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update ros idl generate-py patch #168

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merged 2 commits into from
Apr 5, 2024
Merged

update ros idl generate-py patch #168

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2ac1e70
update ros idl generate-py patch
wolfv Apr 4, 2024
6160420
update patch
wolfv Apr 4, 2024
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41 changes: 21 additions & 20 deletions patch/ros-humble-rosidl-generator-py.patch
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Original file line number Diff line number Diff line change
@@ -1,16 +1,20 @@
diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake
index a6d8263..ecae76b 100644
index a6d8263..f231ea2 100644
--- a/cmake/rosidl_generator_py_generate_interfaces.cmake
+++ b/cmake/rosidl_generator_py_generate_interfaces.cmake
@@ -21,6 +21,7 @@ find_package(PythonInterp 3.6 REQUIRED)
@@ -17,10 +17,9 @@ find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_typesupport_c REQUIRED)
find_package(rosidl_typesupport_interface REQUIRED)

-find_package(PythonInterp 3.6 REQUIRED)
-
find_package(python_cmake_module REQUIRED)
find_package(PythonExtra MODULE REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Development NumPy)

# Get a list of typesupport implementations from valid rmw implementations.
rosidl_generator_py_get_typesupports(_typesupport_impls)
@@ -165,52 +166,27 @@ set(rosidl_generator_py_suffix "__rosidl_generator_py")
@@ -165,52 +164,28 @@ set(rosidl_generator_py_suffix "__rosidl_generator_py")
set(_target_name_lib "${rosidl_generate_interfaces_TARGET}${rosidl_generator_py_suffix}")
add_library(${_target_name_lib} SHARED ${_generated_c_files})
target_link_libraries(${_target_name_lib}
Expand All @@ -31,13 +35,13 @@ index a6d8263..ecae76b 100644
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
- ${PythonExtra_INCLUDE_DIRS}
)
-)
-
-# Check if numpy is in the include path
-find_file(_numpy_h numpy/numpyconfig.h
- PATHS ${PythonExtra_INCLUDE_DIRS}
-)
-
)
-if(APPLE OR WIN32 OR NOT _numpy_h)
- # add include directory for numpy headers
- set(_python_code
Expand All @@ -57,20 +61,20 @@ index a6d8263..ecae76b 100644
- endif()
- message(STATUS "Using numpy include directory: ${_output}")
- target_include_directories(${_target_name_lib} PUBLIC "${_output}")
-endif()
+if(APPLE)
+set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+ target_include_directories(${_target_name_lib} PUBLIC ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS})
+else()
+target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Module Python3::Python)
+endif()
+ target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Module Python3::Python)
endif()

rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
-target_link_libraries(${_target_name_lib} ${c_typesupport_target})
+target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target})

foreach(_typesupport_impl ${_typesupport_impls})
find_package(${_typesupport_impl} REQUIRED)
@@ -245,27 +217,28 @@ foreach(_typesupport_impl ${_typesupport_impls})
@@ -245,27 +220,28 @@ foreach(_typesupport_impl ${_typesupport_impls})
endif()
target_link_libraries(
${_target_name}
Expand Down Expand Up @@ -103,7 +107,7 @@ index a6d8263..ecae76b 100644
${_pkg_name}
)
endforeach()
@@ -273,7 +246,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
@@ -273,7 +249,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
add_dependencies(${_target_name}
${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
)
Expand All @@ -112,7 +116,7 @@ index a6d8263..ecae76b 100644
"rosidl_runtime_c"
"rosidl_generator_py"
)
@@ -288,7 +261,7 @@ set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})
@@ -288,7 +264,7 @@ set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})

# Depend on rosidl_generator_py generated targets from our dependencies
foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
Expand All @@ -121,21 +125,18 @@ index a6d8263..ecae76b 100644
endforeach()

set_lib_properties("")
@@ -352,4 +325,4 @@ if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
@@ -352,4 +328,4 @@ if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
MAX_LINE_LENGTH 0
"${_output_path}")
endif()
-endif()
+endif()
\ No newline at end of file
diff --git a/rosidl_generator_py-extras.cmake.in b/rosidl_generator_py-extras.cmake.in
index 80bed29..c2be2ce 100644
index 80bed29..ba70acc 100644
--- a/rosidl_generator_py-extras.cmake.in
+++ b/rosidl_generator_py-extras.cmake.in
@@ -1,7 +1,9 @@
# generated from rosidl_generator_py/rosidl_generator_py-extras.cmake
+find_package(Python3 REQUIRED COMPONENTS Development NumPy)
+
@@ -2,6 +2,6 @@
include("${CMAKE_CURRENT_LIST_DIR}/register_py.cmake")
rosidl_generator_py_extras(
"${rosidl_generator_py_DIR}/../../../lib/rosidl_generator_py/rosidl_generator_py"
Expand Down