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[misc] Provide CMmake configuration file in wheels. (#324)
* [misc] Fix wheel deploy. Add project URLs to pypi project page. * [misc] Refactor legacy CMake Python finding to be consistent with CMake>=3.12. * [misc] Bundle cmake configuration file in wheel. * [misc] Cleanup pinocchio include and move them in cpp if possible. * [misc] Provide pip-install-based build of C++ executable. * [misc] Remove legacy compilation mode since no longer necessary. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,34 +1,34 @@ | ||
| # Find the Python NumPy package | ||
| # NUMPY_INCLUDE_DIRS | ||
| # NUMPY_FOUND | ||
| # NumPy_INCLUDE_DIRS | ||
| # NumPy_FOUND | ||
| # will be set by this script | ||
|
|
||
| cmake_minimum_required(VERSION 3.10) | ||
|
|
||
| if(PYTHON_EXECUTABLE) | ||
| if(Python_EXECUTABLE) | ||
| # Find out the include path | ||
| execute_process( | ||
| COMMAND "${PYTHON_EXECUTABLE}" -c | ||
| "from __future__ import print_function\ntry: import numpy; print(numpy.get_include(), end='')\nexcept:pass\n" | ||
| COMMAND "${Python_EXECUTABLE}" -c | ||
| "try: import numpy; print(numpy.get_include(), end='')\nexcept:pass\n" | ||
| OUTPUT_VARIABLE __numpy_path) | ||
| # And the version | ||
| execute_process( | ||
| COMMAND "${PYTHON_EXECUTABLE}" -c | ||
| "from __future__ import print_function\ntry: import numpy; print(numpy.__version__, end='')\nexcept:pass\n" | ||
| COMMAND "${Python_EXECUTABLE}" -c | ||
| "try: import numpy; print(numpy.__version__, end='')\nexcept:pass\n" | ||
| OUTPUT_VARIABLE __numpy_version) | ||
| else() | ||
| message(FATAL_ERROR "Python executable not found.") | ||
| endif() | ||
|
|
||
| unset(NUMPY_INCLUDE_DIRS) | ||
| unset(NUMPY_INCLUDE_DIRS CACHE) | ||
| find_path(NUMPY_INCLUDE_DIRS numpy/arrayobject.h | ||
| HINTS "${__numpy_path}" "${PYTHON_INCLUDE_DIRS}" NO_DEFAULT_PATH) | ||
| unset(NumPy_INCLUDE_DIRS) | ||
| unset(NumPy_INCLUDE_DIRS CACHE) | ||
| find_path(NumPy_INCLUDE_DIRS numpy/arrayobject.h | ||
| HINTS "${__numpy_path}" "${Python_INCLUDE_DIRS}" NO_DEFAULT_PATH) | ||
|
|
||
| if(NUMPY_INCLUDE_DIRS) | ||
| set(NUMPY_FOUND 1 CACHE INTERNAL "Python numpy found") | ||
| if(NumPy_INCLUDE_DIRS) | ||
| set(NumPy_FOUND 1 CACHE INTERNAL "Python numpy found") | ||
| endif() | ||
|
|
||
| include(FindPackageHandleStandardArgs) | ||
| find_package_handle_standard_args(NumPy REQUIRED_VARS NUMPY_INCLUDE_DIRS | ||
| find_package_handle_standard_args(NumPy REQUIRED_VARS NumPy_INCLUDE_DIRS | ||
| VERSION_VAR __numpy_version) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| # Enable link rpath to find shared library dependencies at runtime | ||
| set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) | ||
|
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||
| # Get Python executable | ||
| if(DEFINED PYTHON_EXECUTABLE) | ||
| get_filename_component(_PYTHON_PATH "${PYTHON_EXECUTABLE}" DIRECTORY) | ||
| get_filename_component(_PYTHON_NAME "${PYTHON_EXECUTABLE}" NAME) | ||
| find_program(Python_EXECUTABLE "${_PYTHON_NAME}" PATHS "${_PYTHON_PATH}" NO_DEFAULT_PATH) | ||
| else() | ||
| if(CMAKE_VERSION VERSION_LESS "3.12.4") | ||
| find_program(Python_EXECUTABLE "python${PYTHON_REQUIRED_VERSION}") | ||
| else() | ||
| if(PYTHON_REQUIRED_VERSION) | ||
| find_package(Python ${PYTHON_REQUIRED_VERSION} EXACT COMPONENTS Interpreter) | ||
| else() | ||
| find_package(Python COMPONENTS Interpreter) | ||
| endif() | ||
| endif() | ||
| endif() | ||
| if(NOT Python_EXECUTABLE) | ||
| if (jiminy_FIND_REQUIRED) | ||
| message(FATAL_ERROR "Python executable not found, CMake will exit.") | ||
| else() | ||
| return() | ||
| endif() | ||
| endif() | ||
|
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||
| # Make sure jiminy Python module is available | ||
| execute_process(COMMAND "${Python_EXECUTABLE}" -c | ||
| "import importlib; print(int(importlib.util.find_spec('jiminy_py') is not None), end='')" | ||
| OUTPUT_VARIABLE jiminy_FOUND) | ||
| if (NOT jiminy_FOUND) | ||
| if (jiminy_FIND_REQUIRED) | ||
| message(FATAL_ERROR "`jiminy_py` Python module not found, CMake will exit.") | ||
| else() | ||
| return() | ||
| endif() | ||
| endif() | ||
|
|
||
| # Find jiminy library and headers. | ||
| # Note that jiminy is compiled under C++17 using either old or new CXX11 ABI. | ||
| # Make sure very project dependencies are compiled for the same CXX11 ABI | ||
| # otherwise segfaults may occur. It should be fine for the standard library, | ||
| # but not for precompiled boost libraries such as boost::filesystem. | ||
| # https://gcc.gnu.org/onlinedocs/libstdc++/manual/abi.html | ||
| execute_process(COMMAND "${Python_EXECUTABLE}" -c | ||
| "import jiminy_py; print(jiminy_py.__version__, end='')" | ||
| OUTPUT_VARIABLE jiminy_VERSION) | ||
| execute_process(COMMAND "${Python_EXECUTABLE}" -c | ||
| "import jiminy_py; print(jiminy_py.get_include(), end='')" | ||
| OUTPUT_VARIABLE jiminy_INCLUDE_DIRS) | ||
| execute_process(COMMAND "${Python_EXECUTABLE}" -c | ||
| "import jiminy_py; print(jiminy_py.get_libraries(), end='')" | ||
| OUTPUT_VARIABLE jiminy_LIBRARIES) | ||
|
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||
| # Define compilation options and definitions | ||
| set(jiminy_DEFINITIONS EIGENPY_STATIC URDFDOM_STATIC HPP_FCL_STATIC PINOCCHIO_STATIC) | ||
| if(WIN32) | ||
| set(jiminy_DEFINITIONS ${jiminy_DEFINITIONS} _USE_MATH_DEFINES=1 NOMINMAX) | ||
| set(jiminy_OPTIONS /EHsc /bigobj /Zc:__cplusplus /permissive- /wd4996 /wd4554) | ||
| else() | ||
| execute_process(COMMAND readelf --version-info "${jiminy_LIBRARIES}" | ||
| COMMAND grep -c "Name: CXXABI_1.3.9\\\|Name: GLIBCXX_3.4.21" | ||
| OUTPUT_STRIP_TRAILING_WHITESPACE | ||
| OUTPUT_VARIABLE CHECK_NEW_CXX11_ABI) | ||
| set(jiminy_DEFINITIONS ${jiminy_DEFINITIONS} _GLIBCXX_USE_CXX11_ABI=$<BOOL:${CHECK_NEW_CXX11_ABI}>) | ||
| set(jiminy_OPTIONS -fPIC) | ||
| endif() | ||
|
|
||
| # Define imported target | ||
| add_library(jiminy::core SHARED IMPORTED GLOBAL) | ||
| set_target_properties(jiminy::core PROPERTIES | ||
| IMPORTED_LOCATION "${jiminy_LIBRARIES}" | ||
| INTERFACE_INCLUDE_DIRECTORIES "${jiminy_INCLUDE_DIRS}" | ||
| INTERFACE_COMPILE_DEFINITIONS "${jiminy_DEFINITIONS}" | ||
| INTERFACE_COMPILE_OPTIONS "${jiminy_OPTIONS}" | ||
| INTERFACE_COMPILE_FEATURES cxx_std_17 | ||
| CXX_STANDARD 17 | ||
| CXX_STANDARD_REQUIRED YES | ||
| CXX_EXTENSIONS NO | ||
| ) | ||
| if(WIN32) | ||
| get_filename_component(jiminy_LIBDIR "${jiminy_LIBRARIES}" DIRECTORY) | ||
| get_filename_component(jiminy_LIBNAME "${jiminy_LIBRARIES}" NAME_WE) | ||
| set_target_properties(jiminy::core PROPERTIES | ||
| IMPORTED_IMPLIB "${jiminy_LIBDIR}/${jiminy_LIBNAME}.lib" | ||
| ) | ||
| endif() | ||
|
|
||
| # Display import is success | ||
| message(STATUS "Found jiminy ('${jiminy_VERSION}'): ${jiminy_INCLUDE_DIRS} (${jiminy_LIBRARIES})") |
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