From be6a8d649807b06d4d443b25ac889e3f28467b02 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@gmail.com>
Date: Fri, 17 Aug 2018 16:54:31 +0200
Subject: [PATCH] [CMake] add BUILD_PYTHON_INTERFACE option
---
CMakeLists.txt | 15 +++++++++++----
python/CMakeLists.txt | 11 ++++++-----
src/CMakeLists.txt | 28 ++++++++++++++++------------
unitTesting/CMakeLists.txt | 6 +++---
4 files changed, 36 insertions(+), 24 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6e064e6..b7387f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,10 +41,9 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
SETUP_PROJECT()
# Search for dependencies.
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
ADD_REQUIRED_DEPENDENCY("eigenpy")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
-ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
@@ -69,8 +68,16 @@ PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
# Search for dependencies.
# Boost
-SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
-FINDPYTHON()
+SET(BOOST_COMPONENTS filesystem system unit_test_framework)
+
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+IF(BUILD_PYTHON_INTERFACE)
+ FINDPYTHON()
+ ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+ SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+ INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
+ENDIF(BUILD_PYTHON_INTERFACE)
+
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index d0d241b..b76b0f7 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,5 +1,6 @@
-INSTALL(
- FILES kine_romeo.py kine_romeo_small.py
- DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
-)
-
+IF(BUILD_PYTHON_INTERFACE)
+ INSTALL(
+ FILES kine_romeo.py kine_romeo_small.py
+ DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
+ )
+ENDIF(BUILD_PYTHON_INTERFACE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3c29c10..c8df282 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -50,12 +50,14 @@ FOREACH(lib ${plugins})
INSTALL(TARGETS ${libname} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
# build python submodule
- STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
+ IF(BUILD_PYTHON_INTERFACE)
+ STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
- DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
- ${libname}
- sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
- )
+ DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
+ ${libname}
+ sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
+ )
+ ENDIF(BUILD_PYTHON_INTERFACE)
UNSET({libname})
ENDFOREACH(lib)
@@ -73,10 +75,12 @@ INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
TARGET_LINK_LIBRARIES(dp-dynamic ${LIBRARY_NAME})
# Install empty __init__.py files in intermediate directories.
-INSTALL(FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
- DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
- )
+IF(BUILD_PYTHON_INTERFACE)
+ INSTALL(FILES
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
+ DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
+ )
+ENDIF(BUILD_PYTHON_INTERFACE)
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 3247e7f..e456016 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -52,8 +52,6 @@ FOREACH(test ${tests})
SET(EXECUTABLE_NAME "${test}_exe")
ADD_EXECUTABLE(${EXECUTABLE_NAME}
${test}.cpp)
- MESSAGE("PYTHON_INCLUDE_PATH: ${PYTHON_INCLUDE_PATH}")
- INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
dp-zmpreffromcom
@@ -70,7 +68,9 @@ FOREACH(test ${tests})
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} pinocchio)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
- PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
+ IF(BUILD_PYTHON_INTERFACE)
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
+ ENDIF(BUILD_PYTHON_INTERFACE)
IF(${test}_plugins_dependencies)
ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
--
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