From ff5ee0154ea15b25a526622476b6d1ae28270a30 Mon Sep 17 00:00:00 2001
From: "M. Amin Safavi" <safavi.m.amin@gmail.com>
Date: Sat, 14 Sep 2024 14:23:51 +0900
Subject: [PATCH] refactor

---
 CMakeLists.txt                       | 21 +++++++++++++++++----
 README.md                            |  3 +--
 pyproject.toml                       | 10 +++-------
 src/drake_extension/__init__.py      |  4 ++++
 src/{drake_extension.cpp => ext.cpp} |  6 ++++++
 5 files changed, 31 insertions(+), 13 deletions(-)
 create mode 100644 src/drake_extension/__init__.py
 rename src/{drake_extension.cpp => ext.cpp} (90%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b25db1f..44e8671 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,11 +6,18 @@ cmake_minimum_required(VERSION 3.16...3.27)
 
 # Scikit-build-core sets these values for you, or you can just hard-code the
 # name and version.
-project(drake_extension LANGUAGES CXX)
+project(
+  ${SKBUILD_PROJECT_NAME}
+  VERSION ${SKBUILD_PROJECT_VERSION}
+  LANGUAGES CXX)
 
 include(CTest)
 option(RUN_X11_TESTS "Run tests that require X11" OFF)
 find_package(drake CONFIG REQUIRED)
+
+# Find the module development requirements (requires FindPython from 3.17 or
+# scikit-build-core's built-in backport)
+find_package(Python REQUIRED COMPONENTS Interpreter Development.Module)
 find_package(pybind11 CONFIG REQUIRED)
 
 execute_process(COMMAND ${Python3_EXECUTABLE}-config --exec-prefix
@@ -32,6 +39,12 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 # Add a library using FindPython's tooling (pybind11 also provides a helper like
 # this)
-pybind11_add_module(drake_extension MODULE src/drake_extension.cpp)
-target_link_libraries(drake_extension PUBLIC drake::drake)
-set_target_properties(drake_extension PROPERTIES CXX_VISIBILITY_PRESET default)
+pybind11_add_module(_ext MODULE src/ext.cpp WITH_SOABI)
+target_link_libraries(_ext PUBLIC drake::drake)
+set_target_properties(_ext PROPERTIES CXX_VISIBILITY_PRESET default)
+
+# This is passing in the version as a define just as an example
+target_compile_definitions(_ext PRIVATE VERSION_INFO=${PROJECT_VERSION})
+
+# The install directory is the output (wheel) directory
+install(TARGETS _ext DESTINATION drake_extension)
diff --git a/README.md b/README.md
index 9e7d85c..1a4f6af 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ If you think the current setup can be improved, please open an issue or a pull r
 
 ## Setup Guide
 > [!NOTE]
-> The setup has only been tested with Ubuntu 24.04 (Noble) operating system, Python 3.12 and Drake v1.32.0
+> The setup has only been tested with Ubuntu 22.04 (Jammy) operating system, Python 3.10 and Drake v1.32.0
 > If you encountered any issues feel free to leave an issue so we can fix it together.
 > You are also welcome to make a PR and extend the support.
 
@@ -47,7 +47,6 @@ py.test
 ```
 
 ## TODOs
-- [ ] Add Github Actions to Automated Testing
 - [ ] Add a Dockerfile for more reproducibility and transparency of the setup
 - [ ] Try `nanobind` and compare resulting binary sizes with `pybind`
 - [ ] Add information about how to shared the packaged python wheel.
diff --git a/pyproject.toml b/pyproject.toml
index 07e2826..033c2e4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,11 +1,7 @@
 [build-system]
-requires = [
-    "setuptools>=42",
-    "wheel",
-    "ninja",
-    "cmake>=3.12",
-]
-build-backend = "setuptools.build_meta"
+requires = ["scikit-build-core>=0.3.3", "pybind11"]
+build-backend = "scikit_build_core.build"
+
 
 [project]
 name = "drake_extension"
diff --git a/src/drake_extension/__init__.py b/src/drake_extension/__init__.py
new file mode 100644
index 0000000..43dd8b2
--- /dev/null
+++ b/src/drake_extension/__init__.py
@@ -0,0 +1,4 @@
+from __future__ import annotations
+from ._ext import __doc__, __version__, SimpleAdder
+
+__all__ = ["__doc__", "__version__", "SimpleAdder"]
diff --git a/src/drake_extension.cpp b/src/ext.cpp
similarity index 90%
rename from src/drake_extension.cpp
rename to src/ext.cpp
index 141aa57..ed00f11 100644
--- a/src/drake_extension.cpp
+++ b/src/ext.cpp
@@ -46,6 +46,12 @@ PYBIND11_MODULE(drake_extension , m) {
 
   py::class_<SimpleAdder<T>, LeafSystem<T>>(m, "SimpleAdder")
       .def(py::init<T>(), py::arg("add"));
+
+  #ifdef VERSION_INFO
+    m.attr("__version__") = MACRO_STRINGIFY(VERSION_INFO);
+  #else
+    m.attr("__version__") = "dev";
+  #endif
 }
 
 }  // namespace drake_extension