manylinux: example-robot-data

docker/manylinux2014/all.sh

 #!/bin/bash -eux
 
-pyver=${1:-all}
+pyver="${1:-all}"
+pwd="$(pwd -P)"
 
 docker build -t manylinux .
-docker run -v "$(pwd -P):/io" -v /local/users/ccache/:/root/.ccache --rm -t manylinux rm -rf /io/dist /io/wheelhouse
+docker run -v "$pwd:/io" -v /local/users/ccache/:/root/.ccache --rm -t manylinux rm -rf /io/dist /io/wheelhouse
 
-build() {
-    for target in eigenpy hpp-fcl pinocchio
-    do docker run -v "$(pwd -P):/io" -v /local/users/ccache/:/root/.ccache --rm -t manylinux /scripts/setup.sh $target $1
-    done
+build_wheel() {
+    while read target
+    do docker run -v "$pwd:/io" -v /local/users/ccache/:/root/.ccache --rm -t manylinux /scripts/setup.sh $target $1
+    done < config/targets
 }
 
-test() {
-    docker build -f test.Dockerfile --build-arg PYVER=$pyver -t manylinux-test:$pyver .
-    docker run --rm -t manylinux-test:$pyver
+test_wheel() {
+    docker build -f test.Dockerfile --build-arg PYVER=$1 -t manylinux-test:$1 .
+    docker run --rm -t manylinux-test:$1
 }
 
 if [ "$pyver" = all ]
 then
-    for pyver in 2.7 3.5 3.6 3.7 3.8 3.9
-    do build $pyver &
+    for pv in 2.7 3.5 3.6 3.7 3.8 3.9
+    do build_wheel $pv
     done
-    wait
 else
-    build $pyver
+    build_wheel $pyver
 fi
 
 clear
 
 if [ "$pyver" = all ]
 then
-    for pyver in 2.7 3.5 3.6 3.7 3.8 3.9
-    do test $pyver
+    for pv in 2.7 3.5 3.6 3.7 3.8 3.9
+    do test_wheel $pv
     done
 else
-    test $pyver
+    test_wheel $pyver
 fi

docker/manylinux2014/config/example-robot-data/setup.py

+from skbuild import setup
+
+try:
+    with open("README.md", "r") as f:
+        long_description = f.read()
+except FileNotFoundError:
+    long_description = ""
+
+setup(
+    name="example-robot-data",
+    version="VERSION",
+    description="Set of robot URDFs for benchmarking and developed examples.",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    url="https://github.com/gepetto/example-robot-data",
+    install_requires=['pinocchio'],
+    cmake_minimum_required_version='3.1',
+    classifiers=[
+        "Programming Language :: Python :: 2", "Programming Language :: Python :: 3",
+        "License :: OSI Approved :: BSD License", "Operating System :: POSIX :: Linux"
+    ],
+    python_requires='>=2.7',
+)

docker/manylinux2014/config/example-robot-data/test.py

+import unittest
+
+import example_robot_data
+
+
+class TestPinocchio(unittest.TestCase):
+    def test_trivial(self):
+        self.assertEqual(example_robot_data.load('talos').model.nq, 39)
+
+
+if __name__ == '__main__':
+    unittest.main()

docker/manylinux2014/config/targets

 eigenpy
 hpp-fcl
 pinocchio
+example-robot-data

docker/manylinux2014/scripts/build_wheels.sh

@@ -4,17 +4,17 @@ TARGET=${1:-eigenpy}
 PYVER=${2:-3.9}
 
 export CMAKE_PREFIX_PATH="~/.local:/opt/openrobots"
+PACKAGE="${TARGET//-/_}"
 VERSION="$(grep version setup.py | head -1 | cut -d'"' -f2)"
 TARVER="$TARGET-$VERSION"
-WHEEL_DIR="${TARGET/-/_}-$VERSION"
-PACKAGE="$TARGET"
-[ "$TARGET" = "hpp-fcl" ] && PACKAGE=hppfcl
+WHEEL_DIR="$PACKAGE-$VERSION"
 PYBIN="$(find /opt/python -name "cp${PYVER/.}*")/bin"
 INSTALLED_PREFIX="$PWD/_skbuild/linux-x86_64-$PYVER/cmake-install"
 SITE_PACKAGES="lib/python$PYVER/site-packages"
 USER_PACKAGES="$HOME/.local/$SITE_PACKAGES"
 WHEEL_NAME="$WHEEL_DIR-cp${PYVER/.}-"
-LIB_DIR="${TARGET/-/_}.libs"
+LIB_DIR="$PACKAGE.libs"
+[ "$PACKAGE" = "hpp_fcl" ] && PACKAGE=hppfcl
 PACKAGE_DIR="$WHEEL_DIR/$WHEEL_DIR.data/data/$SITE_PACKAGES/$PACKAGE"
 
 # Install dependencies
@@ -25,55 +25,68 @@ PACKAGE_DIR="$WHEEL_DIR/$WHEEL_DIR.data/data/$SITE_PACKAGES/$PACKAGE"
 "$PYBIN/python" setup.py bdist_wheel -j"$(nproc)" -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
     -DCMAKE_INSTALL_LIBDIR=lib -DPYTHON_STANDARD_LAYOUT=ON -DENFORCE_MINIMAL_CXX_STANDARD=ON
 
-# Bundle external shared libraries into the wheels
-OTHER_LIB_DIRS=$(find "$USER_PACKAGES" -name '*.libs' | tr '\n' ':')
+BINARY_EXTENSIONS="$(find "$INSTALLED_PREFIX/$SITE_PACKAGES/$PACKAGE" -name '*.so*')" || true
+if [ -n "$BINARY_EXTENSIONS" ]
+then
+    # Bundle external shared libraries into the wheels
+    OTHER_LIB_DIRS=$(find "$USER_PACKAGES" -name '*.libs' | tr '\n' ':')
 
-# don't bundle ones already in another wheel
-# that's against pypa recomendations, but should work
-WHITELISTED="$(/scripts/patch_whitelist.py "$USER_PACKAGES")"
+    # don't bundle ones already in another wheel
+    # that's against pypa recomendations, but should work
+    WHITELISTED="$(/scripts/patch_whitelist.py "$USER_PACKAGES")"
 
-# Repair it
-LD_LIBRARY_PATH="$INSTALLED_PREFIX/lib:$OTHER_LIB_DIRS/opt/openrobots/lib:$LD_LIBRARY_PATH" \
-    auditwheel repair "dist/$WHEEL_NAME"* --plat "$PLAT" -w /io/wheelhouse/
+    # Repair it
+    LD_LIBRARY_PATH="$INSTALLED_PREFIX/lib:$OTHER_LIB_DIRS/opt/openrobots/lib:$LD_LIBRARY_PATH" \
+        auditwheel repair "dist/$WHEEL_NAME"* --plat "$PLAT" -w /io/wheelhouse/
+else
+    mv dist/"$WHEEL_NAME"*-linux*.whl /io/wheelhouse
+fi
 
 # Clean build
 rm -rf _skbuild dist
 
 # Extract it
-wheel unpack /io/wheelhouse/"$WHEEL_NAME"*-manylinux2014*.whl
+wheel unpack /io/wheelhouse/"$WHEEL_NAME"*linux*.whl
 
-# set the RPATH right for the installed wheel
-# ref https://github.com/pypa/auditwheel/issues/257
-patchelf --set-rpath "\$ORIGIN/../$LIB_DIR$WHITELISTED" "$(find "$PACKAGE_DIR" -name '*.so')"
+if [ -n "$BINARY_EXTENSIONS" ]
+then
+    # set the RPATH right for the installed wheel
+    # ref https://github.com/pypa/auditwheel/issues/257
+    patchelf --set-rpath "\$ORIGIN/../$LIB_DIR$WHITELISTED" "$(find "$PACKAGE_DIR" -name '*.so')"
 
-# Remove moved libs
-rm -f "$WHEEL_DIR/$WHEEL_DIR.data/data/lib/"lib*so*
+    # Remove moved libs
+    rm -f "$WHEEL_DIR/$WHEEL_DIR.data/data/lib/"lib*so*
 
-# Set the rpath of the other shared libraries in LIB_DIR
-for lib in "$WHEEL_DIR/${LIB_DIR}"/*
-do patchelf --set-rpath '$ORIGIN' "$lib"
-done
+    # Set the rpath of the other shared libraries in LIB_DIR
+    for lib in "$WHEEL_DIR/${LIB_DIR}"/*
+    do patchelf --set-rpath '$ORIGIN' "$lib"
+    done
+
+    # fix .cmake files: remove _skbuild references & update lib name with their hash from auditwheel
+    MAIN_LIB=$(find "$WHEEL_DIR/$LIB_DIR" -name "lib$TARGET-*.so*") # eigenpy-2.5.0/eigenpy.libs/libeigenpy-0c5e8890.so
+    MAIN_LIB_NAME=$(basename "$MAIN_LIB") # libeigenpy-0c5e8890.so
+    MAIN_LIB_NAME_NO_HASH=$(echo "$MAIN_LIB_NAME" | sed 's/-[[:xdigit:]]\{8\}//') # libeigenpy.so
 
-# fix .cmake files: remove _skbuild references & update lib name with their hash from auditwheel
-MAIN_LIB=$(find "$WHEEL_DIR/$LIB_DIR" -name "lib$TARGET-*.so") # eigenpy-2.5.0/eigenpy.libs/libeigenpy-0c5e8890.so
-MAIN_LIB_NAME=$(basename "$MAIN_LIB") # libeigenpy-0c5e8890.so
-MAIN_LIB_NAME_NO_HASH=$(echo "$MAIN_LIB_NAME" | sed 's/-[[:xdigit:]]\{8\}//') # libeigenpy.so
+    for file in $WHEEL_DIR/$WHEEL_DIR.data/data/lib/cmake/$TARGET/*.cmake
+    do
+        sed -i "s:$MAIN_LIB_NAME_NO_HASH:$MAIN_LIB_NAME:" "$file" || true
+    done
+fi
 
 for file in $WHEEL_DIR/$WHEEL_DIR.data/data/lib/cmake/$TARGET/*.cmake
 do
-    sed -i "s:/src/_skbuild/linux-x86_64-.*/cmake-install/lib/\(.*\)\.so:\${_IMPORT_PREFIX}/$SITE_PACKAGES/$LIB_DIR/\1.so:" "$file" || true
-    sed -i "s:$MAIN_LIB_NAME_NO_HASH:$MAIN_LIB_NAME:" "$file" || true
+    sed -i "s:/src/_skbuild/linux-x86_64-.*/cmake-install/lib/\([^/]*\)\.so:\${_IMPORT_PREFIX}/$SITE_PACKAGES/$LIB_DIR/\1.so:" "$file" || true
     sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/include:${_IMPORT_PREFIX}/include:' "$file" || true
     sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/lib:${_IMPORT_PREFIX}/lib:' "$file" || true
 done
 
 # Repack and clean
 wheel pack "$WHEEL_DIR" -d /io/wheelhouse
-rm -rf "${WHEEL_DIR:?}"/ "$TARGET".egg-info/ dist/
+rm -rf "${WHEEL_DIR:?}"/ "$TARGET".egg-info
 
 # Install packages and test
 "$PYBIN/pip" install --user "$TARGET" --no-index --find-links=/io/wheelhouse/
-(cd "$HOME"; "$PYBIN/python" "/io/config/$TARGET/test.py") || touch "/io/wheelhouse/$PYVER-$TARGET"
+(cd "$HOME"; "$PYBIN/python" "/io/config/$TARGET/test.py")
 
 mkdir -p /io/dist
-mv /io/wheelhouse/"$WHEEL_NAME"*-manylinux2014*.whl /io/dist
+mv /io/wheelhouse/"$WHEEL_NAME"*linux*.whl /io/dist