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setup.py
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setup.py
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# Copyright (c) 2011-2024, The DART development contributors
# All rights reserved.
# References:
# - https://pybind11.readthedocs.io/en/stable/compiling.html
import distutils.log
import os
import re
import subprocess
import sys
from codecs import open # To use a consistent encoding
from glob import glob
from pathlib import Path
from setuptools import Extension, find_packages, setup
from setuptools.command.build_ext import build_ext
# Convert distutils Windows platform specifiers to CMake -A arguments
# PLAT_TO_CMAKE = {
# "win32": "Win32",
# "win-amd64": "x64",
# "win-arm32": "ARM",
# "win-arm64": "ARM64",
# }
# Get the current directory path.
dart_root = os.path.abspath(os.path.dirname(__file__))
dartpy_root = os.path.join(dart_root, "python")
with open(os.path.join(dart_root, "README.md"), encoding="utf-8") as f:
long_description = f.read()
description = "Python API of Dynamic Animation and Robotics Toolkit."
distutils.log.set_verbosity(distutils.log.DEBUG) # Set DEBUG level
# A CMakeExtension needs a sourcedir instead of a file list.
# The name must be the _single_ output extension from the CMake build.
# If you need multiple extensions, see scikit-build.
class CMakeExtension(Extension):
def __init__(self, name: str, sourcedir: str = "", sources=[]) -> None:
super().__init__(name, sources=sources)
self.sourcedir = os.fspath(Path(sourcedir).resolve())
class CMakeBuild(build_ext):
"""Wrapper class that builds the extension using CMake."""
def build_extension(self, ext: CMakeExtension) -> None:
# Must be in this form due to bug in .resolve() only fixed in Python 3.10+
# type: ignore[no-untyped-call]
ext_fullpath = Path.cwd() / self.get_ext_fullpath(ext.name)
extdir = ext_fullpath.parent.resolve()
# Using this requires trailing slash for auto-detection & inclusion of
# auxiliary "native" libs
debug = int(os.environ.get("DEBUG", 0)) if self.debug is None else self.debug
cfg = "Debug" if debug else "Release"
# CMake lets you override the generator - we need to check this.
# Can be set with Conda-Build, for example.
cmake_generator = os.environ.get("CMAKE_GENERATOR", "")
# Set Python_EXECUTABLE instead if you use PYBIND11_FINDPYTHON
# DARTPY_VERSION_INFO shows you how to pass a value into the C++ code
# from Python.
cmake_args = [
f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={extdir}{os.sep}",
f"-DPYTHON_EXECUTABLE={sys.executable}",
f"-DCMAKE_BUILD_TYPE={cfg}", # not used on MSVC, but no harm
f"-DBUILD_SHARED_LIBS=OFF",
f"-DDART_ENABLE_SIMD=OFF",
f"-DDART_BUILD_WHEELS=ON",
f"-DDART_TREAT_WARNINGS_AS_ERRORS=OFF",
f"-DDART_VERBOSE=ON",
]
build_args = []
# Adding CMake arguments set as environment variable
# (needed e.g. to build for ARM OSx on conda-forge)
if "CMAKE_ARGS" in os.environ:
cmake_args += [item for item in os.environ["CMAKE_ARGS"].split(" ") if item]
# In this example, we pass in the version to C++. You might not need to.
# type: ignore[attr-defined]
cmake_args += [f"-DDARTPY_VERSION_INFO={self.distribution.get_version()}"]
if self.compiler.compiler_type != "msvc":
# Using Ninja-build since it a) is available as a wheel and b)
# multithread automatically. MSVC would require all variables be
# exported for Ninja to pick it up, which is a little tricky to do.
# Users can override the generator with CMAKE_GENERATOR in CMake
# 3.15+.
if not cmake_generator or cmake_generator == "Ninja":
try:
import ninja # noqa: F401
ninja_executable_path = Path(ninja.BIN_DIR) / "ninja"
cmake_args += [
"-GNinja",
f"-DCMAKE_MAKE_PROGRAM:FILEPATH={ninja_executable_path}",
]
except ImportError:
pass
else:
# Single config generators are handled "normally"
single_config = any(x in cmake_generator for x in {"NMake", "Ninja"})
# CMake allows an arch-in-generator style for backward compatibility
# contains_arch = any(x in cmake_generator for x in {"ARM", "Win64"})
# Specify the arch if using MSVC generator, but only if it doesn't
# contain a backward-compatibility arch spec already in the
# generator name.
# if not single_config and not contains_arch:
# cmake_args += ["-A", PLAT_TO_CMAKE[self.plat_name]]
if sys.maxsize > 2**32:
cmake_args += ["-A", "x64"]
# Multi-config generators have a different way to specify configs
if not single_config:
cmake_args += [
f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{cfg.upper()}={extdir}"
]
build_args += ["--config", cfg]
if sys.platform.startswith("darwin"):
# Enable cross-compilation support for macOS and respect ARCHFLAGS if set
archs = re.findall(r"-arch (\S+)", os.environ.get("ARCHFLAGS", ""))
if archs:
cmake_args.append(
"-DCMAKE_OSX_ARCHITECTURES={}".format(";".join(archs))
)
# Get the location of Homebrew prefix and specify the location of OpenCL headers for macOS
homebrew_prefix = (
subprocess.check_output(["brew", "--prefix"]).decode().strip()
)
opencl_headers_dir = (
f"{homebrew_prefix}/opt/opencl-headers/share/cmake/OpenCLHeaders"
)
opencl_headerscpp_dir = f"{homebrew_prefix}/opt/opencl-clhpp-headers/share/cmake/OpenCLHeadersCpp"
cmake_args.extend(
[
f"-DOpenCLHeaders_DIR={opencl_headers_dir}",
f"-DOpenCLHeadersCpp_DIR={opencl_headerscpp_dir}",
f"-DCMAKE_PREFIX_PATH={homebrew_prefix}",
]
)
print(f"[DEBUG] cmake_args: {cmake_args}")
# Set CMAKE_BUILD_PARALLEL_LEVEL to control the parallel build level
# across all generators.
elif "CMAKE_BUILD_PARALLEL_LEVEL" not in os.environ:
# self.parallel is a Python 3 only way to set parallel jobs by hand
# using -j in the build_ext call, not supported by pip or PyPA-build.
if hasattr(self, "parallel") and self.parallel:
# CMake 3.12+ only.
build_args += [f"-j{self.parallel}"]
if sys.platform.startswith("msvc"):
cmake_args += ["-DDART_USE_SYSTEM_IMGUI=ON"]
else:
cmake_args += ["-DDART_USE_SYSTEM_IMGUI=OFF"]
build_temp = Path(self.build_temp) / ext.name
if not build_temp.exists():
build_temp.mkdir(parents=True)
env = os.environ.copy()
subprocess.run(
["cmake", ext.sourcedir] + cmake_args, cwd=build_temp, env=env, check=True
)
subprocess.run(
["cmake", "--build", "."] + ["--target", "dartpy"] + build_args,
cwd=build_temp,
check=True,
)
sources = ["CMakeLists.txt", "package.xml"]
sources.extend(glob("cmake/**/*", recursive=True))
sources.extend(glob("dart/**/*", recursive=True))
sources.extend(glob("python/**/*", recursive=True))
sources.extend(glob("docs/doxygen/**/*", recursive=True))
sources.extend(glob("examples/**/*", recursive=True))
sources.extend(glob("scripts/**/*", recursive=True))
sources.extend(glob("tutorials/**/*", recursive=True))
def get_new_patch_number(package_name, default: int):
import requests
try:
url = f"https://pypi.org/pypi/{package_name}/json"
response = requests.get(url)
if response.status_code == 200:
data = response.json()
version = data["info"]["version"]
patch_number = version.split(".")[-1].split("post")[-1]
return str(max(default, int(patch_number) + 1))
else:
return str(default)
except requests.exceptions.RequestException:
return str(default)
# Set up the python package wrapping this extension.
setup(
name="dartpy",
version="0.2.0.post" + get_new_patch_number("dartpy", 31),
description=description,
long_description=long_description,
long_description_content_type="text/markdown",
author="Jeongseok Lee",
author_email="jslee02@gmail.com",
license="BSD 2-Clause",
keywords="dartsim robotics",
classifiers=[
"Development Status :: 2 - Pre-Alpha",
"Framework :: Robot Framework",
"Intended Audience :: Science/Research",
"License :: OSI Approved :: BSD License",
"Topic :: Scientific/Engineering",
"Operating System :: Microsoft :: Windows",
"Operating System :: MacOS",
"Operating System :: POSIX :: Linux",
],
ext_modules=[CMakeExtension("dartpy_math", sources=sources)],
url="https://github.com/dartsim/dart.git",
cmdclass={"build_ext": CMakeBuild},
zip_safe=False,
extras_require={"test": ["pytest>=6.0"]},
python_requires=">=3.7",
install_requires=[
"numpy",
],
packages=find_packages(where="python", exclude=["__pycache__"]),
package_dir={"": "python"},
)