From 6a9c14a29dfbdf88297d148b88d13b2c57bc2d29 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@gmail.com>
Date: Fri, 17 Aug 2018 16:12:06 +0200
Subject: [PATCH] [CMake] add BUILD_PYTHON_INTERFACE option
---
CMakeLists.txt | 23 ++++++++++-------------
python/CMakeLists.txt | 22 ++++++++++++++++------
src/CMakeLists.txt | 37 +++++++++++++++++--------------------
3 files changed, 43 insertions(+), 39 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 30e54d7..eaa427d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,10 +20,11 @@ INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
SET(PROJECT_NAME sot-dyninv)
SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
-SET(PROJECT_URL "http://github.com/laas/sot-dyninv")
+SET(PROJECT_URL "http://github.com/stack-of-tasks/sot-dyninv")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
SET(DOXYGEN_USE_MATHJAX YES)
@@ -135,22 +136,18 @@ foreach(lib solver-op-space solver-dyn-reduced solver-dyn-red2)
ENDIF(WIN32)
endforeach(lib)
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+IF(BUILD_PYTHON_INTERFACE)
+ FINDPYTHON()
+ FIND_NUMPY()
+ INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+ ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
+ENDIF(BUILD_PYTHON_INTERFACE)
+
# Add subdirectories.
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(python)
ADD_SUBDIRECTORY(unitTesting)
-# Configure some of the python files
-CONFIGURE_FILE(
- "${CMAKE_CURRENT_SOURCE_DIR}/python/robot_specific.py.cmake"
- "${CMAKE_CURRENT_BINARY_DIR}/python/robot_specific.py"
-)
-
-#INCLUDE(cmake/python.cmake)
-#INSTALL(FILES
-# "${CMAKE_CURRENT_BINARY_DIR}/python/robotSpecific.py"
-# DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
-#)
-
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 41ec92f..be13a14 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,8 +1,18 @@
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
+IF(BUILD_PYTHON_INTERFACE)
-INSTALL(
- FILES ros/sot-concept.py
- DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
-)
+ CONFIGURE_FILE(
+ "${CMAKE_CURRENT_SOURCE_DIR}/robot_specific.py.cmake"
+ "${CMAKE_CURRENT_BINARY_DIR}/robot_specific.py"
+ )
+ INSTALL(FILES
+ ${CMAKE_CURRENT_BINARY_DIR}/robot_specific.py
+ DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
+ )
+
+ INSTALL(
+ FILES ros/sot-concept.py
+ DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
+ )
+
+ENDIF(BUILD_PYTHON_INTERFACE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3f1215f..a4412b1 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -14,9 +14,6 @@
# received a copy of the GNU Lesser General Public License along with
# sot-dyninv. If not, see <http://www.gnu.org/licenses/>.
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
-
IF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
ADD_DEFINITIONS(-DDEBUG=2)
ENDIF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
@@ -37,7 +34,6 @@ FOREACH(header ${headers})
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
ENDFOREACH(header)
INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/include)
-LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
# --- COMPILATION OF PLUGINS
FOREACH(lib ${libs})
@@ -62,22 +58,23 @@ FOREACH(lib ${libs})
INSTALL(TARGETS ${lib} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
# build python submodule
- STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
- DYNAMIC_GRAPH_PYTHON_MODULE("sot/dyninv/${PYTHON_LIBRARY_NAME}"
- ${lib}
- sot-dyninv-${PYTHON_LIBRARY_NAME}-wrap
- )
+ IF(BUILD_PYTHON_INTERFACE)
+ STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
+ DYNAMIC_GRAPH_PYTHON_MODULE("sot/dyninv/${PYTHON_LIBRARY_NAME}"
+ ${lib}
+ sot-dyninv-${PYTHON_LIBRARY_NAME}-wrap
+ )
+ ENDIF(BUILD_PYTHON_INTERFACE)
ENDFOREACH(lib)
# Install empty __init__.py files in intermediate directories.
-INSTALL(FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/__init__.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_6d.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_passing_point.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
- ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn_relative.py
- ${CMAKE_CURRENT_BINARY_DIR}/../python/robot_specific.py
- DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
-)
-
-MESSAGE(STATUS DESTINATION ${PYTHON_SITELIB} )
+IF(BUILD_PYTHON_INTERFACE)
+ INSTALL(FILES
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/__init__.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_6d.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_passing_point.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn_relative.py
+ DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
+ )
+ENDIF(BUILD_PYTHON_INTERFACE)
--
GitLab