Explicitly set Python install directory in subprojects

Instead of just "hoping" they install in the same directory used
by the superbuild.

cmake/BuildICUB.cmake

@@ -48,6 +48,12 @@ else()
  set(ICUB_COMPILE_BINDINGS OFF)
 endif()
 
+if(ROBOTOLOGY_USES_PYTHON AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+ set(ICUB_PYTHON_INSTALL_CMAKE_ARGS "-DCMAKE_INSTALL_PYTHONDIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
+else()
+ set(ICUB_PYTHON_INSTALL_CMAKE_ARGS "")
+endif()
+
 ycm_ep_helper(ICUB TYPE GIT
  STYLE GITHUB
  REPOSITORY robotology/icub-main.git
@@ -56,7 +62,7 @@ ycm_ep_helper(ICUB TYPE GIT
  FOLDER src
  CMAKE_ARGS -DICUB_INSTALL_WITH_RPATH:BOOL=ON
  CMAKE_CACHE_ARGS -DENABLE_icubmod_cartesiancontrollerserver:BOOL=ON
- -DENABLE_icubmod_cartesiancontrollerclient:BOOL=ON
+ -DENABLE_icubmod_cartesiancontrollerclient:sBOOL=ON
  -DENABLE_icubmod_gazecontrollerclient:BOOL=ON
  -DENABLE_icubmod_serial:BOOL=${ROBOTOLOGY_ENABLE_ICUB_HEAD}
  -DENABLE_icubmod_serialport:BOOL=${ROBOTOLOGY_ENABLE_ICUB_HEAD}
@@ -91,7 +97,8 @@ ycm_ep_helper(ICUB TYPE GIT
  -DICUBMAIN_COMPILE_SIMULATORS:BOOL=${ICUBMAIN_COMPILE_SIMULATORS}
  -DICUB_COMPILE_BINDINGS:BOOL=${ICUB_COMPILE_BINDINGS}
  -DCREATE_PYTHON:BOOL=${ROBOTOLOGY_USES_PYTHON}
- -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA})
+ -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA}
+ ${ICUB_PYTHON_INSTALL_CMAKE_ARGS})
 
 set(ICUB_CONDA_DEPENDENCIES ace libopencv gsl ipopt libode qt-main sdl)
 

cmake/BuildYARP.cmake

@@ -35,13 +35,8 @@ else()
  set(YARP_USE_I2C OFF)
 endif()
 
-# For what regards Python installation, the options changes depending
-# on whether we are installing YARP from source, or generating a
-# conda package on Windows as in that case the installation location
-# will need to be outside of CMAKE_INSTALL_PREFIX
-# See https://github.com/robotology/robotology-superbuild/issues/641
-if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES AND WIN32)
- list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DCMAKE_INSTALL_PYTHON3DIR:PATH=%SP_DIR%")
+if(ROBOTOLOGY_USES_PYTHON)
+ list(APPEND YARP_OPTIONAL_DEPS "-DCMAKE_INSTALL_PYTHON3DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
 ycm_ep_helper(YARP TYPE GIT

cmake/Buildbipedal-locomotion-framework.cmake

@@ -50,8 +50,8 @@ endif()
 # will need to be outside of CMAKE_INSTALL_PREFIX
 # See https://github.com/robotology/robotology-superbuild/issues/641
 set(bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "")
-if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES)
- list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
+if(ROBOTOLOGY_USES_PYTHON)
+ list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_PYTHON_INSTALL_DIR:BOOL=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
 if(ROBOTOLOGY_USES_PCL_AND_VTK)

cmake/BuildiDynTree.cmake

@@ -16,8 +16,8 @@ list(APPEND iDynTree_DEPENDS OsqpEigen)
 # will need to be outside of CMAKE_INSTALL_PREFIX
 # See https://github.com/robotology/robotology-superbuild/issues/641
 set(iDynTree_OPTIONAL_CMAKE_ARGS "")
-if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES AND WIN32)
- list(APPEND iDynTree_OPTIONAL_CMAKE_ARGS "-DIDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
+if(ROBOTOLOGY_USES_PYTHON)
+ list(APPEND iDynTree_OPTIONAL_CMAKE_ARGS "-DIDYNTREE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
 # Hack for disabling IDYNTREE_USES_IRRLICHT on Ubuntu 18.04,

cmake/Buildicub-models.cmake

@@ -6,6 +6,7 @@ include(YCMEPHelper)
 set(icub-models_OPTIONAL_CMAKE_ARGS "")
 list(APPEND icub-models_OPTIONAL_CMAKE_ARGS "-DICUB_MODELS_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}")
 list(APPEND icub-models_OPTIONAL_CMAKE_ARGS "-DICUB_MODELS_USES_PYTHON:BOOL=${ROBOTOLOGY_USES_PYTHON}")
+list(APPEND icub-models_OPTIONAL_CMAKE_ARGS "-DICUB_MODELS_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 
 ycm_ep_helper(icub-models
  TYPE GIT

cmake/Buildwearables.cmake

@@ -15,6 +15,10 @@ endif()
 
 list(APPEND WEARABLES_CMAKE_ARGS "-DWEARABLES_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}")
 
+if(ROBOTOLOGY_USES_PYTHON AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+ list(APPEND WEARABLES_CMAKE_ARGS "-DWEARABLES_PYTHON_INSTALL_DR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
+endif()
+
 ycm_ep_helper(wearables TYPE GIT
  STYLE GITHUB
  REPOSITORY robotology/wearables.git

cmake/RobSupPurePythonYCMEPHelper.cmake

@@ -26,11 +26,6 @@ function(ROB_SUP_PURE_PYTHON_YCM_EP_HELPER _name)
  # Dependencies
  find_package(Python3 COMPONENTS Interpreter REQUIRED)
 
- execute_process(COMMAND ${Python3_EXECUTABLE}
- -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
- OUTPUT_VARIABLE _PYTHON_INSTDIR)
- string(STRIP ${_PYTHON_INSTDIR} ROBSUB_PYTHON_INSTALL_DIR)
-
  # Check arguments
  set(_options)
  set(_oneValueArgs COMPONENT
@@ -59,6 +54,6 @@ function(ROB_SUP_PURE_PYTHON_YCM_EP_HELPER _name)
  # See https://stackoverflow.com/questions/55708589/how-to-pass-an-environment-variable-to-externalproject-add-configure-command
  # See https://github.com/robotology/robotology-superbuild/issues/1118
  # To avoid the complexity of handling two commands, we just use the build step to uninstall any existing package
- BUILD_COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${YCM_EP_INSTALL_DIR}/${ROBSUB_PYTHON_INSTALL_DIR} pip uninstall -y ${_PYH_${_name}_PYTHON_PACKAGE_NAME}
- INSTALL_COMMAND ${Python3_EXECUTABLE} -m pip install --upgrade --no-deps --target=${YCM_EP_INSTALL_DIR}/${ROBSUB_PYTHON_INSTALL_DIR} -VV <SOURCE_DIR>)
+ BUILD_COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} pip uninstall -y ${_PYH_${_name}_PYTHON_PACKAGE_NAME}
+ INSTALL_COMMAND ${Python3_EXECUTABLE} -m pip install --upgrade --no-deps --target=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} -VV <SOURCE_DIR>)
 endfunction()