esmini: Move from optional to base

The optional directory contains projects that are hard to build. ESMini does not
fall into this category, since the sources are freely available.

This commit does the following:

- Move optional/esmini to plugins/esmini
- Move optional/osi to osi
- Replace Conan recipe for vendor/esmini and vendor/esmini-data
- Replace Conan recipe for vendor/open-simulation-interface
- Patch the esmini and osi Cloe libraries for compatibility with new open-simulation-interface.
  In particular, the generated headers are now namespaced with osi3/
- Fix several findings in esmini and osi Cloe libraries highlighted by clang-tidy.

The vendored libraries are written in a manner similar to how it is done in
the Conan-Center-Index.

.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 +7,9 @@ setup.sh
 # Standard out-of-source build
 build/
 
+# Vendored Conan recipes sometimes extract fetched sources
+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

conanfile.py

@@ -1,9 +1,7 @@
 # mypy: ignore-errors
 # pylint: skip-file
 
-import os
 from pathlib import Path
-from semver import SemVer
 
 from conan import ConanFile
 from conan.tools import cmake, files, scm
@@ -18,56 +16,22 @@ class Cloe(ConanFile):
     description = "Closed-loop automated driving simulation environment"
     topics = ["simulation"]
     settings = "os", "compiler", "build_type", "arch"
-    provides = (
-        "fable",
-        "cloe-runtime",
-        "cloe-models",
-        "cloe-oak",
-        "cloe-engine",
-        "cloe-plugins-core",
-        "cloe-plugin-basic",
-        "cloe-plugin-gndtruth-extractor",
-        "cloe-plugin-minimator",
-        "cloe-plugin-mocks",
-        "cloe-plugin-noisy-sensor",
-        "cloe-plugin-speedometer",
-        "cloe-plugin-virtue",
-    )
     options = {
-        "shared": [True, False],
-        "fPIC": [True, False],
-        "fable_allow_comments": [True, False],
-        "engine_server": [True, False],
-        "engine_lrdb": [True, False]
+        "with_vtd": [True, False],
+        "with_engine": [True, False],
+
+        # Doesn't affect package ID:
+        "pedantic": [True, False],
     }
     default_options = {
-        "shared": True,
-        "fPIC": True,
-        "fable_allow_comments": True,
-        "engine_server": True,
-        "engine_lrdb": True,
-    }
-    generators = "CMakeDeps", "VirtualRunEnv"
-    no_copy_source = True
-    exports_sources = [
-        "*/cmake/*",
-        "*/src/*",
-        "*/include/*",
-        "*/CMakeLists.txt",
+        "with_vtd": False,
+        "with_engine": True,
 
-        "fable/examples/*",
+        "pedantic": True,
 
-        "engine/lua/*",
-        "engine/webui/*",
-        "engine/vendor/*",
-
-        "plugins/*/src/*",
-        "plugins/*/include/*",
-        "plugins/*/ui/*",
-        "plugins/*/CMakeLists.txt",
-
-        "CMakelists.txt"
-    ]
+        "cloe-engine:server": True,
+    }
+    no_copy_source = True
 
     def set_version(self):
         version_file = Path(self.recipe_folder) / "VERSION"
@@ -78,120 +42,31 @@ def set_version(self):
             self.version = git.run("describe --dirty=-dirty")[1:]
 
     def requirements(self):
-        self.requires("fmt/9.1.0")
-        self.requires("inja/3.4.0")
-        self.requires("nlohmann_json/3.11.2")
-        self.requires("incbin/cci.20211107"),
-        self.requires("spdlog/1.11.0")
-        self.requires("eigen/3.4.0")
-        self.requires("cli11/2.3.2", private=True)
-        self.requires("sol2/3.3.1")
-        self.requires("boost/[>=1.65.1]")
-        if self.options.engine_server:
-            self.requires("oatpp/1.3.0")
-
-    def build_requirements(self):
-        self.test_requires("gtest/1.13.0")
-
-    def layout(self):
-        cmake.cmake_layout(self)
-        self.cpp.build.bindirs = ["bin"]
-        self.cpp.source.includedirs.append(os.path.join(self.folders.build, "include"))
-
-    def generate(self):
-        # The version as a single 32-bit number takes the format:
-        #
-        #   (EPOCH << 24) | (MAJOR_VERSION << 16) | (MINOR_VERSION << 8) | PATCH_VERSION
-        #
-        # Each version consists of at most 8 bits, so 256 potential values, including 0.
-        # The epoch starts with 0, and is bumped after each version naming scheme.
-        semver = SemVer(self.version, True)
-        version_u32 = (0<<24) | (semver.major << 16) | (semver.minor << 8) | semver.patch
-
-        tc = cmake.CMakeToolchain(self)
-        tc.cache_variables["CMAKE_EXPORT_COMPILE_COMMANDS"] = True
-        tc.cache_variables["CMAKE_MODULE_PATH"] = self.source_folder + "/runtime/cmake"
-        tc.cache_variables["FABLE_VERSION"] = self.version
-        tc.cache_variables["FABLE_VERSION_U32"] = version_u32
-        tc.cache_variables["FABLE_ALLOW_COMMENTS"] = self.options.fable_allow_comments
-        tc.cache_variables["CLOE_PROJECT_VERSION"] = self.version
-        tc.cache_variables["CLOE_VERSION"] = self.version
-        tc.cache_variables["CLOE_VERSION_U32"] = version_u32
-        tc.cache_variables["CLOE_ENGINE_WITH_SERVER"] = self.options.engine_server
-        tc.cache_variables["CLOE_ENGINE_WITH_LRDB"] = self.options.engine_lrdb
-        tc.generate()
-
-    def build(self):
-        cm = cmake.CMake(self)
-        if self.should_configure:
-            cm.configure()
-        if self.should_build:
-            cm.build()
-        if self.should_test:
-            cm.test()
-
-    def package(self):
-        if self.should_install:
-            cm = cmake.CMake(self)
-            cm.install()
-
-            # Package license files for compliance
-            for meta, dep in self.dependencies.items():
-                if dep.package_folder is None:
-                    continue
-                ref = str(meta.ref)
-                name = ref[: str(ref).index("/")]
-                files.copy(
-                    self,
-                    "*",
-                    src=os.path.join(dep.package_folder, "licenses"),
-                    dst=os.path.join(self.package_folder, "licenses", name),
-                )
-
-    def package_info(self):
-        self.cpp_info.set_property("cmake_find_mode", "both")
-        self.cpp_info.set_property("cmake_file_name", "cloe")
-        self.cpp_info.set_property("pkg_config_name", "cloe")
-
-        self.cpp_info.components["fable"].libs = ["fable"]
-        self.cpp_info.components["fable"].set_property("cmake_file_name", "fable")
-        self.cpp_info.components["fable"].set_property("cmake_target_name", "fable::fable")
-        self.cpp_info.components["fable"].set_property("pkg_config_name", "fable")
-
-        self.cpp_info.components["runtime"].libs = ["cloe-runtime"]
-        self.cpp_info.components["runtime"].requires = ["fable"]
-        self.cpp_info.components["runtime"].set_property("cmake_file_name", "cloe-runtime")
-        self.cpp_info.components["runtime"].set_property("cmake_target_name", "cloe::runtime")
-        self.cpp_info.components["runtime"].set_property("pkg_config_name", "cloe-runtime")
-
-        if self.settings.os == "Linux":
-            self.cpp_info.system_libs.append("pthread")
-            self.cpp_info.system_libs.append("dl")
-
-        # Linking to libstdc++fs is required on GCC < 9.
-        # (GCC compilers with version < 7 have no std::filesystem support.)
-        # No consideration has been made yet for other compilers,
-        # please add them here as necessary.
-        if self.settings.get_safe("compiler") == "gcc" and self.settings.get_safe("compiler.version") in ["7", "8"]:
-            self.cpp_info.system_libs = ["stdc++fs"]
-
-        self.cpp_info.libs = files.collect_libs(self)
-        if not self.in_local_cache: # editable build
-            self.cpp_info.builddirs.append(os.path.join(self.source_folder, "cmake"))
-            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")
-            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")
-            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:
-            self.output.info(f"Appending LD_LIBRARY_PATH environment variable: {libdir}")
-            self.runenv_info.append_path("LD_LIBRARY_PATH", libdir)
+        def cloe_requires(dep):
+            self.requires(f"{dep}/{self.version}@cloe/develop")
+
+        cloe_requires("cloe-runtime")
+        cloe_requires("cloe-models")
+        cloe_requires("cloe-plugin-basic")
+        cloe_requires("cloe-plugin-gndtruth-extractor")
+        cloe_requires("cloe-plugin-minimator")
+        cloe_requires("cloe-plugin-mocks")
+        cloe_requires("cloe-plugin-noisy-sensor")
+        cloe_requires("cloe-plugin-speedometer")
+        cloe_requires("cloe-plugin-virtue")
+        if self.options.with_vtd:
+            cloe_requires("cloe-plugin-vtd")
+
+        boost_version = "[>=1.65.0]"
+        if self.options.with_engine:
+            cloe_requires("cloe-engine")
+
+        # Overrides:
+        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)
+        self.requires("incbin/cci.20211107", override=True),
+        self.requires(f"boost/{boost_version}", override=True)
+
+    def package_id(self):
+        del self.info.options.pedantic