Fix python binding build and remove Ubuntu 16.04 support (#115)

berndgassmann · web-flow · commit 438ac2bc5023 · 2021-11-08T18:51:30.000+01:00
Fixed ad_rss_map_integration python binding build failed in CARLA
environment because of not existing folder being referenced

Remove Ubuntu 16.04 support and use Ubuntu's libproj version
diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -11,53 +11,6 @@ env:
   BUILDCMD: "colcon build --event-handlers console_direct+ --executor sequential --packages-up-to ad_rss ad_rss_map_integration --cmake-args -DBUILD_HARDENING=ON -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDING=ON -DPYTHON_BINDING_VERSION=${PYTHON_BINDING_VERSION} && colcon test --event-handlers console_direct+ --packages-select ad_rss ad_rss_map_integration && colcon test-result"
 
 jobs:
-  ubuntu16job:
-    name: Ubuntu 16.04
-    runs-on: ubuntu-16.04
-
-    strategy:
-      matrix:
-       include:
-         - compiler: gcc5
-           EXTRA_PACKAGES: ""
-           CC: ""
-           CXX: ""
-           PYTHON_BINDING_VERSION: "2.7"
-         - compiler: gcc6
-           EXTRA_PACKAGES: g++-6
-           CC: /usr/bin/gcc-6
-           CXX: /usr/bin/g++-6
-           PYTHON_BINDING_VERSION: "2.7"
-         - compiler: clang5
-           EXTRA_PACKAGES: clang-5.0
-           CC: /usr/bin/clang-5.0
-           CXX: /usr/bin/clang++-5.0
-           PYTHON_BINDING_VERSION: "2.7"
-         - compiler: clang6
-           EXTRA_PACKAGES: clang-6.0
-           CC: /usr/bin/clang-6.0
-           CXX: /usr/bin/clang++-6.0
-           PYTHON_BINDING_VERSION: "2.7"
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-          submodules: true
-
-    - name: Install Dependencies
-      run: bash .github/workflows/install_dependencies.sh
-
-    - name: Build and Test
-      env:
-          CC: ${{ matrix.CC }}
-          CXX: ${{ matrix.CXX }}
-          EXTRA_PACKAGES: ${{ matrix.EXTRA_PACKAGES }}
-          PYTHON_BINDING_VERSION: ${{ matrix.PYTHON_BINDING_VERSION }}
-      run: |
-        sudo apt-get install ${EXTRA_PACKAGES}
-        rm -rf log build install
-        eval CC=${CC} CXX=${CXX} ${BUILDCMD}
-
   ubuntu18job:
     name: Ubuntu 18.04
     runs-on: ubuntu-18.04
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
@@ -25,8 +25,14 @@ jobs:
         with:
           fetch-depth: 1
           submodules: true
+      - name: Prepare PROJ
+        run: |
+          git clone --depth=1 -b 4.9.3 https://github.com/OSGeo/PROJ.git dependencies/PROJ
       - name: Build wheels
+        shell: bash
         run: |
+          colcon build --packages-select PROJ4 --event-handlers console_direct+ --cmake-args -DCMAKE_POSITION_INDEPENDENT_CODE=ON
+          source install/setup.bash
           colcon build --packages-up-to ad_rss_map_integration --meta colcon_python.meta --event-handlers console_direct+ --cmake-args -DPYTHON_BINDING_VERSION=${PYTHON_BINDING_VERSION}
       - name: Repair wheels
         shell: bash
@@ -38,10 +44,10 @@ jobs:
           for whl in install/ad_rss_map_integration/dist/*.whl; do
             auditwheel repair $whl --plat ${WHEEL_PLATFORM} --wheel-dir wheelhouse
           done
-      - name: Publish wheels to PyPI
-        uses: pypa/gh-action-pypi-publish@release/v1
-        if: ${{ github.event_name == 'release'}}
-        with:
-          user: __token__
-          password: ${{ secrets.PYPI_API_TOKEN }}
-          packages_dir: wheelhouse/
+#      - name: Publish wheels to PyPI
+#        uses: pypa/gh-action-pypi-publish@release/v1
+#        if: ${{ github.event_name == 'release'}}
+#        with:
+#          user: __token__
+#          password: ${{ secrets.PYPI_API_TOKEN }}
+#          packages_dir: wheelhouse/
diff --git a/README.md b/README.md
@@ -116,10 +116,10 @@ Note: The RSS module in this library does not initiate evasive manuevers. At the
 ## Getting started <a name="started"></a>
 
 #### Installation of dependencies
-Currently, the focused operating systems are Ubuntu 16.04 and Ubuntu 18.04. Nevertheless, the library should work in a similar way for any other Linux OS.
-To install the basic dependencies for Ubuntu 16.04/18.04 execute the following command:
+Currently, the focused operating systems are Ubuntu 18.04 and Ubuntu 20.04. Nevertheless, the library should work in a similar way for any other Linux OS.
+To install the basic dependencies for Ubuntu 18.04/20.04 execute the following command:
 ```bash
- user$> sudo apt-get install git build-essential cmake libboost-dev
+ user$> sudo apt-get install git build-essential cmake libboost-dev libpugixml-dev libgtest-dev libpython-dev libproj-dev
 ```
 
 If you want to use doxygen for API documentation, please also install:
@@ -135,20 +135,16 @@ To download the library, you may run:
 ```
 
 #### Supported systems <a name="systems"></a>
-Development systems are Ubuntu 16.04 and Ubuntu 18.04.
+Development systems are Ubuntu 18.04 and Ubuntu 20.04.
 Following compiler combinations are [tested continously](https://github.com/intel/ad-rss-lib/blob/master/.travis.yml):
 
-|                 | Ubuntu 16.04 | Ubuntu 18.04 | Ubuntu 20.04 |
-|:---------------:|:------------:|:------------:|:------------:|
-|  Clang 5.0      |      x       |              |              |
-|  Clang 6.0      |      x       |              |              |
-|  Clang 7        |              |       x      |              |
-|  Clang 8        |              |       x      |              |
-|   GCC 5         |      x       |              |              |
-|   GCC 6         |      x       |              |              |
-|   GCC 7         |              |       x      |              |
-|   GCC 8         |              |       x      |              |
-|   GCC 9         |              |       x      |       x      |
+|                 | Ubuntu 18.04 | Ubuntu 20.04 |
+|:---------------:|:------------:|:------------:|
+|  Clang 7        |       x      |              |
+|  Clang 8        |       x      |              |
+|   GCC 7         |       x      |              |
+|   GCC 8         |       x      |              |
+|   GCC 9         |       x      |       x      |
 
 Important: cmake is required to be at least version 3.5!
 
@@ -161,15 +157,15 @@ Contibutions are very welcome!
 Before submitting a pull request, please ensure that your code compiles successfully and that the tests run successfully.
 Please also check that your code formatting complies to the provided clang style. To do so, you can run:
 ```bash
-ad_rss$> sudo apt-get install clang-format-3.9
-ad_rss$> find -iname *.cpp -o -iname *.hpp | xargs clang-format-3.9 -style=file -i
+ad-rss-lib$> sudo apt-get install clang-format-10
+ad-rss-lib$> find -iname *.cpp -o -iname *.hpp | xargs clang-format-10 -style=file -i
 ```
 This command will automatically update the code formatting to be compliant with our style.
 
 In addition, please perform a static code analysis, if possible.
 ```bash
-ad_rss$> sudo apt-get install clang-tidy
-ad_rss$> cmake -DBUILD_STATIC_ANALYSIS=ON
-ad_rss$> make clang-tidy
+ad-rss-lib$> sudo apt-get install clang-tidy
+ad-rss-lib$> cmake -DBUILD_STATIC_ANALYSIS=ON
+ad-rss-lib$> make clang-tidy
 ```
 This may provide a list of possible improvements that you would like to consider in your pull request.
diff --git a/ad_rss_map_integration/python/generate_python_lib.py.in b/ad_rss_map_integration/python/generate_python_lib.py.in
@@ -25,7 +25,7 @@ def main():
     """
     include_dirs = {
         "@GENPY_INCLUDE_DIRS@",
-        "@CMAKE_CURRENT_LIST_DIR@/../generated/include/",
+        #"@CMAKE_CURRENT_LIST_DIR@/../generated/include/",
         "@CMAKE_CURRENT_LIST_DIR@/../include/"
     }
 
diff --git a/colcon.meta b/colcon.meta
@@ -1,13 +1,7 @@
 {
     "names": {
-        "PROJ4": {
-            "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON"]
-        },
         "spdlog": {
             "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DSPDLOG_BUILD_TESTS=OFF", "-DSPDLOG_BUILD_EXAMPLE=Off"]
-        },
-        "ad_map_opendrive_reader": {
-            "dependencies": ["PROJ4"]
         }
     }
 }
diff --git a/colcon_python.meta b/colcon_python.meta
@@ -1,17 +1,11 @@
 {
     "names": {
-        "PROJ4": {
-            "cmake-args": ["-DBUILD_SHARED_LIBS=OFF", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON"]
-        },
         "spdlog": {
             "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DSPDLOG_BUILD_TESTS=OFF", "-DSPDLOG_BUILD_EXAMPLE=Off"]
         },
         "ad_physics": {
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"]
         },
-        "ad_map_opendrive_reader": {
-            "dependencies": ["PROJ4"]
-        },
         "ad_map_access": {
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"]
         },
diff --git a/dependencies/PROJ b/dependencies/PROJ
diff --git a/doc/BUILDING.md b/doc/BUILDING.md
@@ -13,7 +13,10 @@ The components within this repository have some dependencies:
  - **ad_rss_map_integration**:
    - *ad_rss*
    - ad_map_access: <https://github.com/carla-simulator/map.git>
-      - proj: <https://www.osgeo.org/projects/proj/>
+      - Boost (including components filesystem and  program_options)
+   - ad_map_opendrive_reader: <https://github.com/carla-simulator/map.git>
+     - pugixml
+     - proj: <https://www.osgeo.org/projects/proj/>
    - spdlog: <https://github.com/gabime/spdlog.git>
    - **ad_rss_map_integration_python** (if Python binding build enabled):
      - ad_map_access_python: <https://github.com/carla-simulator/map.git>
@@ -25,16 +28,17 @@ The components within this repository have some dependencies:
    - gtest aka. googletests < 1.10 : <https://github.com/google/googletest>
    - xmlrunner
 
-Dependencies provided by Ubunutu (>= 16.04):
+Dependencies provided by Ubunutu (>= 18.04):
 
  - Boost
  - pugixml
+ - libproj-dev
  - gtest
  - libpython-dev
 
 Those can be installed by calling:
 ```bash
-$>  sudo apt-get install libboost-all-dev libpugixml-dev libgtest-dev libpython-dev
+$>  sudo apt-get install libboost-all-dev libpugixml-dev libgtest-dev libpython-dev libproj-dev
 ```
 
 Additional dependencies for the python bindings:
@@ -49,7 +53,6 @@ Remaining dependencies are present as GIT submodules; also to fix the version of
  - ad_map_opendrive_reader
  - ad_physics
  - spdlog
- - proj
 
 ## Building
 For compiling all libraries and the dependencies, colcon is used [colcon](https://colcon.readthedocs.io/).
diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md
@@ -3,9 +3,15 @@
 ## Release 4.5.0
 
 #### :rocket: New Features
+* Remove Ubuntu 16.04 support
 * Add creation of python wheels
 * Update map to v2.5.0
 
+## Release 4.4.3
+
+#### :ghost: Maintenance
+* Fix: ad_rss_map_integration python binding build
+
 ## Release 4.4.2
 
 #### :ghost: Maintenance
diff --git a/doc/ad_rss/HLD-Security.md b/doc/ad_rss/HLD-Security.md
@@ -172,12 +172,12 @@ Unit testing achieved code coverage can be retrieved via [github deployment](htt
 
 #### Compiler and compiler security flags
 
-The development platforms are Ubuntu Linux 16.04 Xenial and Ubuntu Linux 18.04 Bionic.
+The development platforms are Ubuntu Linux 18.04 Bionic and 20.04 Focal Fossa.
 
 A standard cmake toolchain has been used to compile the library. Other supported compilers are listed at the [main page](../../#systems)
 
 The following, strict, [compilation flags](https://github.com/intel/ad-rss-lib/blob/master/cmake/warnings.cmake) are used:
-C++11, -Werror, -Wall, -Wextra, -pedantic, -Wconversion, -Wsign-conversion, -Wfloat-equal -Wshadow -Wswitch-default -Wenum-compare -Wformat -Wformat-security.
+C++14, -Werror, -Wall, -Wextra, -pedantic, -Wconversion, -Wsign-conversion, -Wfloat-equal -Wshadow -Wswitch-default -Wenum-compare -Wformat -Wformat-security.
 
 * -Werror turns all warnings into errors
 * -Wall enables many warnings about code constructs that are questionable

Original file line number	Diff line number	Diff line change
`@@ -25,7 +25,7 @@ def main():`
`25`	`25`	`"""`
`26`	`26`	`include_dirs = {`
`27`	`27`	`"@GENPY_INCLUDE_DIRS@",`
`28`		`- "@CMAKE_CURRENT_LIST_DIR@/../generated/include/",`
	`28`	`+ #"@CMAKE_CURRENT_LIST_DIR@/../generated/include/",`
`29`	`29`	`"@CMAKE_CURRENT_LIST_DIR@/../include/"`
`30`	`30`	`}`
`31`	`31`
Original file line number	Diff line number	Diff line change
`@@ -1,13 +1,7 @@`
`1`	`1`	`{`
`2`	`2`	`"names": {`
`3`		`- "PROJ4": {`
`4`		`- "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON"]`
`5`		`- },`
`6`	`3`	`"spdlog": {`
`7`	`4`	`"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DSPDLOG_BUILD_TESTS=OFF", "-DSPDLOG_BUILD_EXAMPLE=Off"]`
`8`		`- },`
`9`		`- "ad_map_opendrive_reader": {`
`10`		`- "dependencies": ["PROJ4"]`
`11`	`5`	`}`
`12`	`6`	`}`
`13`	`7`	`}`