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Revert "Use modern cmake targets to avoid absolute paths to appear inbinary archives (#160)" #166

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May 17, 2022
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Revert "Use modern cmake targets to avoid absolute paths to appear inbinary archives (#160)" #166

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49 changes: 38 additions & 11 deletions rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@ 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)
Expand Down Expand Up @@ -166,23 +165,52 @@ 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}
PRIVATE
${rosidl_generate_interfaces_TARGET}__rosidl_generator_c)
add_dependencies(
${_target_name_lib}
${rosidl_generate_interfaces_TARGET}${_target_suffix}
${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
)

target_link_libraries(
${_target_name_lib}
${PythonExtra_LIBRARIES}
)
target_include_directories(${_target_name_lib}
PRIVATE
${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}
)

target_link_libraries(${_target_name_lib} PRIVATE Python3::NumPy Python3::Module)
if(APPLE OR WIN32 OR NOT _numpy_h)
# add include directory for numpy headers
set(_python_code
"import numpy"
"print(numpy.get_include())"
)
execute_process(
COMMAND "${PYTHON_EXECUTABLE}" "-c" "${_python_code}"
OUTPUT_VARIABLE _output
RESULT_VARIABLE _result
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(NOT _result EQUAL 0)
message(FATAL_ERROR
"execute_process(${PYTHON_EXECUTABLE} -c '${_python_code}') returned "
"error code ${_result}")
endif()
message(STATUS "Using numpy include directory: ${_output}")
target_include_directories(${_target_name_lib} PUBLIC "${_output}")
endif()

rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target})
target_link_libraries(${_target_name_lib} ${c_typesupport_target})

foreach(_typesupport_impl ${_typesupport_impls})
find_package(${_typesupport_impl} REQUIRED)
Expand Down Expand Up @@ -217,36 +245,35 @@ foreach(_typesupport_impl ${_typesupport_impls})
endif()
target_link_libraries(
${_target_name}
PRIVATE
${_target_name_lib}
${PythonExtra_LIBRARIES}
${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
Python3::Module
)

target_include_directories(${_target_name}
PUBLIC
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
${PythonExtra_INCLUDE_DIRS}
)

target_link_libraries(${_target_name} PRIVATE ${c_typesupport_target})
target_link_libraries(${_target_name} ${c_typesupport_target})

ament_target_dependencies(${_target_name}
PUBLIC
"rosidl_runtime_c"
"rosidl_typesupport_c"
"rosidl_typesupport_interface"
)
foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
ament_target_dependencies(${_target_name} PUBLIC
ament_target_dependencies(${_target_name}
${_pkg_name}
)
endforeach()

add_dependencies(${_target_name}
${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
)
ament_target_dependencies(${_target_name} PUBLIC
ament_target_dependencies(${_target_name}
"rosidl_runtime_c"
"rosidl_generator_py"
)
Expand All @@ -261,7 +288,7 @@ set(PYTHON_EXECUTABLE ${_PYTHON_EXECUTABLE})

# Depend on rosidl_generator_py generated targets from our dependencies
foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
target_link_libraries(${_target_name_lib} ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
endforeach()

set_lib_properties("")
Expand Down