Refactor finding pybind11 (#360)

Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Jan 11, 2022 · fa67ea8 · fa67ea8
1 parent 4b25160
commit fa67ea8
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Showing 3 changed files with 137 additions and 130 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -67,15 +67,26 @@ if (SWIG_FOUND)
   else()
     message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
   endif()
+endif()
 
-  ########################################
-  # Include python
-  find_package(PythonInterp 3 REQUIRED) # change to Python3 when Bionic is EOL
-  find_package(PythonLibs QUIET)
-  if (NOT PYTHONLIBS_FOUND)
-    message (STATUS "Searching for Python - not found.")
+########################################
+# Python bindings
+include(IgnPython)
+find_package(PythonLibs QUIET)
+if (NOT PYTHONLIBS_FOUND)
+  IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+  message (STATUS "Searching for Python - not found.")
+else()
+  message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+
+  set(PYBIND11_PYTHON_VERSION 3)
+  find_package(pybind11 2.2 QUIET)
+
+  if (${pybind11_FOUND})
+    message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
   else()
-    message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+    IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+    message (STATUS "Searching for pybind11 - not found.")
   endif()
 endif()
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -13,5 +13,7 @@ ign_build_tests(TYPE UNIT SOURCES ${gtest_sources})
 add_subdirectory(graph)
 
 # Bindings subdirectories
-add_subdirectory(python_pybind11)
+if (${pybind11_FOUND})
+  add_subdirectory(python_pybind11)
+endif()
 add_subdirectory(ruby)
diff --git a/src/python_pybind11/CMakeLists.txt b/src/python_pybind11/CMakeLists.txt
@@ -5,139 +5,133 @@ if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
   set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
 endif()
 
-set(PYBIND11_PYTHON_VERSION 3)
+message(STATUS "Building pybind11 interfaces")
+# Split from main extension and converted to pybind11
+pybind11_add_module(math SHARED
+  src/_ignition_math_pybind11.cc
+  src/Angle.cc
+  src/AxisAlignedBox.cc
+  src/Color.cc
+  src/DiffDriveOdometry.cc
+  src/Frustum.cc
+  src/GaussMarkovProcess.cc
+  src/Helpers.cc
+  src/Kmeans.cc
+  src/Material.cc
+  src/PID.cc
+  src/Rand.cc
+  src/RollingMean.cc
+  src/RotationSpline.cc
+  src/SemanticVersion.cc
+  src/SignalStats.cc
+  src/SphericalCoordinates.cc
+  src/Spline.cc
+  src/StopWatch.cc
+  src/Temperature.cc
+  src/Vector3Stats.cc
+)
 
-find_package(pybind11 2.2 QUIET)
+target_link_libraries(math PRIVATE
+  ${PROJECT_LIBRARY_TARGET_NAME}
+)
 
-if (${pybind11_FOUND})
-  message(STATUS "Building pybind11 interfaces")
-  # Split from main extension and converted to pybind11
-  pybind11_add_module(math SHARED
-    src/_ignition_math_pybind11.cc
-    src/Angle.cc
-    src/AxisAlignedBox.cc
-    src/Color.cc
-    src/DiffDriveOdometry.cc
-    src/Frustum.cc
-    src/GaussMarkovProcess.cc
-    src/Helpers.cc
-    src/Kmeans.cc
-    src/Material.cc
-    src/PID.cc
-    src/Rand.cc
-    src/RollingMean.cc
-    src/RotationSpline.cc
-    src/SemanticVersion.cc
-    src/SignalStats.cc
-    src/SphericalCoordinates.cc
-    src/Spline.cc
-    src/StopWatch.cc
-    src/Temperature.cc
-    src/Vector3Stats.cc
-  )
-
-  target_link_libraries(math PRIVATE
-    ${PROJECT_LIBRARY_TARGET_NAME}
-  )
-
-  if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
-      execute_process(
-        COMMAND "${PYTHON_EXECUTABLE}" -c "if True:
-    from distutils import sysconfig as sc
-    print(sc.get_python_lib(plat_specific=True))"
-        OUTPUT_VARIABLE Python3_SITEARCH
-        OUTPUT_STRIP_TRAILING_WHITESPACE)
-    else()
-      # Get install variable from Python3 module
-      # Python3_SITEARCH is available from 3.12 on, workaround if needed:
-      find_package(Python3 COMPONENTS Interpreter)
-    endif()
+if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
+  if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
+    execute_process(
+      COMMAND "${PYTHON_EXECUTABLE}" -c "if True:
+  from distutils import sysconfig as sc
+  print(sc.get_python_lib(plat_specific=True))"
+      OUTPUT_VARIABLE Python3_SITEARCH
+      OUTPUT_STRIP_TRAILING_WHITESPACE)
+  else()
+    # Get install variable from Python3 module
+    # Python3_SITEARCH is available from 3.12 on, workaround if needed:
+    find_package(Python3 COMPONENTS Interpreter)
+  endif()
 
-    if(USE_DIST_PACKAGES_FOR_PYTHON)
-      string(REPLACE "site-packages" "dist-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
-    else()
-      # custom cmake command is returning dist-packages
-      string(REPLACE "dist-packages" "site-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
-    endif()
+  if(USE_DIST_PACKAGES_FOR_PYTHON)
+    string(REPLACE "site-packages" "dist-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
   else()
-    # If not a system installation, respect local paths
-    set(IGN_PYTHON_INSTALL_PATH ${IGN_LIB_INSTALL_DIR}/python)
+    # custom cmake command is returning dist-packages
+    string(REPLACE "dist-packages" "site-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
   endif()
+else()
+  # If not a system installation, respect local paths
+  set(IGN_PYTHON_INSTALL_PATH ${IGN_LIB_INSTALL_DIR}/python)
+endif()
 
-  set(IGN_PYTHON_INSTALL_PATH "${IGN_PYTHON_INSTALL_PATH}/ignition")
+set(IGN_PYTHON_INSTALL_PATH "${IGN_PYTHON_INSTALL_PATH}/ignition")
 
-  # Set the build location and install location for a CPython extension
-  function(configure_build_install_location _library_name)
-    # Install into test folder in build space for unit tests to import
-    set_target_properties(${_library_name} PROPERTIES
-      # Use generator expression to avoid prepending a build type specific directory on Windows
-      LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>
-      RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>)
+# Set the build location and install location for a CPython extension
+function(configure_build_install_location _library_name)
+  # Install into test folder in build space for unit tests to import
+  set_target_properties(${_library_name} PROPERTIES
+    # Use generator expression to avoid prepending a build type specific directory on Windows
+    LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>
+    RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>)
 
-    # Install library for actual use
-    install(TARGETS ${_library_name}
-      DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
-    )
-  endfunction()
+  # Install library for actual use
+  install(TARGETS ${_library_name}
+    DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
+  )
+endfunction()
 
-  configure_build_install_location(math)
+configure_build_install_location(math)
 
-  if (BUILD_TESTING)
-    # Add the Python tests
-    set(python_tests
-      Angle_TEST
-      AxisAlignedBox_TEST
-      Box_TEST
-      Color_TEST
-      Cylinder_TEST
-      DiffDriveOdometry_TEST
-      Filter_TEST
-      Frustum_TEST
-      GaussMarkovProcess_TEST
-      Helpers_TEST
-      Inertial_TEST
-      Kmeans_TEST
-      Line2_TEST
-      Line3_TEST
-      MassMatrix3_TEST
-      Material_TEST
-      Matrix3_TEST
-      Matrix4_TEST
-      MovingWindowFilter_TEST
-      OrientedBox_TEST
-      PID_TEST
-      Plane_TEST
-      Pose3_TEST
-      Quaternion_TEST
-      Rand_TEST
-      RollingMean_TEST
-      RotationSpline_TEST
-      SemanticVersion_TEST
-      SignalStats_TEST
-      Sphere_TEST
-      SphericalCoordinates_TEST
-      Spline_TEST
-      StopWatch_TEST
-      Temperature_TEST
-      Triangle3_TEST
-      Triangle_TEST
-      Vector2_TEST
-      Vector3_TEST
-      Vector3Stats_TEST
-      Vector4_TEST
-    )
+if (BUILD_TESTING)
+  # Add the Python tests
+  set(python_tests
+    Angle_TEST
+    AxisAlignedBox_TEST
+    Box_TEST
+    Color_TEST
+    Cylinder_TEST
+    DiffDriveOdometry_TEST
+    Filter_TEST
+    Frustum_TEST
+    GaussMarkovProcess_TEST
+    Helpers_TEST
+    Inertial_TEST
+    Kmeans_TEST
+    Line2_TEST
+    Line3_TEST
+    MassMatrix3_TEST
+    Material_TEST
+    Matrix3_TEST
+    Matrix4_TEST
+    MovingWindowFilter_TEST
+    OrientedBox_TEST
+    PID_TEST
+    Plane_TEST
+    Pose3_TEST
+    Quaternion_TEST
+    Rand_TEST
+    RollingMean_TEST
+    RotationSpline_TEST
+    SemanticVersion_TEST
+    SignalStats_TEST
+    Sphere_TEST
+    SphericalCoordinates_TEST
+    Spline_TEST
+    StopWatch_TEST
+    Temperature_TEST
+    Triangle3_TEST
+    Triangle_TEST
+    Vector2_TEST
+    Vector3_TEST
+    Vector3Stats_TEST
+    Vector4_TEST
+  )
 
-    foreach (test ${python_tests})
-      add_test(NAME ${test}.py COMMAND
-        "${PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/src/python_pybind11/test/${test}.py")
+  foreach (test ${python_tests})
+    add_test(NAME ${test}.py COMMAND
+      "${PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/src/python_pybind11/test/${test}.py")
 
-      set(_env_vars)
-      list(APPEND _env_vars "PYTHONPATH=${FAKE_INSTALL_PREFIX}/lib/python/")
-      list(APPEND _env_vars "LD_LIBRARY_PATH=${FAKE_INSTALL_PREFIX}/lib:$ENV{LD_LIBRARY_PATH}")
-      set_tests_properties(${test}.py PROPERTIES
-        ENVIRONMENT "${_env_vars}")
-    endforeach()
+    set(_env_vars)
+    list(APPEND _env_vars "PYTHONPATH=${FAKE_INSTALL_PREFIX}/lib/python/")
+    list(APPEND _env_vars "LD_LIBRARY_PATH=${FAKE_INSTALL_PREFIX}/lib:$ENV{LD_LIBRARY_PATH}")
+    set_tests_properties(${test}.py PROPERTIES
+      ENVIRONMENT "${_env_vars}")
+  endforeach()
 
-  endif()
 endif()