# cloe **Repository Path**: mirrors_eclipse/cloe ## Basic Information - **Project Name**: cloe - **Description**: Cloe - **Primary Language**: Unknown - **License**: Apache-2.0 - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2020-08-22 - **Last Updated**: 2025-10-11 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README Eclipse Cloe ============ Cloe empowers developers of automated-driving software components by providing a unified interface to closed-loop simulation. It achieves this by abstracting over environment and vehicle simulators and building upon these. ![Screenshot of the Cloe UI](docs/screenshot.png) Cloe isn't a single tool. It is a set of components written in different languages employing different tools that work together: - Cloe runtime & engine (C++) - Cloe command line interface (Python) - Cloe web user interface (Javascript/React) Contributing to the CLI and the UI is pretty straightforward, as these are tools that live more-or-less 100% in their respective subdirectories. The runtime and engine are a different story though. Cloe is meant to be extended through plugins that build on the Cloe runtime and are integrated at runtime by the Cloe engine. These are written in C++, which doesn't have a defacto method of packaging. Finding a solution for integrating C++ packages is always going to be a trade-off between ease-of-use for developers and users. In our experience, it is better to require more from developers than from users, as demanding too much from users usually ends up backfiring with increased support issues. Getting Started --------------- For in-depth documentation, see our [website](https://cloe.readthedocs.io). For building, deploying, and running the runtime and engine we use [Conan][1], a modern C++ package manager. We currently have not published any Conan packages that can be downloaded directly. Building them yourself is pretty straightforward. Currently, we only support Linux or [WSL][2]. ### Installing Dependencies We provide automatic dependency installation for [Ubuntu][3] from 18.04 to 22.04 via the `Makefile.setup` Makefile. You should inspect it before running the targets, as these will modify your system. Other distributions may work, if the packages are available. git clone https://github.com/eclipse/cloe.git cd cloe sudo make install-system-deps make install-python-deps You may need to setup your Conan profile before continuing on to the next point. In a pinch, the following steps should suffice: 1. Install Conan with Python. ``` pip3 install --user --upgrade "conan<2.0.0" ``` 2. Define a Conan profile, which defines the machine configuration. ``` conan profile new --detect default conan profile update settings.compiler.libcxx=libstdc++11 default conan profile update settings.build_type=RelWithDebInfo default ``` If everything works out, your Conan profile should look *something like* this. ```console $ conan profile show default Configuration for profile default: [settings] os = Linux os_build = Linux arch = x86_64 arch_build = x86_64 compiler = gcc compiler.version = 9 compiler.libcxx = libstdc++11 build_type = RelWithDebInfo ``` See the Conan [documentation][6] for more information on how to do this. ### Building the Cloe Packages To build all packages, you should run the following: make export-vendor export-all make -C meta package This will export all Conan recipes from this repository and create the cloe package. Conan will download and build all necessary dependencies. Should any errors occur during the build, you may have to force Conan to build all packages instead of re-using packages it finds: ``` make -C meta package CONAN_OPTIONS="--build" ``` Run `make help` to get an overview of the available targets we expect you to use. For more details on how this is done, have a look at the Makefiles in the repository root. If you experience timeout issues waiting for Conan Center, you can slightly increase Conan's timeout configuration like so: export CONAN_REQUEST_TIMEOUT=360 ### Running Cloe Since Cloe is made up of many packages, running the Cloe engine directly is somewhat tricky. Conan provides the `virtualrunenv` generator, which creates shell scripts that you can source, similar to Python's virtualenv. Or, you can use the `cloe-launch` tool, in the `cli` directory, which wraps all this functionality for you in one convenient place. You can install `cloe-launch` with `pipx` (or `pip`), but we recommend you just use the make target: make deploy-cli If you want to install it in editable mode, you can use: make -C cli editable This has the advantage that any updates to the repository will be transparently used. Once the `cloe-launch` tool is available, you can do one of the following: 1. Launch a shell with the environment adjusted: ```console $ cloe-launch -v shell tests/conanfile_default.py Source profile: tests/conanfile_default.py Profile name: 7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c Configuration: ... Runtime directory: /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c Exec: conan install --install-folder /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c -g virtualenv -g virtualrunenv tests/conanfile_default.py Exec: /bin/bash -c source /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c/activate_run.sh &>/dev/null && env Exec: /bin/bash -c source /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c/activate_all.sh &>/dev/null && env [cloe-shell] $ cloe-engine usage Cloe 0.19.0 (2022-11-21) ... ``` 2. Launch `cloe-engine` directly: ```console $ cloe-launch -v exec conanfile.py -- usage Source profile: tests/conanfile_default.py Profile name: 7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c Configuration: ... Runtime directory: /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c Exec: conan install --install-folder /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c -g virtualenv -g virtualrunenv tests/conanfile_default.py Exec: /bin/bash -c source /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c/activate_run.sh &>/dev/null && env Exec: /bin/bash -c source /home/captain/.cache/cloe/launcher/7745ffb0e036192c8e29a8b8cc2b9571e7a72c8c/activate_all.sh &>/dev/null && env Exec: /home/captain/.conan/data/cloe-engine/0.19.0/cloe/develop/package/218a01b0a23497c52f95fbb0967b2d6b1d9ac1e4/bin/cloe-engine usage --- Cloe 0.19.0 (2022-11-21) ... ``` Note that the above examples show the verbose output of the `cloe-launch` tool. ### Running Tests Integration and system tests can be run to ensure that all the packages built are working together as expected: make export-all smoketest-deps make smoketest This will build packages in the required configurations as defined by the profiles in the `tests` directories in the various packages. Then it will run all available BATS tests with each of the profiles. Unit tests are compiled and run during the build step of each package, so this shouldn't need to be performed manually. See the documentation on testing Cloe for more details. ### Disabling Unit Tests You can disable running unit tests by setting `CONAN_RUN_TESTS=0`, as documented in the [Conan Manual](https://docs.conan.io/1/reference/env_vars.html#conan-run-tests). Alternatively, you can also prevent the unit tests from being built in the first place, by setting `tools.build:skip_test=1` in the Conan configuration, as documented [here](https://docs.conan.io/1/reference/config_files/global_conf.html?highlight=skip_test) and [here](https://docs.conan.io/1/reference/conanfile/tools/cmake/cmaketoolchain.html?highlight=skip_test). When using `make` to build the project, add this to the command line: CONAN_OPTIONS="-c tools.build:skip_test=1" ## Building with Bazel Bazel tooling is currently experimental, and is meant to support users who already are using Bazel in their projects and are not afraid of providing their own registries and modules for Cloe's dependencies. (That allows us to not have to vendor massive amounts of Bazel modules in this repository, of which Boost is the main problematic point. Once Boost makes it into the Bazel Central Registry, it may be worthwhile to vendor the remaining libraries in this repository.) You will need to create a `.bazelrc.user` file in the repository root with the following contents: common --registry=file:///path/to/your/bazel/registry This file is ignored by Git to prevent you from exposing your secrets. The registry should contain the following modules: boost cli11 esmini incbin inja luajit (optional) oatpp open-simulation-interface sol The rest of the dependencies are taken from the Bazel Central Registry. See `MODULE.bazel` for the full list. ### Building Docker Images The `Dockerfile` provided in the repository root can be used to create one or more Docker images. These can be used as devcontainers or simply to create Conan packages in a reproducible environment. The `Makefile.docker` contains multiple targets to build, test, and release Docker images for the current Cloe version in the repository. Run `make -f Makefile.docker help` to get an impression of what is possible: $ make -f Makefile.docker help Usage: make target Available Docker targets: all build and test all Ubuntu versions ubuntu-VERSION build and test the Ubuntu VERSION image build-all build all Ubuntu versions build-ubuntu-VERSION build the Ubuntu VERSION image test-all build all Ubuntu versions test-ubuntu-VERSION test the Ubuntu VERSION image run-ubuntu-VERSION run the Ubuntu VERSION image release-all release all Ubuntu versions release-ubuntu-VERSION release the Ubuntu VERSION image remove-current-images remove and prune all cloe/cloe-engine:0.19.0 Docker images remove-all-images remove and prune all cloe/cloe-engine Docker images User configuration: CONAN_PROFILE= PACKAGE_TARGET= KEEP_SOURCES= DOCKER_USER_ARGS= Docker configuration: UBUNTU_NAME=ubuntu UBUNTU_VERSIONS=\ 18.04 20.04 22.04 DOCKER=DOCKER_BUILDKIT=1 docker DOCKER_CONTEXT=/home/captain/cloe DOCKER_NETWORK=host DOCKER_IMAGE=cloe/cloe-engine:0.19.0 DOCKER_BUILD_ARGS=\ --build-arg PROJECT_VERSION=0.19.0 DOCKER_RUN_ARGS=\ -it --rm Because Docker images may be built in environments that have a proxy running, the Makefile will automatically add the proxy variables if they are are detected in the host environment. The section `User configuration` shows variables that can be set to modify the resulting Docker image; if they are empty here, then the defaults in the `Dockerfile` are used, which should suffice for most use-cases. If you want to use a different Conan remote from the default, you need to copy `setup.sh.example` to `setup.sh` and modify the values to match your environment. Note that this build requires the use of docker buildx, which has been available for some time. This allows us to mount secrets in at build time and also speeds up the build by the strategic use of caches. Known Issues ------------ ### Build-require 'protobuf' cannot be found in lockfile When using `build-all`, `cloe-osi` fails to build with: ERROR: Build-require 'protobuf' cannot be found in lockfile See the [upstream issue](https://github.com/conan-io/conan/issues/10544). In Conan 1, a dependency in a lockfile is only in host or build context, not both. Unfortunately, this is only fixed in Conan 2. The use-case for build-all is to build everything in editable mode. For that, use the new super-build instead of building individual packages. ### Superbuild 'cloe' package "provides the same functionality" error When using the `cloe` super-build package in tests, you may run into the following error: ERROR: At least two recipes provides the same functionality: - 'fable' provided by 'cloe/0.25.0@cloe/develop', 'fable/0.25.0@cloe/develop' - 'cloe-runtime' provided by 'cloe/0.25.0@cloe/develop', 'cloe-runtime/0.25.0@cloe/develop' - 'cloe-models' provided by 'cloe/0.25.0@cloe/develop', 'cloe-models/0.25.0@cloe/develop' This problem occurs when both `cloe` and one of the packages that `cloe` *provides* are pulled in as dependencies. Ideally, Conan should then use `cloe` instead, but it would appear that Conan, at least in v1, is unable to do this. The `cloe` super-build package is primarily used for development purposes, and until these kinks can be worked out, you should use the set of individual packages for production. [1]: https://conan.io [2]: https://docs.microsoft.com/en-us/windows/wsl/about [3]: https://ubuntu.com [5]: https://github.com/conan-io/conan-center-index/issues/950 [6]: https://docs.conan.io/en/latest/