basic plugin: add python bindings

Author: Moritz Hoffmann

plugins/basic/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.15 FATAL_ERROR)
 
 project(cloe_plugin_basic LANGUAGES CXX)
 
+find_package(pybind11 CONFIG REQUIRED)
 set(CLOE_FIND_PACKAGES ON CACHE BOOL "Call find_package() for cloe packages")
 if(CLOE_FIND_PACKAGES)
     find_package(cloe-runtime REQUIRED)
@@ -22,6 +23,17 @@ cloe_add_plugin(
         PROJECT_SOURCE_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}\"
 )
 
+pybind11_add_module(_basic_bindings
+        src/basic_bindings.cpp
+)
+target_include_directories(_basic_bindings PRIVATE src/)
+target_link_libraries(_basic_bindings PUBLIC cloe::runtime cloe::models cloe::databroker-bindings)
+set_target_properties(_basic_bindings PROPERTIES
+        CXX_STANDARD 17
+        CXX_STANDARD_REQUIRED ON
+)
+install(TARGETS _basic_bindings LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/cloe/python)
+
 include(CTest)
 if(BUILD_TESTING)
     find_package(GTest REQUIRED)

plugins/basic/conanfile.py

@@ -83,3 +83,7 @@ def package_info(self):
         if not self.in_local_cache:  # editable mode
             libdir = os.path.join(self.build_folder, "lib")
             self.runenv_info.append_path("LD_LIBRARY_PATH", libdir)
+
+        # todo editable mode
+        self.runenv_info.prepend_path("CLOE_PYTHON_BINDINGS",
+                                      str(Path(self.package_folder) / 'lib' / 'cloe' / 'python'))

plugins/basic/src/basic_bindings.cpp

@@ -0,0 +1,23 @@
+#include "basic.hpp"
+#include <cloe/python/python_data_broker_adapter.hpp>
+#include <pybind11/pybind11.h>
+
+PYBIND11_MODULE(_basic_bindings, m) {
+
+  pybind11::class_<cloe::controller::basic::AccConfiguration>(m, "AccConfiguration")
+      .def_readonly("ego_sensor", &cloe::controller::basic::AccConfiguration::ego_sensor)
+      .def_readonly("world_sensor", &cloe::controller::basic::AccConfiguration::world_sensor)
+      .def_readonly("latlong_actuator", &cloe::controller::basic::AccConfiguration::latlong_actuator)
+      .def_readonly("limit_deceleration", &cloe::controller::basic::AccConfiguration::limit_deceleration)
+      .def_readonly("derivative_factor_speed_control", &cloe::controller::basic::AccConfiguration::kd)
+      .def_readonly("proportional_factor_speed_control", &cloe::controller::basic::AccConfiguration::kp)
+      .def_readonly("integral_factor_speed_control", &cloe::controller::basic::AccConfiguration::ki)
+      .def_readonly("derivative_factor_dist_control", &cloe::controller::basic::AccConfiguration::kd_m)
+      .def_readonly("proportional_factor_dist_control", &cloe::controller::basic::AccConfiguration::kp_m)
+      .def_readonly("integral_factor_dist_control", &cloe::controller::basic::AccConfiguration::ki_m);
+
+  m.def("declare", [](cloe::py::PythonDataBrokerAdapter &adapter) {
+    adapter.declare<cloe::controller::basic::AccConfiguration>();
+  });
+
+}