Fix Python bindings installation and support building bindings as standalone projects

.github/workflows/ci.yml

@@ -46,8 +46,8 @@ jobs:
         cd build
         cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON \
-              -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \
-              -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON ..
+              -DHDE_COMPILE_PYTHON_BINDINGS:BOOL=ON -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \
+              -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON -DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON ..
 
     - name: Build
       shell: bash -l {0}
@@ -59,4 +59,17 @@ jobs:
       shell: bash -l {0}
       run: |
         cd build
-        ctest  --repeat until-pass:5 --output-on-failure -C ${{ matrix.build_type }} .
+        ctest --output-on-failure -C ${{ matrix.build_type }} .
+
+    - name: Install
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Check install
+      shell: bash -l {0}
+      run: |
+        cd build
+        python -c "import wearables"
+        python -c "import hde"

CMakeLists.txt

@@ -36,7 +36,6 @@ find_package(YCM REQUIRED)
 # Import cmake utilities
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 include(AddWarningsConfigurationToTarget)
-include(AddHDEPythonModule)
 
 # To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE
 # See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
@@ -74,11 +73,6 @@ if(NOT MSVC)
                               USE_LINK_PATH)
 endif()
 
-
-#Function to automatize the process of creating python bindings
-include(AddWearablesPythonModule)
-
-
 # Tweak linker flags in Linux
 if(UNIX AND NOT APPLE)
     get_filename_component(LINKER_BIN ${CMAKE_LINKER} NAME)

bindings/CMakeLists.txt

@@ -1,7 +1,31 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
+# Detect if we are doing a standalone build of the bindings, using an external icub-main
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  set(HDE_BINDINGS_BUILD_STANDALONE TRUE)
+else()
+  set(HDE_BINDINGS_BUILD_STANDALONE FALSE)
+endif()
+
+if(HDE_BINDINGS_BUILD_STANDALONE)
+  cmake_minimum_required(VERSION 3.16)
+  # Extract project version from top project
+  file(READ ${CMAKE_CURRENT_SOURCE_DIR}/../CMakeLists.txt cmake_content)
+  string(REGEX MATCH "VERSION[ ]+([0-9]+\\.[0-9]+\\.[0-9]+)" cmake_version_match ${cmake_content})
+  set(top_project_version ${CMAKE_MATCH_1})
+  project(HumanDynamicsEstimationBindings
+          VERSION ${top_project_version})
+  set(HDE_COMPILE_PYTHON_BINDINGS ON)
+  find_package(YARP REQUIRED)
+  find_package(WearableData REQUIRED)
+  find_package(HumanDynamicsEstimation REQUIRED)
+  list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
+endif()
+
 if(HDE_COMPILE_PYTHON_BINDINGS)
+  include(AddWearablesPythonModule)
+  include(AddHDEPythonModule)
 
   find_package(Python3 3.6 COMPONENTS Interpreter Development REQUIRED)
 
@@ -11,6 +35,31 @@ if(HDE_COMPILE_PYTHON_BINDINGS)
     "Do you want HDE to detect and use the active site-package directory? (it could be a system dir)"
     FALSE)
 
+  # Function to generate __init__.py file for both hde and wearables
+  # It contains logic to ensure that it works fine on Windows when installing in arbitrary folders,
+  # See https://docs.python.org/3.8/library/os.html#os.add_dll_directory
+  function(hde_generate_init_py_file GENERATION_LOCATION_OF_INIT_PY_FILE INSTALLATION_LOCATION_OF_INIT_PY_FILE)
+    file(WRITE ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "")
+    if(WIN32 AND BUILD_SHARED_LIBS)
+        if(IS_ABSOLUTE ${INSTALLATION_LOCATION_OF_INIT_PY_FILE})
+            set(PYTHON_FULL_INSTDIR "${INSTALLATION_LOCATION_OF_INIT_PY_FILE}")
+        else()
+            set(PYTHON_FULL_INSTDIR "${CMAKE_INSTALL_PREFIX}/${INSTALLATION_LOCATION_OF_INIT_PY_FILE}")
+        endif()
+        file(RELATIVE_PATH RELATIVE_PATH_BETWEEN_INIT_PY_AND_DLL_DIRECTORY ${PYTHON_FULL_INSTDIR} ${CMAKE_INSTALL_FULL_BINDIR})
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "import os\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "library_dll_path = os.path.join(os.path.dirname(__file__),'${RELATIVE_PATH_BETWEEN_INIT_PY_AND_DLL_DIRECTORY}')\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "# Avoid to call add_dll_directory if not necessary,\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "# for example if the library to find are already found in the proper location in a conda\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "if(library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'Library','bin') and library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'bin')):\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "    if(os.path.exists(library_dll_path)):\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "        os.add_dll_directory(library_dll_path)$\n")
+        file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "\n")
+    endif()
+
+    file(APPEND ${GENERATION_LOCATION_OF_INIT_PY_FILE}/__init__.py "from .bindings import *\n")
+  endfunction()
+
   # Install the resulting Python package for the active interpreter
   if(NOT DEFINED HDE_PYTHON_INSTALL_DIR)
     if(HDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES)

bindings/python-hde/CMakeLists.txt

@@ -29,6 +29,9 @@ target_link_libraries(pybind11_hde PRIVATE
 # # module, i.e. `bindings`.
 set_target_properties(pybind11_hde PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY "${HDE_PYTHON_PACKAGE}"
+  ARCHIVE_OUTPUT_DIRECTORY "${HDE_PYTHON_PACKAGE}"
+  RUNTIME_OUTPUT_DIRECTORY "${HDE_PYTHON_PACKAGE}"
+  PDB_OUTPUT_DIRECTORY "${HDE_PYTHON_PACKAGE}"
   OUTPUT_NAME "bindings")
 
 # Output package is:
@@ -40,9 +43,7 @@ set_target_properties(pybind11_hde PROPERTIES
 install(TARGETS pybind11_hde DESTINATION ${PYTHON_INSTDIR})
 
 # Create the __init__.py file
-file(GENERATE
-  OUTPUT "${HDE_PYTHON_PACKAGE}/__init__.py"
-  CONTENT "from .bindings import *\n")
+hde_generate_init_py_file("${HDE_PYTHON_PACKAGE}" "${PYTHON_INSTDIR}")
 # Install the __init__.py file
 install(FILES "${HDE_PYTHON_PACKAGE}/__init__.py"
   DESTINATION ${PYTHON_INSTDIR})

bindings/python-wearables/CMakeLists.txt

@@ -29,6 +29,9 @@ target_link_libraries(pybind11_wearables PRIVATE
 # # module, i.e. `bindings`.
 set_target_properties(pybind11_wearables PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY "${WEARABLES_PYTHON_PACKAGE}"
+  ARCHIVE_OUTPUT_DIRECTORY "${WEARABLES_PYTHON_PACKAGE}"
+  RUNTIME_OUTPUT_DIRECTORY "${WEARABLES_PYTHON_PACKAGE}"
+  PDB_OUTPUT_DIRECTORY "${WEARABLES_PYTHON_PACKAGE}"
   OUTPUT_NAME "bindings")
 
 # Output package is:
@@ -39,6 +42,7 @@ set_target_properties(pybind11_wearables PROPERTIES
 
 install(TARGETS pybind11_wearables DESTINATION ${PYTHON_INSTDIR})
 
+hde_generate_init_py_file("${WEARABLES_PYTHON_PACKAGE}" "${PYTHON_INSTDIR}")
 # Install the __init__.py file
 install(FILES "${WEARABLES_PYTHON_PACKAGE}/__init__.py"
   DESTINATION ${PYTHON_INSTDIR})

bindings/python-wearables/msgs/CMakeLists.txt

@@ -8,4 +8,4 @@ add_wearables_python_module(
     NAME MsgsBindings
     SOURCES src/WearableData.cpp src/Module.cpp
     HEADERS ${H_PREFIX}/WearableData.h ${H_PREFIX}/BufferedPort.h ${H_PREFIX}/Module.h
-    LINK_LIBRARIES Wearable::WearableData YARP::YARP_os)
+    LINK_LIBRARIES WearableData::WearableData YARP::YARP_os)

devices/IWearRemapper/CMakeLists.txt

@@ -17,8 +17,8 @@ target_include_directories(IWearRemapper PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
 
 target_link_libraries(IWearRemapper PUBLIC
-   IWear::IWear
-    Wearable::WearableData
+    IWear::IWear
+    WearableData::WearableData
     Wearable::SensorsImpl
     YARP::YARP_dev
     YARP::YARP_os

msgs/CMakeLists.txt

@@ -12,7 +12,7 @@
 yarp_add_idl(WEARABLEDATA_FILES thrift/WearableData.thrift)
 
 add_library(WearableData ${WEARABLEDATA_FILES} thrift/WearableData.thrift)
-add_library(Wearable::WearableData ALIAS WearableData)
+add_library(WearableData::WearableData ALIAS WearableData)
 target_link_libraries(WearableData YARP::YARP_os)
 
 # Extract the include directory from the files names
@@ -60,7 +60,7 @@ install(FILES ${WEARABLEDATA_FILES}
 yarp_add_idl(WEARABLEACTUATORS_FILES thrift/WearableActuators.thrift)
 
 add_library(WearableActuators ${WEARABLEACTUATORS_FILES} thrift/WearableActuators.thrift)
-add_library(Wearable::WearableActuators ALIAS WearableActuators)
+add_library(WearableActuators::WearableActuators ALIAS WearableActuators)
 target_link_libraries(WearableActuators YARP::YARP_os)
 
 # Extract the include directory from the files names