From eef5cd5276315dae2a30411d520f595480ec1ea4 Mon Sep 17 00:00:00 2001
From: Praveen Kumar <pravinblaze@hotmail.com>
Date: Fri, 11 Oct 2019 21:40:50 +0530
Subject: [PATCH] WIP : python wrapper for TrafficManager

---
 TrafficManager/CMakeLists.txt                 | 32 ++++++++--
 .../source/pipeline/python/Wrapper.cpp        | 61 ++++++++++++++++++-
 2 files changed, 87 insertions(+), 6 deletions(-)

diff --git a/TrafficManager/CMakeLists.txt b/TrafficManager/CMakeLists.txt
index febadea6e..811195798 100644
--- a/TrafficManager/CMakeLists.txt
+++ b/TrafficManager/CMakeLists.txt
@@ -7,7 +7,11 @@ set(CMAKE_CXX_COMPILER /usr/bin/clang++-7)
 # set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -fPIC -O3 -g -fsanitize=address" CACHE STRING "" FORCE)
 
 ## Release options
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -DNDEBUG" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -fPIC -O3 -DNDEBUG" CACHE STRING "" FORCE)
+
+# Scanning for python wrapper dependencies
+find_package(PythonInterp REQUIRED)
+find_package(PythonLibs REQUIRED)
 
 set(CARLA_LOCATION $ENV{CARLA_LOCATION})
 
@@ -16,6 +20,8 @@ include_directories(${CARLA_LOCATION}/LibCarla/source/)
 include_directories(${CARLA_LOCATION}/Build/boost-1.69.0-c7-install/include)
 include_directories(${CARLA_LOCATION}/Build/recast-cdce4e-c7-install/include)
 include_directories(${CARLA_LOCATION}/Build/rpclib-v2.2.1_c2-c7-libstdcxx-install/include)
+# Including python wrapper dependencies
+include_directories(${PYTHON_INCLUDE_DIRS})
 
 link_directories(${CARLA_LOCATION}/Build/boost-1.69.0-c7-install/lib)
 link_directories(${CARLA_LOCATION}/Build/recast-cdce4e-c7-install/lib)
@@ -23,12 +29,30 @@ link_directories(${CARLA_LOCATION}/Build/rpclib-v2.2.1_c2-c7-libstdcxx-install/l
 link_directories(${CARLA_LOCATION}/PythonAPI/carla/dependencies/lib)
 
 file(GLOB SOURCES ${CARLA_LOCATION}/TrafficManager/source/pipeline/*.cpp)
+
 ## Release executable
-file(GLOB SOURCES_EXE ${CARLA_LOCATION}/TrafficManager/source/pipeline/executable/PipelineExecutable.cpp)
+# file(GLOB SOURCES_EXE ${CARLA_LOCATION}/TrafficManager/source/pipeline/executable/PipelineExecutable.cpp)
+
 ## Debug executable
 # file(GLOB SOURCES_EXE ${CARLA_LOCATION}/TrafficManager/source/test/Test.cpp)
 
 add_library(pipeline ${SOURCES})
-add_executable(traffic_manager ${SOURCES_EXE})
 
-target_link_libraries(traffic_manager pipeline carla_client rpc pthread boost_system Detour DetourCrowd DetourTileCache Recast)
+# Executable target
+# add_executable(traffic_manager ${SOURCES_EXE})
+
+# Python wrapper target
+add_library(traffic_manager SHARED ${CARLA_LOCATION}/TrafficManager/source/pipeline/python/Wrapper.cpp)
+
+# Linking executable target
+# target_link_libraries(traffic_manager pipeline carla_client rpc pthread boost_system
+#                       Detour DetourCrowd DetourTileCache Recast)
+
+# Linking python wrapper
+target_link_libraries(traffic_manager ${PYTHON_LIBRARIES}
+                      pipeline carla_client rpc pthread boost_system boost_python27
+                      Detour DetourCrowd DetourTileCache Recast)
+
+# Setting target properties for python wrapper
+set_target_properties(traffic_manager PROPERTIES SUFFIX .so)
+set_target_properties(traffic_manager PROPERTIES PREFIX "")
diff --git a/TrafficManager/source/pipeline/python/Wrapper.cpp b/TrafficManager/source/pipeline/python/Wrapper.cpp
index 148fcea48..d2f8af097 100644
--- a/TrafficManager/source/pipeline/python/Wrapper.cpp
+++ b/TrafficManager/source/pipeline/python/Wrapper.cpp
@@ -1,10 +1,67 @@
+#pragma once
 
+#include <memory>
+
+#include "carla/client/Client.h"
 #include "boost/python.hpp"
 
 #include "Pipeline.h"
 
+namespace cc = carla::client;
 using namespace boost::python;
 
+namespace traffic_manager {
+
+    class TrafficManager {
+
+    private:
+        std::shared_ptr<Pipeline> pipeline;
+        cc::Client &client;
+
+    public:
+        TrafficManager (list &longitudinal_parameters,
+                        list &longitudinal_highway_parameters,
+                        list &lateral_parameters,
+                        float urban_target_velocity,
+                        float highway_target_velocity,
+                        cc::Client &client):
+                        client(client) {
+
+            std::vector<float> longitudinal_parameters_vector;
+            for (uint i = 0u; i < len(longitudinal_parameters); ++i) {
+                longitudinal_parameters_vector.push_back(
+                    extract<double>(longitudinal_parameters[i]));
+            }
+
+            std::vector<float> longitudinal_highway_parameters_vector;
+            for (uint i = 0u; i < len(longitudinal_highway_parameters); ++i) {
+                longitudinal_highway_parameters_vector.push_back(
+                    extract<double>(longitudinal_highway_parameters[i]));
+            }
+
+            std::vector<float> lateral_parameters_vector;
+            for (uint i = 0u; i < len(lateral_parameters); ++i) {
+                lateral_parameters_vector.push_back(
+                    extract<double>(lateral_parameters[i]));
+            }
+
+            pipeline = std::make_shared<Pipeline>(longitudinal_parameters_vector,
+                                                  longitudinal_highway_parameters_vector,
+                                                  lateral_parameters_vector,
+                                                  urban_target_velocity,
+                                                  highway_target_velocity,
+                                                  this->client);
+        };
+    };
+
+}
+
 BOOST_PYTHON_MODULE(traffic_manager) {
-    class_<traffic_manager::Pipeline>("traffic_manager", init<>());
-}
\ No newline at end of file
+    class_<traffic_manager::TrafficManager, boost::noncopyable>(
+        "traffic_manager",
+        init<list&, list&, list&, float, float, cc::Client&>())
+        .def("register_vehicles", &traffic_manager::Pipeline::RegisterVehicles)
+        .def("unregister_vehicles", &traffic_manager::Pipeline::UnregisterVehicles)
+        .def("start", &traffic_manager::Pipeline::Start)
+        .def("stop", &traffic_manager::Pipeline::Stop);
+}