esmini: Initial commit of simulator binding

Author: tobifalk

optional/esmini/.gitignore

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+build/

optional/esmini/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.15 FATAL_ERROR)
+
+project(cloe_plugin_esmini LANGUAGES CXX)
+
+set(CLOE_FIND_PACKAGES ON CACHE BOOL "Call find_package() for cloe packages")
+if(CLOE_FIND_PACKAGES)
+    find_package(cloe-runtime REQUIRED)
+    find_package(cloe-models REQUIRED)
+    find_package(cloe-osi REQUIRED)
+endif()
+find_package(esmini REQUIRED)
+
+include(CloePluginSetup)
+cloe_add_plugin(
+    TARGET ${PROJECT_NAME}
+    OUTPUT_NAME simulator_esmini
+    SOURCES
+        src/esmini.cpp
+    LINK_LIBRARIES
+        cloe::runtime
+        cloe::models
+        cloe::osi
+        esmini::esmini
+    COMPILE_DEFINITIONS
+        PROJECT_SOURCE_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}\"
+)
+
+include(CTest)
+if(BUILD_TESTING)
+    find_package(GTest REQUIRED)
+    include(GoogleTest)
+
+    add_executable(test-esmini
+        src/esmini_test.cpp
+    )
+    set_target_properties(test-esmini PROPERTIES
+        CXX_STANDARD 17
+        CXX_STANDARD_REQUIRED ON
+    )
+    target_link_libraries(test-esmini
+      PRIVATE
+        GTest::gtest
+        GTest::gtest_main
+        cloe::runtime
+        cloe::models
+        cloe::osi
+    )
+    gtest_add_tests(TARGET test-esmini)
+endif()

optional/esmini/Makefile

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+PROJECT_ROOT := ../..
+include ${PROJECT_ROOT}/Makefile.package
+
+# -------------------------------------------------
+
+ALL_VENDOR := $(wildcard vendor/*)
+.PHONY: ${ALL_VENDOR}
+
+WITHOUT_VENDOR :=
+UNSELECT_VENDOR := ${WITHOUT_VENDOR}
+WITH_VENDOR :=
+SELECT_VENDOR := $(call uniq, $(filter-out ${UNSELECT_VENDOR}, ${ALL_VENDOR}) ${WITH_VENDOR})
+
+REGEX_TARGET := 's/(-vendor|-select)?-each//'
+${SELECT_VENDOR}:
+	${MAKE} -C $@ $(shell echo ${MAKECMDGOALS} | sed -re ${REGEX_TARGET})
+
+# Usage: $(call _make_target_rule, TARGET-NAME, MAKE-TARGET, HELP-DESCRIPTION, MAKE-ARGUMENTS)
+define _make_target_rule
+${1}:
+	$(call print_header, "Proceeding to $(call unquote, ${3})")
+	${MAKE} ${SUBMAKEFLAGS} PROJECT_ROOT=$(realpath ${PROJECT_ROOT}) ${4} ${2}
+endef
+
+# Usage: $(call _make_target_rules, TARGET-NAME, HELP-DESCRIPTION, HELP-CATEGORY, PACKAGE-DIRS)
+define _make_target_rules
+help::
+	$(call print_help_target, ${1}, ${2}, ${3})
+$(call _make_target_rule,${1},${1}-each,${2})
+${1}-each: ${4}
+endef
+
+# 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
+
+help::
+	$(call print_help_section, "Available vendor targets")
+
+$(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]")

optional/esmini/README.md

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+# ESMini Simulator Binding Plugin
+
+To prepare running the smoketests, first export required packages like so:
+
+```
+make export-vendor export \
+  && make -C ../osi export-vendor export \
+  && make -C ../../ export-all
+```
+
+Then, build the packages and run the smoketests:
+
+```
+make smoketest-deps smoketest
+```

optional/esmini/conanfile.py

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+# mypy: ignore-errors
+# pylint: skip-file
+
+from pathlib import Path
+from conan import ConanFile
+from conan.tools import cmake, files, scm
+
+class CloeSimulatorESMini(ConanFile):
+    name = "cloe-plugin-esmini"
+    url = "https://github.com/esmini/esmini"
+    description = "Cloe ESMini simulator plugin."
+    license = "Apache-2.0"
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "pedantic": [True, False],
+    }
+    default_options = {
+        "pedantic": True,
+    }
+    generators = "CMakeDeps", "VirtualRunEnv"
+    exports_sources = [
+        "src/*",
+        "CMakeLists.txt",
+    ]
+    no_copy_source = True
+
+    def set_version(self):
+        version_file = Path(self.recipe_folder) / "../../VERSION"
+        if version_file.exists():
+            self.version = files.load(self, version_file).strip()
+        else:
+            git = scm.Git(self, self.recipe_folder)
+            self.version = git.run("describe --dirty=-dirty")[1:]
+
+    def requirements(self):
+        self.requires("eigen/3.4.0")
+        self.requires(f"esmini/[~2.24.0]@cloe/stable")
+        self.requires(f"cloe-runtime/{self.version}@cloe/develop")
+        self.requires(f"cloe-models/{self.version}@cloe/develop")
+        self.requires(f"cloe-osi/{self.version}@cloe/develop")
+
+    def build_requirements(self):
+        self.test_requires("gtest/1.13.0")
+
+    def layout(self):
+        cmake.cmake_layout(self)
+
+    def generate(self):
+        tc = cmake.CMakeToolchain(self)
+        tc.cache_variables["CMAKE_EXPORT_COMPILE_COMMANDS"] = True
+        tc.cache_variables["CLOE_PROJECT_VERSION"] = self.version
+        tc.cache_variables["TargetLintingExtended"] = self.options.pedantic
+        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):
+        cm = cmake.CMake(self)
+        if self.should_install:
+            cm.install()
+
+    def package_id(self):
+        del self.info.options.pedantic
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_find_mode", "both")
+        self.cpp_info.set_property("cmake_file_name", self.name)
+        self.cpp_info.set_property("pkg_config_name", self.name)
+
+        if not self.in_local_cache: # editable mode
+            libdir = Path(self.build_folder) /  "lib"
+            self.runenv_info.append_path("LD_LIBRARY_PATH", libdir)