Add CMOOSApp wrapper for structured MOOS applications

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.11)
 project (python-moos)
 
 find_package(MOOS 10 REQUIRED)

Documentation/examples/simpleapp.moos

@@ -0,0 +1,24 @@
+// Example mission file for simpleapp.py
+// Standard MOOS pattern: python simpleapp.py (modify code to call app.run('simpleapp.moos'))
+
+ServerHost = localhost
+ServerPort = 9000
+Community  = pymoos_example
+
+// Start MOOSDB with: MOOSDB simpleapp.moos
+
+ProcessConfig = MOOSDB
+{
+  ServerHost = localhost
+  ServerPort = 9000
+}
+
+ProcessConfig = pymoos_simple_app
+{
+  AppTick   = 2.0
+  CommsTick = 10.0
+
+  // Custom configuration parameters
+  variable_name = simple_app_var
+  max_iterations = 10
+}

Documentation/examples/simpleapp.py

@@ -0,0 +1,76 @@
+import pymoos
+import time
+
+# A simple example using the CMOOSApp wrapper:
+# a) we make an app object and set up callbacks for the application lifecycle
+# b) we run the app which starts the main loop
+# The app class provides a more structured approach than comms, with separate
+# callbacks for startup, iteration, and mail handling
+
+app = pymoos.app()
+
+# OnStartUp is called when the app first starts
+def on_startup():
+    print("App starting up...")
+
+    # Note: AppTick and CommsTick from the mission file are automatically
+    # handled by CMOOSApp - you don't need to read or set them manually.
+
+    # Read custom configuration parameters from the mission file
+    # The mission file should have a ProcessConfig block for this app
+    success, var_name = app.get_configuration_string('variable_name')
+    if success:
+        print(f"Will publish to variable: {var_name}")
+    else:
+        print("Using default variable name: simple_app_var")
+
+    success, max_iter = app.get_configuration_int('max_iterations')
+    if success:
+        print(f"Will run for {max_iter} iterations")
+
+    return True
+
+# OnConnectToServer is called when connection to MOOSDB is established
+def on_connect_to_server():
+    print("Connected to MOOSDB, registering for variables...")
+    return app.register('simple_app_var', 0)
+
+# OnNewMail is called when new mail arrives
+def on_new_mail(mail):
+    print(f"Received {len(mail)} messages:")
+    for msg in mail:
+        msg.trace()
+    return True
+
+# Iterate is the main work loop, called at the frequency set by AppTick in the mission file
+iteration_count = 0
+def iterate():
+    global iteration_count
+    iteration_count += 1
+    print(f"Iterate #{iteration_count}")
+
+    # Publish a message
+    app.notify('simple_app_var', f'iteration {iteration_count}', pymoos.time())
+
+    # Run for 10 iterations then stop
+    if iteration_count >= 10:
+        return False
+
+    return True
+
+def main():
+    # Set up the callbacks
+    app.set_on_start_up_callback(on_startup)
+    app.set_on_connect_to_server_callback(on_connect_to_server)
+    app.set_on_new_mail_callback(on_new_mail)
+    app.set_iterate_callback(iterate)
+
+    # Standard MOOS pattern: app_name and mission file
+    # The mission file contains ServerHost, ServerPort, AppTick, CommsTick, and Community
+    app.run('pymoos_simple_app', 'simpleapp.moos')
+
+    # Alternative: Run without mission file (uses default Mission.moos)
+    # app.run('pymoos_simple_app')
+
+if __name__ == "__main__":
+    main()

README.md

@@ -1,5 +1,6 @@
 python-moos
 ===========
+UPDATED FOR python3.12
 python bindings for [MOOS](https://github.com/themoos/core-moos)
 
 # Build Statuses
@@ -22,3 +23,74 @@ cd python-moos
 python setup.py build
 python setup.py install
 ```
+
+# Usage
+
+python-moos provides two main classes for interacting with MOOS:
+
+## pymoos.comms - Asynchronous Communications
+
+For simple publish/subscribe communication with the MOOSDB:
+
+```python
+import pymoos
+
+comms = pymoos.comms()
+
+def on_connect():
+    return comms.register('MY_VAR', 0)
+
+comms.set_on_connect_callback(on_connect)
+comms.run('localhost', 9000, 'my_client')
+```
+
+See `Documentation/examples/simplecomms.py` for a complete example.
+
+## pymoos.app - MOOS Application Framework
+
+For building full MOOS applications with structured lifecycle callbacks:
+
+```python
+import pymoos
+
+app = pymoos.app()
+
+def on_startup():
+    # AppTick and CommsTick are automatically read from mission file
+    # Read custom configuration parameters
+    success, my_param = app.get_configuration_string('my_param')
+    if success:
+        print(f"Configuration parameter: {my_param}")
+    return True
+
+def on_connect_to_server():
+    return app.register('MY_VAR', 0)
+
+def iterate():
+    # Main application loop
+    return True
+
+app.set_on_start_up_callback(on_startup)
+app.set_on_connect_to_server_callback(on_connect_to_server)
+app.set_iterate_callback(iterate)
+
+# Standard MOOS pattern: app name and mission file
+# Mission file contains ServerHost, ServerPort, AppTick, CommsTick, and Community
+app.run('my_app', 'my_mission.moos')
+
+# Alternative: Run without specifying mission file (uses default 'Mission.moos')
+# app.run('my_app')
+```
+
+The `app` class uses CMOOSApp::Run(app_name, mission_file) from the MOOS library.
+The mission file automatically configures `ServerHost`, `ServerPort`, `AppTick`, and `CommsTick`. 
+For custom configuration parameters, use:
+- `get_configuration_string(param)` - Read string parameters
+- `get_configuration_double(param)` - Read numeric parameters
+- `get_configuration_int(param)` - Read integer parameters
+- `get_configuration_bool(param)` - Read boolean parameters
+
+All methods return a tuple `(success, value)`.
+
+See `Documentation/examples/simpleapp.py` for a complete example.
+

pybind11/.appveyor.yml

@@ -1,70 +1,35 @@
 version: 1.0.{build}
 image:
 - Visual Studio 2017
-- Visual Studio 2015
 test: off
 skip_branch_with_pr: true
 build:
   parallel: true
 platform:
-- x64
 - x86
 environment:
   matrix:
-  - PYTHON: 36
-    CPP: 14
+  - PYTHON: 38
     CONFIG: Debug
-  - PYTHON: 27
-    CPP: 14
-    CONFIG: Debug
-  - CONDA: 36
-    CPP: latest
-    CONFIG: Release
-matrix:
-  exclude:
-    - image: Visual Studio 2015
-      platform: x86
-    - image: Visual Studio 2015
-      CPP: latest
-    - image: Visual Studio 2017
-      CPP: latest
-      platform: x86
 install:
 - ps: |
-    if ($env:PLATFORM -eq "x64") { $env:CMAKE_ARCH = "x64" }
-    if ($env:APPVEYOR_JOB_NAME -like "*Visual Studio 2017*") {
-      $env:CMAKE_GENERATOR = "Visual Studio 15 2017"
-      $env:CMAKE_INCLUDE_PATH = "C:\Libraries\boost_1_64_0"
-      $env:CXXFLAGS = "-permissive-"
-    } else {
-      $env:CMAKE_GENERATOR = "Visual Studio 14 2015"
-    }
-    if ($env:PYTHON) {
-      if ($env:PLATFORM -eq "x64") { $env:PYTHON = "$env:PYTHON-x64" }
-      $env:PATH = "C:\Python$env:PYTHON\;C:\Python$env:PYTHON\Scripts\;$env:PATH"
-      python -W ignore -m pip install --upgrade pip wheel
-      python -W ignore -m pip install pytest numpy --no-warn-script-location
-    } elseif ($env:CONDA) {
-      if ($env:CONDA -eq "27") { $env:CONDA = "" }
-      if ($env:PLATFORM -eq "x64") { $env:CONDA = "$env:CONDA-x64" }
-      $env:PATH = "C:\Miniconda$env:CONDA\;C:\Miniconda$env:CONDA\Scripts\;$env:PATH"
-      $env:PYTHONHOME = "C:\Miniconda$env:CONDA"
-      conda --version
-      conda install -y -q pytest numpy scipy
-    }
+    $env:CMAKE_GENERATOR = "Visual Studio 15 2017"
+    if ($env:PLATFORM -eq "x64") { $env:PYTHON = "$env:PYTHON-x64" }
+    $env:PATH = "C:\Python$env:PYTHON\;C:\Python$env:PYTHON\Scripts\;$env:PATH"
+    python -W ignore -m pip install --upgrade pip wheel
+    python -W ignore -m pip install pytest numpy --no-warn-script-location pytest-timeout
 - ps: |
-    Start-FileDownload 'http://bitbucket.org/eigen/eigen/get/3.3.3.zip'
-    7z x 3.3.3.zip -y > $null
-    $env:CMAKE_INCLUDE_PATH = "eigen-eigen-67e894c6cd8f;$env:CMAKE_INCLUDE_PATH"
+    Start-FileDownload 'https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip'
+    7z x eigen-3.3.7.zip -y > $null
+    $env:CMAKE_INCLUDE_PATH = "eigen-3.3.7;$env:CMAKE_INCLUDE_PATH"
 build_script:
 - cmake -G "%CMAKE_GENERATOR%" -A "%CMAKE_ARCH%"
-    -DPYBIND11_CPP_STANDARD=/std:c++%CPP%
+    -DCMAKE_CXX_STANDARD=14
     -DPYBIND11_WERROR=ON
     -DDOWNLOAD_CATCH=ON
     -DCMAKE_SUPPRESS_REGENERATION=1
     .
 - set MSBuildLogger="C:\Program Files\AppVeyor\BuildAgent\Appveyor.MSBuildLogger.dll"
 - cmake --build . --config %CONFIG% --target pytest -- /m /v:m /logger:%MSBuildLogger%
 - cmake --build . --config %CONFIG% --target cpptest -- /m /v:m /logger:%MSBuildLogger%
-- if "%CPP%"=="latest" (cmake --build . --config %CONFIG% --target test_cmake_build -- /m /v:m /logger:%MSBuildLogger%)
 on_failure: if exist "tests\test_cmake_build" type tests\test_cmake_build\*.log*

pybind11/.clang-format

@@ -0,0 +1,38 @@
+---
+# See all possible options and defaults with:
+# clang-format --style=llvm --dump-config
+BasedOnStyle: LLVM
+AccessModifierOffset: -4
+AllowShortLambdasOnASingleLine: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: All
+BreakConstructorInitializers: BeforeColon
+ColumnLimit: 99
+CommentPragmas: 'NOLINT:.*|^ IWYU pragma:'
+IncludeBlocks: Regroup
+IndentCaseLabels: true
+IndentPPDirectives: AfterHash
+IndentWidth: 4
+Language: Cpp
+SpaceAfterCStyleCast: true
+Standard: Cpp11
+StatementMacros: ['PyObject_HEAD']
+TabWidth: 4
+IncludeCategories:
+  - Regex:           '<pybind11/.*'
+    Priority:        -1
+  - Regex:           'pybind11.h"$'
+    Priority:        1
+  - Regex:           '^".*/?detail/'
+    Priority:        1
+    SortPriority:    2
+  - Regex:           '^"'
+    Priority:        1
+    SortPriority:    3
+  - Regex:           '<[[:alnum:]._]+>'
+    Priority:        4
+  - Regex:           '.*'
+    Priority:        5
+...

pybind11/.clang-tidy

@@ -0,0 +1,79 @@
+FormatStyle: file
+
+Checks: |
+  *bugprone*,
+  *performance*,
+  clang-analyzer-optin.cplusplus.VirtualCall,
+  clang-analyzer-optin.performance.Padding,
+  cppcoreguidelines-init-variables,
+  cppcoreguidelines-prefer-member-initializer,
+  cppcoreguidelines-pro-type-static-cast-downcast,
+  cppcoreguidelines-slicing,
+  google-explicit-constructor,
+  llvm-namespace-comment,
+  misc-definitions-in-headers,
+  misc-misplaced-const,
+  misc-non-copyable-objects,
+  misc-static-assert,
+  misc-throw-by-value-catch-by-reference,
+  misc-uniqueptr-reset-release,
+  misc-unused-parameters,
+  modernize-avoid-bind,
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+  modernize-use-emplace,
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+  modernize-use-equals-delete,
+  modernize-use-noexcept,
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+  readability-container-size-empty,
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+  readability-else-after-return,
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+  readability-inconsistent-declaration-parameter-name,
+  readability-make-member-function-const,
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+  readability-static-definition-in-anonymous-namespace,
+  readability-string-compare,
+  readability-suspicious-call-argument,
+  readability-uniqueptr-delete-release,
+  -bugprone-chained-comparison,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-exception-escape,
+  -bugprone-reserved-identifier,
+  -bugprone-unused-raii,
+  -performance-enum-size,
+
+CheckOptions:
+- key:             modernize-use-equals-default.IgnoreMacros
+  value:           false
+- key:             performance-for-range-copy.WarnOnAllAutoCopies
+  value:           true
+- key:             performance-inefficient-string-concatenation.StrictMode
+  value:           true
+- key:             performance-unnecessary-value-param.AllowedTypes
+  value:           'exception_ptr$;'
+- key:             readability-implicit-bool-conversion.AllowPointerConditions
+  value:           true
+
+HeaderFilterRegex: 'pybind11/.*h'