
 __pycache__/
 *\.pyc
+ad_map_access/tests/test_files/Town01.adm.txt
+map-build-venv/

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "dependencies/spdlog"]
-	path = dependencies/spdlog
-	url = https://github.com/gabime/spdlog.git
 [submodule "dependencies/odrSpiral"]
 	path = dependencies/odrSpiral
 	url = https://github.com/DLR-TS/odrSpiral