Merge pull request #331 from robotology/feature/improve_cmake

CMake improvements

.github/workflows/cicd.yml

@@ -165,7 +165,7 @@ jobs:
       - name: '[User] Create wheel'
         if: matrix.type == 'User' && matrix.ignition == 'dome'
         shell: bash -i -e {0}
-        run: pip3 wheel -w dist/ .
+        run: pip3 wheel -v -w dist/ .
       # Note: calling "pip wheel" with "--global-option" forces dependencies to be build from their sdist.
       #       Since it's very slow, we create the wheel from setup.py without isolation.
       - name: '[User] Create wheel'
@@ -183,6 +183,11 @@ jobs:
           cd dist
           pip3 install -v *.whl
 
+      - name: Inspect installed ScenarIO package
+        run: |
+          apt-get install -y --no-install-recommends tree
+          tree $(python3 -c "import scenario, pathlib; print(pathlib.Path(scenario.__file__).parent)")
+
       - name: Ccache stats
         run: ccache --show-stats
 

CMakeLists.txt

@@ -172,7 +172,7 @@ if(NOT IGNITION_DISTRIBUTION)
 
 endif()
 
-if(NOT IGNITION_DISTRIBUTION)
+if(NOT IGNITION_DISTRIBUTION OR "${IGNITION_DISTRIBUTION}" STREQUAL "")
     set(USE_IGNITION FALSE)
 else()
     set(USE_IGNITION TRUE)
@@ -182,8 +182,13 @@ option(SCENARIO_USE_IGNITION
        "Build C++ code depending on Ignition"
        ${USE_IGNITION})
 
+# Fail if Ignition is enabled but no compatible distribution was found
+if(SCENARIO_USE_IGNITION AND "${IGNITION_DISTRIBUTION}" STREQUAL "")
+    message(FATAL_ERROR "Failed to find a compatible Ignition Gazebo distribution")
+endif()
+
 # Alias the targets
-if(${SCENARIO_USE_IGNITION})
+if(SCENARIO_USE_IGNITION)
     include(ImportTargets${IGNITION_DISTRIBUTION})
 endif()
 
@@ -205,7 +210,8 @@ if(CMAKE_BUILD_TYPE STREQUAL "PyPI" AND NOT USE_IGNITION)
     message(FATAL_ERROR "Found no Ignition distribution for PyPI package")
 endif()
 
-option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ON)
+find_package(SWIG 4.0 QUIET)
+option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})
 
 if(SCENARIO_ENABLE_BINDINGS)
     add_subdirectory(bindings)

bindings/CMakeLists.txt

@@ -36,25 +36,30 @@ find_package(SWIG 4.0 REQUIRED)
 set(UseSWIG_MODULE_VERSION 2)
 include(${SWIG_USE_FILE})
 
-# Change the install prefix of the bindings targets depending on
-# the installation mode (User or Developer)
+# By default, install ScenarIO in the python site-package directory
+if(NOT BINDINGS_INSTALL_PREFIX)
+    set(BINDINGS_INSTALL_PREFIX ${Python3_SITELIB})
+endif()
+
+# Expose the install prefix as CMake option
+set(BINDINGS_INSTALL_PREFIX "${BINDINGS_INSTALL_PREFIX}"
+    CACHE STRING "Installation prefix of the bindings")
+
+# Final directory of the "scenario" package
 if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
-    if(NOT BINDINGS_INSTALL_PREFIX)
-        # Install in the python site-package directory
-        set(BINDINGS_INSTALL_PREFIX ${Python3_SITELIB}/scenario)
-    else()
-        set(BINDINGS_INSTALL_PREFIX "${BINDINGS_INSTALL_PREFIX}"
-            CACHE STRING "Custom location where to install the bindings")
-    endif()
+    set(SCENARIO_PACKAGE_INSTALL_DIR "${BINDINGS_INSTALL_PREFIX}/scenario")
 else()
-    # Install in the root of the PyPI package directory that
-    # will become the archive to install / publish.
-    set(BINDINGS_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+    # If packaging for PyPI, install ScenarIO in the temp site-package directory
+    # created by either setup.py or pip.
+    # The "scenario/" folder is added by cmake_build_extension
+    set(SCENARIO_PACKAGE_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}")
 endif()
 
 # Add the SWIG folders
 add_subdirectory(core)
-add_subdirectory(gazebo)
+if(SCENARIO_USE_IGNITION)
+    add_subdirectory(gazebo)
+endif()
 
 # Move main init.py file to package root of the build tree
 configure_file(
@@ -68,4 +73,4 @@ file(TOUCH ${CMAKE_CURRENT_BINARY_DIR}/scenario/bindings/__init__.py)
 # Move main init.py file to package root of the install tree
 install(
     FILES ${CMAKE_CURRENT_SOURCE_DIR}/__init__.py
-    DESTINATION ${BINDINGS_INSTALL_PREFIX})
+    DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR})

bindings/core/CMakeLists.txt

@@ -41,10 +41,10 @@ get_property(WRAPPER_PY_FILE TARGET ${scenario_swig_name} PROPERTY SWIG_SUPPORT_
 
 install(
     TARGETS ${scenario_swig_name}
-    LIBRARY DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings
-    ARCHIVE DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings
-    RUNTIME DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings)
+    LIBRARY DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings
+    ARCHIVE DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings
+    RUNTIME DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings)
 
 install(
     FILES ${WRAPPER_PY_FILE}
-    DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings)
+    DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings)

bindings/gazebo/CMakeLists.txt

@@ -42,10 +42,10 @@ get_property(WRAPPER_PY_FILE TARGET ${scenario_swig_name} PROPERTY SWIG_SUPPORT_
 
 install(
     TARGETS ${scenario_swig_name}
-    LIBRARY DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings
-    ARCHIVE DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings
-    RUNTIME DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings)
+    LIBRARY DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings
+    ARCHIVE DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings
+    RUNTIME DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings)
 
 install(
     FILES ${WRAPPER_PY_FILE}
-    DESTINATION ${BINDINGS_INSTALL_PREFIX}/bindings)
+    DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings)

cpp/scenario/core/CMakeLists.txt

@@ -50,6 +50,8 @@ target_include_directories(CoreUtils PUBLIC
 set_target_properties(CoreUtils PROPERTIES
     PUBLIC_HEADER "${CORE_UTILS_HEADERS}")
 
+# This definition is used by the "scenario" Python package
+# to detect User / Developer installation mode
 if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
     target_compile_options(CoreUtils PRIVATE
         -DSCENARIO_CMAKE_INSTALL_PREFIX="${CMAKE_INSTALL_PREFIX}")