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|
# cSpell: ignore ndarrayobject
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
set(PYTHON2_SOURCE_DIR "${CMAKE_SOURCE_DIR}/RobotRaconteurPython")
if(NOT EMSCRIPTEN)
if((CMAKE_VERSION VERSION_GREATER 3.14 OR CMAKE_VERSION VERSION_EQUAL 3.14))
if(PYTHON3_EXECUTABLE)
set(Python3_EXECUTABLE ${PYTHON3_EXECUTABLE} CACHE FILEPATH "Python 3 executable")
endif()
find_package(Python3 COMPONENTS Interpreter Development NumPy REQUIRED)
set(PYTHON3_INCLUDE_DIRS ${Python3_INCLUDE_DIRS})
set(PYTHON3_LIBRARIES ${Python3_LIBRARIES})
set(PYTHON3_EXECUTABLE ${Python3_EXECUTABLE})
set(PYTHON3_VERSION_MAJOR ${Python3_VERSION_MAJOR})
set(PYTHON3_VERSION_MINOR ${Python3_VERSION_MINOR})
set(NUMPY3_INCLUDE_DIR ${Python3_NumPy_INCLUDE_DIRS})
message(STATUS "Python3 found using new FindPython3 PYTHON_3_EXECUTABLE=${PYTHON3_EXECUTABLE}, "
"PYTHON_3_INCLUDE_DIRS=${PYTHON3_INCLUDE_DIRS}, " "PYTHON_3_LIBRARIES=${PYTHON3_LIBRARIES}, "
"Python3_NumPy_INCLUDE_DIRS=${Python3_NumPy_INCLUDE_DIRS}")
else()
find_package(PythonInterp3 REQUIRED)
find_package(PythonLibs3 REQUIRED)
find_path(NUMPY3_INCLUDE_NDARRAYOBJECT_DIR numpy/ndarrayobject.h PATHS ${PYTHON3_INCLUDE_DIRS} NO_DEFAULT_PATH)
if(NUMPY3_INCLUDE_NDARRAYOBJECT_DIR)
set(NUMPY3_INCLUDE_DIR ${NUMPY3_INCLUDE_NDARRAYOBJECT_DIR})
else()
execute_process(
COMMAND ${PYTHON3_EXECUTABLE} -c "import numpy; import os; print(os.path.dirname(numpy.__file__))"
RESULT_VARIABLE FIND_NUMPY3_RESULT OUTPUT_VARIABLE NUMPY3_INCLUDE_DIR1)
string(STRIP "${NUMPY3_INCLUDE_DIR1}" NUMPY3_INCLUDE_DIR1)
if(${FIND_NUMPY3_RESULT})
message(FATAL_ERROR "Could not determine NumPy include directory")
endif()
if(EXISTS "${NUMPY3_INCLUDE_DIR1}/core/include/numpy/ndarrayobject.h")
set(NUMPY3_INCLUDE_DIR "${NUMPY3_INCLUDE_DIR1}/core/include")
else()
if(EXISTS "${NUMPY3_INCLUDE_DIR1}/_core/include/numpy/ndarrayobject.h")
set(NUMPY3_INCLUDE_DIR "${NUMPY3_INCLUDE_DIR1}/_core/include")
endif()
endif()
endif()
endif()
endif()
if(NOT EXISTS "${NUMPY3_INCLUDE_DIR}/numpy/ndarrayobject.h")
message(FATAL_ERROR "Could not find numpy/ndarrayobject.h include file")
endif()
message(STATUS "NumPy Include Directory: ${NUMPY3_INCLUDE_DIR}")
include(${PYTHON2_SOURCE_DIR}/PythonPackageVersion.cmake)
include_directories(${PYTHON3_INCLUDE_DIRS} ${CMAKE_SOURCE_DIR}/SWIG ${PYTHON2_SOURCE_DIR} ${NUMPY3_INCLUDE_DIR})
get_filename_component(PYTHON3_LINK_DIRS "${PYTHON3_LIBRARIES}" DIRECTORY)
link_directories(${PYTHON3_LINK_DIRS})
include(${PYTHON2_SOURCE_DIR}/PythonSwigVars.cmake)
if(NOT USE_PREGENERATED_SOURCE)
include(FindSWIG)
find_package(SWIG 4.0.2 REQUIRED)
include(${CMAKE_SOURCE_DIR}/cmake/RRUseSwig.cmake)
set(CMAKE_SWIG_OUTDIR ${CMAKE_CURRENT_BINARY_DIR})
include_directories(${CMAKE_SOURCE_DIR}/RobotRaconteurCore/include)
rr_swig_add_module(
RobotRaconteurPython3
python
${PYTHON2_SOURCE_DIR}/RobotRaconteurPython.i
${CMAKE_SOURCE_DIR}/SWIG/RobotRaconteurWrapped.cpp
${CMAKE_SOURCE_DIR}/SWIG/RobotRaconteurWrapped.h
${PYTHON2_SOURCE_DIR}/PythonTypeSupport.cpp
${PYTHON2_SOURCE_DIR}/PythonTypeSupport.h)
swig_link_libraries(RobotRaconteurPython3 RobotRaconteurCore)
set_target_properties(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PROPERTIES PREFIX "")
else()
set(SWIG_MODULE_RobotRaconteurPython3_REAL_NAME _RobotRaconteurPython3)
if(NOT EMSCRIPTEN)
set(PYTHON_LIB_TYPE MODULE)
if("${SIZEOF_LONG_INT}" EQUAL 8 AND CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_SWIG_OUTDIR ${PREGENERATED_SOURCE_DIR}/Python3/swigwordsize64/)
else()
set(CMAKE_SWIG_OUTDIR ${PREGENERATED_SOURCE_DIR}/Python3/swigwordsize32/)
endif()
else()
set(PYTHON_LIB_TYPE STATIC)
if("${SIZEOF_LONG_INT}" EQUAL 8)
set(CMAKE_SWIG_OUTDIR ${PREGENERATED_SOURCE_DIR}/Python3_emscripten/swigwordsize64/)
else()
set(CMAKE_SWIG_OUTDIR ${PREGENERATED_SOURCE_DIR}/Python3_emscripten/swigwordsize32/)
endif()
endif()
include_directories(${CMAKE_SOURCE_DIR}/SWIG ${CMAKE_SWIG_OUTDIR})
add_library(
_RobotRaconteurPython3
${PYTHON_LIB_TYPE} ${CMAKE_SOURCE_DIR}/SWIG/RobotRaconteurWrapped.cpp
${CMAKE_SOURCE_DIR}/SWIG/RobotRaconteurWrapped.h ${PYTHON2_SOURCE_DIR}/PythonTypeSupport.cpp
${PYTHON2_SOURCE_DIR}/PythonTypeSupport.h ${CMAKE_SWIG_OUTDIR}/RobotRaconteurPythonPYTHON_wrap.cxx)
target_link_libraries(_RobotRaconteurPython3 RobotRaconteurCore)
set_target_properties(_RobotRaconteurPython3 PROPERTIES PREFIX "")
endif()
target_compile_definitions(
${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PRIVATE RR_PYTHON NPY_NO_DEPRECATED_API=NPY_1_7_API_VERSION
SWIG_TYPE_TABLE=robotraconteur_python)
target_include_directories(
${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PRIVATE ${PYTHON3_INCLUDE_DIRS} ${CMAKE_SOURCE_DIR}/SWIG
${CMAKE_CURRENT_SOURCE_DIR} ${NUMPY3_INCLUDE_DIR})
if(MSVC)
target_compile_options(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PRIVATE "/bigobj")
endif()
rrsettargetdirs(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} "Python3/RobotRaconteur" "Python3/RobotRaconteur")
if(WIN32)
set_target_properties(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PROPERTIES SUFFIX ".pyd")
elseif(NOT "${PYTHON_LIB_TYPE}" STREQUAL "STATIC")
# set_target_properties(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PROPERTIES SUFFIX ".so")
endif()
set_target_properties(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PROPERTIES OUTPUT_NAME "_RobotRaconteurPython")
if(NOT DEFINED RobotRaconteur_DIR)
add_dependencies(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} RobotRaconteurCore)
endif()
option(ROBOTRACONTEUR_SKIP_RPATH "Skip RPATH for shared libraries" OFF)
if(ROBOTRACONTEUR_SKIP_RPATH)
set_target_properties(${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} PROPERTIES SKIP_BUILD_RPATH TRUE)
endif()
add_custom_command(
TARGET ${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_SWIG_OUTDIR}/RobotRaconteurPython.py
$<TARGET_FILE_DIR:${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME}>/)
add_custom_command(
TARGET ${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_BINARY_DIR}/RobotRaconteurPythonError.py
$<TARGET_FILE_DIR:${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME}>/)
foreach(P ${RR_PY_SOURCES})
add_custom_command(
TARGET ${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${P} $<TARGET_FILE_DIR:${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME}>/)
endforeach(P)
if(NOT EMSCRIPTEN)
configure_file("${PYTHON2_SOURCE_DIR}/setup.py.in" "${CMAKE_BINARY_DIR}/out/Python3/setup.py" @ONLY)
configure_file("${PYTHON2_SOURCE_DIR}/setup.py.in" "${CMAKE_BINARY_DIR}/out_debug/Python3/setup.py" @ONLY)
configure_file("${PYTHON2_SOURCE_DIR}/setup.py.in" "${CMAKE_BINARY_DIR}/out_reldebug/Python3/setup.py" @ONLY)
configure_file("${PYTHON2_SOURCE_DIR}/README.md" "${CMAKE_BINARY_DIR}/out/Python3/README.md" @ONLY)
configure_file("${PYTHON2_SOURCE_DIR}/README.md" "${CMAKE_BINARY_DIR}/out_debug/Python3/README.md" @ONLY)
configure_file("${PYTHON2_SOURCE_DIR}/README.md" "${CMAKE_BINARY_DIR}/out_reldebug/Python3/README.md" @ONLY)
else()
set(ROBOTRACONTEUR_PYTHON3_SETUPPY_EXTRA "package_dir={'RobotRaconteur': 'out/Python3/RobotRaconteur'},")
configure_file("${PYTHON2_SOURCE_DIR}/setup.py.in" "${CMAKE_SOURCE_DIR}/setup.py" @ONLY)
configure_file("${PYTHON2_SOURCE_DIR}/README.md" "${CMAKE_SOURCE_DIR}/README.md" @ONLY)
endif()
include("${PYTHON2_SOURCE_DIR}/PythonExceptions.cmake")
set(BUILD_PYTHON3_WHEEL OFF CACHE BOOL "Enable building Python 3 wheels")
if(BUILD_PYTHON3_WHEEL)
add_custom_target(
RobotRaconteurPython3_Wheel ALL
${CMAKE_COMMAND}
-E
chdir
"$<TARGET_FILE_DIR:${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME}>/.."
"${PYTHON3_EXECUTABLE}"
setup.py
bdist_wheel
${PYTHON3_WHEEL_EXTRA_ARGS}
DEPENDS ${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME})
if(WIN32)
set_target_properties(RobotRaconteurPython3_Wheel PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD_DEBUG TRUE)
endif()
endif()
# This mess is taken from github.com/ros/catkin/cmake/python.cmake...
set(enable_setuptools_deb_layout OFF)
if(ROBOTRACONTEUR_ROS)
if("$ENV{ROS_DISTRO}" STREQUAL "noetic")
if(EXISTS "/etc/debian_version")
set(enable_setuptools_deb_layout ON)
endif()
else()
set(SETUPTOOLS_ARG_EXTRA
"--install-lib \"\$ENV\{DESTDIR\}${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON3_VERSION_MAJOR}.${PYTHON3_VERSION_MINOR}/site-packages\""
)
endif()
endif()
option(SETUPTOOLS_DEB_LAYOUT "Enable debian style python package layout" ${enable_setuptools_deb_layout})
if(SETUPTOOLS_DEB_LAYOUT)
message(STATUS "Using Debian Python package layout")
set(SETUPTOOLS_ARG_EXTRA "--install-layout=deb --single-version-externally-managed")
endif()
option(INSTALL_PYTHON3 "Install Python3 library" OFF)
option(INSTALL_PYTHON3_PIP "Install Python3 library using pip" OFF)
if(ROBOTRACONTEUR_ROS
OR ROBOTRACONTEUR_COLCON
OR INSTALL_PYTHON3
OR INSTALL_PYTHON3_PIP)
if(INSTALL_PYTHON3_PIP)
message(STATUS "Installing Python3 library using pip")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/python3_install_pip.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/python3_install.cmake @ONLY)
else()
message(STATUS "Installing Python3 library using setup.py")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/python3_install.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/python3_install.cmake @ONLY)
endif()
install(SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/python3_install.cmake)
endif()
if(ROBOTRACONTEUR_ROS OR ROBOTRACONTEUR_COLCON)
# Allows Colcon to find Python package
if(SETUPTOOLS_DEB_LAYOUT)
set(ROS_PYTHONPATH lib/python3/dist-packages)
else()
set(ROS_PYTHONPATH lib/python3.${PYTHON3_VERSION_MINOR}/site-packages)
endif()
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/robotraconteur/hook/python_path.dsv
"prepend-non-duplicate;PYTHONPATH;${ROS_PYTHONPATH}")
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/robotraconteur/hook/python_path.dsv
DESTINATION share/robotraconteur/hook)
endif()
if(BUILD_DOCUMENTATION)
find_program(SPHINX_EXECUTABLE NAMES sphinx-build)
if(NOT SPHINX_EXECUTABLE)
message(FATAL_ERROR "Sphinx is required to build Python documentation")
endif()
configure_file("${CMAKE_SOURCE_DIR}/docs/python/conf.py.in" "${CMAKE_BINARY_DIR}/out/Python3/sphinx/conf.py" @ONLY)
configure_file("${CMAKE_SOURCE_DIR}/docs/python/conf.py.in" "${CMAKE_BINARY_DIR}/out_debug/Python3/sphinx/conf.py"
@ONLY)
configure_file("${CMAKE_SOURCE_DIR}/docs/python/conf.py.in"
"${CMAKE_BINARY_DIR}/out_reldebug/Python3/sphinx/conf.py" @ONLY)
file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/docs/python3)
add_custom_target(
RobotRaconteurPython3_doc
COMMAND ${SPHINX_EXECUTABLE} -c $<TARGET_FILE_DIR:${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME}>/../sphinx
${CMAKE_SOURCE_DIR}/docs/python/source ${CMAKE_BINARY_DIR}/docs/python3
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating Python documentation with Sphinx"
VERBATIM
DEPENDS ${SWIG_MODULE_RobotRaconteurPython3_REAL_NAME})
endif()
|
