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Merge pull request #130 from GiulioRomualdi/icub-models-library
Implement a machinery to easily access model locations on C++ and Python
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| Original file line number | Diff line number | Diff line change |
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| # Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| # This software may be modified and distributed under the terms of the | ||
| # GNU Lesser General Public License v2.1 or any later version. | ||
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| if(ICUB_MODELS_COMPILE_PYTHON_BINDINGS) | ||
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| find_package(pybind11 REQUIRED) | ||
| find_package(Python3 COMPONENTS Interpreter REQUIRED) | ||
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| # define new line accordingly to the operating system | ||
| if (WIN32) | ||
| set(NEW_LINE "\n\r") | ||
| else() | ||
| set(NEW_LINE "\n") | ||
| endif() | ||
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| option(ICUB_MODELS_DETECT_ACTIVE_PYTHON_SITEPACKAGES | ||
| "Do you want icub-models to detect and use the active site-package directory? (it could be a system dir)" | ||
| FALSE) | ||
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| # Install the resulting Python package for the active interpreter | ||
| if(ICUB_MODELS_DETECT_ACTIVE_PYTHON_SITEPACKAGES) | ||
| set(PYTHON_INSTDIR ${Python3_SITELIB}/icub_models) | ||
| else() | ||
| execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))" | ||
| OUTPUT_VARIABLE _PYTHON_INSTDIR) | ||
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| string(STRIP ${_PYTHON_INSTDIR} _PYTHON_INSTDIR_CLEAN) | ||
| set(PYTHON_INSTDIR ${_PYTHON_INSTDIR_CLEAN}/icub_models) | ||
| endif() | ||
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| # Folder of the Python package within the build tree. | ||
| # It is used for the Python tests. | ||
| set(ICUB_MODELS_PYTHON_PACKAGE "${CMAKE_BINARY_DIR}/icub_models") | ||
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| # Add the bindings directory | ||
| add_subdirectory(python) | ||
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| # Create the __init__.py file | ||
| file(GENERATE | ||
| OUTPUT "${ICUB_MODELS_PYTHON_PACKAGE}/__init__.py" | ||
| CONTENT "from icub_models.bindings import *") | ||
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| # Install the __init__.py file | ||
| install(FILES "${ICUB_MODELS_PYTHON_PACKAGE}/__init__.py" | ||
| DESTINATION ${PYTHON_INSTDIR}) | ||
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| # Install pip metadata files to ensure that icub_models installed via CMake is listed by pip list | ||
| # See https://packaging.python.org/specifications/recording-installed-packages/ | ||
| # and https://packaging.python.org/en/latest/specifications/core-metadata/#core-metadata | ||
| option(ICUB_MODELS_PYTHON_PIP_METADATA_INSTALL "Use CMake to install Python pip metadata. Set to off if some other tool already installs it." ON) | ||
| mark_as_advanced(ICUB_MODELS_PYTHON_PIP_METADATA_INSTALL) | ||
| set(ICUB_MODELS_PYTHON_PIP_METADATA_INSTALLER "cmake" CACHE STRING "Specify the string to identify the pip Installer. Default: cmake, change this if you are using another tool.") | ||
| mark_as_advanced(ICUB_MODELS_PYTHON_PIP_METADATA_INSTALLER) | ||
| if(ICUB_MODELS_PYTHON_PIP_METADATA_INSTALL) | ||
| get_filename_component(PYTHON_METADATA_PARENT_DIR ${PYTHON_INSTDIR} DIRECTORY) | ||
| if(WIN32) | ||
| set(NEW_LINE "\n\r") | ||
| else() | ||
| set(NEW_LINE "\n") | ||
| endif() | ||
| file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/METADATA "") | ||
| file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Metadata-Version: 2.1${NEW_LINE}") | ||
| file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Name: icub-models${NEW_LINE}") | ||
| file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Version: ${PROJECT_VERSION}${NEW_LINE}") | ||
| file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/INSTALLER "${ICUB_MODELS_PYTHON_PIP_METADATA_INSTALLER}${NEW_LINE}") | ||
| install( | ||
| FILES "${CMAKE_CURRENT_BINARY_DIR}/METADATA" "${CMAKE_CURRENT_BINARY_DIR}/INSTALLER" | ||
| DESTINATION ${PYTHON_METADATA_PARENT_DIR}/icub_models-${PROJECT_VERSION}.dist-info) | ||
| endif() | ||
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| endif() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| # Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| # This software may be modified and distributed under the terms of the | ||
| # GNU Lesser General Public License v2.1 or any later version. | ||
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| pybind11_add_module(pybind11_icub_models MODULE | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/icub_models.cpp | ||
| ) | ||
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| target_include_directories(pybind11_icub_models PUBLIC "$<BUILD_INTERFACE:${pybind_include_dirs}>") | ||
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| target_link_libraries(pybind11_icub_models PRIVATE | ||
| icub-models::icub-models) | ||
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| # # The generated Python dynamic module must have the same name as the pybind11 | ||
| # # module, i.e. `bindings`. | ||
| set_target_properties(pybind11_icub_models PROPERTIES | ||
| LIBRARY_OUTPUT_DIRECTORY "${ICUB_MODELS_PYTHON_PACKAGE}" | ||
| OUTPUT_NAME "bindings") | ||
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| # Output package is: | ||
| # | ||
| # icub_models | ||
| # |-- __init__.py (generated from main bindings CMake file) | ||
| # `-- bindings.<cpython_extension> | ||
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| install(TARGETS pybind11_icub_models DESTINATION ${PYTHON_INSTDIR}) |
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| Original file line number | Diff line number | Diff line change |
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| /** | ||
| * @file icub_models.cpp | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2022 Istituto Italiano di Tecnologia Released under the terms of the Creative Commons Attribution Share Alike 4.0 International | ||
| */ | ||
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| #include <iCubModels/iCubModels.h> | ||
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| #include <pybind11/pybind11.h> | ||
| #include <pybind11/stl.h> | ||
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| namespace iCubModels | ||
| { | ||
| namespace | ||
| { | ||
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| namespace py = ::pybind11; | ||
| PYBIND11_MODULE(bindings, m) | ||
| { | ||
| m.doc() = "Python bindings for the icub-models."; | ||
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| m.def("get_models_path", &iCubModels::getModelsPath, | ||
| "Get the folder where the models are installed.") | ||
| .def("get_robot_names", &iCubModels::getRobotNames, | ||
| "Return a set containing the names of the robots installed.") | ||
| .def("get_model_file", &iCubModels::getModelFile, py::arg("model_name"), | ||
| "Return the path of the model given its name. If the 'model_name' is not in the list " | ||
| "of the installed robot an empty path is returned."); | ||
| } | ||
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| } // namespace | ||
| } // namespace iCubModels |
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