docker manylinux: fix generated cmake files and update build for hpp-fcl

docker/manylinux2014/README.md

@@ -76,29 +76,20 @@ zlib-devel
 ```
 #!/bin/bash -eux
 
-source "/work/config/config"
+source "/io/config/config"
 
 for PYBIN in /opt/python/*/bin; do
   "$PYBIN"/pip install numpy
-  "$PYBIN"/pip install -i https://test.pypi.org/simple/ eigenpy==2.4.2
+  "$PYBIN"/pip install -i https://test.pypi.org/simple/ eigenpy-test==2.4.3
 done
 
-# TODO: eigenpyTargets-release.cmake has the wrong path to libeigenpy
-sed -i 's:IMPORTED_LOCATION_RELEASE "":IMPORTED_LOCATION_RELEASE "/usr/lib/python2.7/site-packages/eigenpy/eigenpy.libs/libeigenpy-453555c1.so":' /usr/lib/cmake/eigenpy/eigenpyTargets-release.cmake
-sed -i 's:libeigenpy.so:libeigenpy-453555c1.so:' /usr/lib/cmake/eigenpy/eigenpyTargets-release.cmake
-
-# TODO: the files in /opt/_internal/cpython-*/lib/cmake/eigenpy/eigenpyTargets-release.cmake need to be modified
-# TODO: but even then cmake need to be searching in the right directory (with the right python version) to find these files
-
 git clone -j"$NPROC" git://github.com/OctoMap/octomap.git
 cd octomap/
 mkdir build && cd build
 cmake ..
 make -j"$NPROC" install
-cd /io
+cd /src
 rm -rf octomap
 ```
 
-To build : `LD_LIBRARY_PATH=/usr/lib/python2.7/site-packages/eigenpy/eigenpy.libs:$LD_LIBRARY_PATH ./build_wheels.sh`
-
-Only the python 2.7 wheels are working for now, to test the wheels make sure `libgl1-mesa-dev` is installed.
+To test the wheels make sure `libgl1` is installed.

docker/manylinux2014/scripts/build_wheels.sh

-#!/bin/bash -eu
+#!/bin/bash -eux
 
 function repair_wheel {
   wheel="$1"
@@ -31,16 +31,20 @@ source config
 
 # Build wheels
 for PYBIN in /opt/python/*/bin; do
-  PYVERSION=$(find "$PYBIN" -name 'python[0-9]\.[0-9]' -printf "%f\n" | grep -Eo '[0-9].[0-9]')
   [ -n "$INSTALL_REQUIRES" ] && "$PYBIN/pip" install "$(echo "$INSTALL_REQUIRES" | sed -E 's/"|\[|\]|,//g')"
-  "$PYBIN/python" setup.py bdist_wheel -- -- -j"$NPROC"
+
+  PYVERSION=$(find "$PYBIN" -type f -name 'python*.*' | head -1 | grep -Eo "[0-9]\.[0-9]")
+  CMAKE_PREFIX_PATH=$(find / -path "*$PYVERSION*" -type d -name cmake | tr '\n' ';')
+
+  "$PYBIN/python" setup.py bdist_wheel -DCMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH" -DBUILD_TESTING=OFF -j"$NPROC"
 
   # Bundle external shared libraries into the wheels
   MAIN_LIB=$(find _skbuild/*/cmake-build -type f ! -path '*test/*' -name 'lib*.so*')
   MAIN_LIB_DIR=$(pwd)/$(dirname "$MAIN_LIB")
+  OTHER_LIB_DIRS=$(find / -path "*$PYVERSION*.libs/*" -name *.so | xargs dirname | tr '\n' ':')
   WHEEL_NAME=$(ls -Art dist/ | tail -n 1)
 
-  LD_LIBRARY_PATH="$MAIN_LIB_DIR:$LD_LIBRARY_PATH" \
+  LD_LIBRARY_PATH="$MAIN_LIB_DIR:$OTHER_LIB_DIRS$LD_LIBRARY_PATH" \
     repair_wheel "dist/$WHEEL_NAME"
   rm -rf _skbuild
 done
@@ -52,7 +56,7 @@ for whl in /io/wheelhouse/*.whl; do
   LIB_DIR=$(find . -type d -name '*.libs')
   PACKAGE_DIR=$(dirname "$MAIN_LIB")
   LIB64_DIR=$(find . -type d -name 'lib64')
-  WHEEL_DIR=$(echo "$MAIN_LIB" | cut -d'/' -f2)
+  WHEEL_DIR=$(find . -name *.so | head -1 | cut -d'/' -f2)
 
   # Put the libs inside the package directory so the relative path to the libs is always the same
   mv "$LIB_DIR" "$PACKAGE_DIR"/
@@ -69,15 +73,6 @@ for whl in /io/wheelhouse/*.whl; do
   # Remove libraries that are present twice (auditwheel already copied them in the .libs directory)
   rm -f "$LIB64_DIR"/*.so*
 
-  #TODO: .cmake files should not have references to _skbuild, temporary fix (only for eigenpy.so):
-  find "$WHEEL_DIR" -name '*.cmake' | while read -r file; do
-    sed -i 's:;/src/_skbuild/linux-x86_64-.*/cmake-install/include::' "$file"
-    sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/lib64/libeigenpy.so:/usr/lib/python2.7/site-packages/eigenpy/eigenpy.libs/libeigenpy-453555c1.so:' "$file"
-    sed -i 's:libeigenpy.so:libeigenpy-453555c1.so:' "$file"
-    sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/include:/usr/local/include:' "$file"
-    sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/lib64:/usr/local/lib64:' "$file"
-  done
-
   wheel pack "$WHEEL_DIR" -d /io/wheelhouse
   rm -rf "${WHEEL_DIR:?}"/
 done
@@ -88,6 +83,28 @@ for PYBIN in /opt/python/*/bin; do
     (cd "$HOME"; test "$PYBIN/python")
 done
 
+# TODO: Fix generated .cmake files (need to be done after installing the wheels so we know where the shared libraries are installed)
+for whl in /io/wheelhouse/*.whl; do
+  wheel unpack "$whl"
+
+  WHEEL_DIR=$(find . -name *.so | head -1 | cut -d'/' -f2)
+  PYVERSION=$(find "$WHEEL_DIR" -type d -name 'python*' | tail -c4)
+  MAIN_LIB=$(find / ! -path "*$WHEEL_DIR*" -path "*$PYVERSION*$PACKAGE_NAME*.libs/*" -name "*$PACKAGE_NAME*.so")
+  MAIN_LIB_NAME=$(basename "$MAIN_LIB") # libeigenpy-[hash].so
+  MAIN_LIB_NAME_NO_HASH=$(echo $MAIN_LIB_NAME | sed 's/-.*\.so/\.so/') # libeigenpy.so
+
+  #TODO: .cmake files should not have references to _skbuild, this is only a temporary fix to be able to build hpp-fcl
+  find "$WHEEL_DIR" -name '*.cmake' | while read -r file; do
+    sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/include:/usr/local/include:' "$file" || true
+    sed -i "s:/src/_skbuild/linux-x86_64-.*/cmake-install/lib64/.*\.so:$MAIN_LIB:" "$file" || true
+    sed -i "s:$MAIN_LIB_NAME_NO_HASH:$MAIN_LIB_NAME:" "$file" || true
+    sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/lib64:/usr/local/lib64:' "$file" || true
+  done
+
+  wheel pack "$WHEEL_DIR" -d /io/wheelhouse
+  rm -rf "${WHEEL_DIR:?}"/
+done
+
 rm -rf "$TARGET_NAME".egg-info/ dist/
 
 ls /io/wheelhouse