Support conda packaging

scenario/CMakeLists.txt

@@ -26,31 +26,10 @@ if(NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${SCENARIO_BUILD_TYPES})
 endif()
 
-# This new build mode configures the CMake project to be compatible with the pipeline to
-# create the PyPI linux wheel
-include(AddNewBuildMode)
-add_new_build_mode(NAME "PyPI" TEMPLATE "Release")
-
 # Expose shared or static compilation
 set(SCENARIO_BUILD_SHARED_LIBRARY TRUE
     CACHE BOOL "Compile libraries as shared libraries")
-
-if(NOT ${CMAKE_BUILD_TYPE} STREQUAL "PyPI")
-    # Apply the user choice
-    set(BUILD_SHARED_LIBS ${SCENARIO_BUILD_SHARED_LIBRARY})
-else()
-    # Check that is Linux
-    if(NOT (UNIX AND NOT APPLE))
-        message(FATAL_ERROR "PyPI packages can be only created for Linux at the moment")
-    endif()
-
-    if(SCENARIO_BUILD_SHARED_LIBRARY)
-        message(WARNING "Enabling static compilation, required by the PyPI build mode")
-    endif()
-
-    # Force static compilation
-    set(BUILD_SHARED_LIBS FALSE)
-endif()
+set(BUILD_SHARED_LIBS ${SCENARIO_BUILD_SHARED_LIBRARY})
 
 # Use -fPIC even if statically compiled
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@@ -94,27 +73,44 @@ if(${CMAKE_VERSION} VERSION_GREATER 3.15)
     cmake_policy(SET CMP0094 NEW)
 endif()
 
-# Find virtualenv's before system's interpreters
-set(Python3_FIND_VIRTUALENV "FIRST" CACHE STRING
-    "Configure the detection of virtual environments")
-set(Python3_FIND_VIRTUALENV_TYPES "FIRST" "ONLY" "STANDARD")
-mark_as_advanced(Python3_FIND_VIRTUALENV)
-set_property(CACHE Python3_FIND_VIRTUALENV PROPERTY STRINGS ${Python3_FIND_VIRTUALENV_TYPES})
+# Enable custom options required to package the CMake project from
+# either setup.py or tools like pypa/pip or pypa/build.
+set(SCENARIO_CALL_FROM_SETUP_PY FALSE
+    CACHE BOOL "Configure the project to be compiled from setuptools")
 
-# Find Python3
-find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
-message(STATUS "Using Python: ${Python3_EXECUTABLE}")
+find_package(SWIG 4.0 QUIET)
+option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})
+
+# Find Python only if requested or if SWIG was automatically found
+if(SCENARIO_ENABLE_BINDINGS OR SCENARIO_CALL_FROM_SETUP_PY)
+    # Find virtualenv's before system's interpreters
+    set(Python3_FIND_VIRTUALENV "FIRST" CACHE STRING
+        "Configure the detection of virtual environments")
+    set(Python3_FIND_VIRTUALENV_TYPES "FIRST" "ONLY" "STANDARD")
+    mark_as_advanced(Python3_FIND_VIRTUALENV)
+    set_property(CACHE Python3_FIND_VIRTUALENV PROPERTY STRINGS ${Python3_FIND_VIRTUALENV_TYPES})
+
+    # Find Python3
+    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+    message(STATUS "Using Python: ${Python3_EXECUTABLE}")
+endif()
 
-# Select the appropriate install prefix used throughout the project.
+# Select the appropriate install prefix used throughout the project
 set(SCENARIO_INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
 set(SCENARIO_INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR})
 set(SCENARIO_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR})
 
-if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
+# Adjust RPATH dependending on the installation type
+if(SCENARIO_ENABLE_BINDINGS AND NOT SCENARIO_CALL_FROM_SETUP_PY)
+    # Convert folder separators to CMake style (could be necessary in Windows)
+    file(TO_CMAKE_PATH "${Python3_SITELIB}" python3_sitelib_cleaned)
+
     # Add the libraries installed in the Python site-package folder
     set(EXTRA_RPATH_DIRS
-        "${Python3_SITELIB}"
-        "${Python3_SITELIB}/scenario/bindings")
+        "${python3_sitelib_cleaned}"
+        "${python3_sitelib_cleaned}/scenario/bindings")
+
+    unset(python3_sitelib_cleaned)
 else()
     # Add the libraries installed in the Python site-package folder
     # (that in this case is CMAKE_INSTALL_PREFIX)
@@ -186,7 +182,7 @@ if(SCENARIO_USE_IGNITION AND "${IGNITION_DISTRIBUTION}" STREQUAL "")
     message(FATAL_ERROR "Failed to find a compatible Ignition Gazebo distribution")
 endif()
 
-# Alias the targets
+# Alias the Ignition targets so that we can link against different distributions
 if(SCENARIO_USE_IGNITION)
     include(ImportTargets${IGNITION_DISTRIBUTION})
 endif()
@@ -205,13 +201,10 @@ add_subdirectory(src)
 # ========
 
 # Require to find Ignition libraries when packaging for PyPI
-if(CMAKE_BUILD_TYPE STREQUAL "PyPI" AND NOT USE_IGNITION)
+if(SCENARIO_CALL_FROM_SETUP_PY AND NOT USE_IGNITION)
     message(FATAL_ERROR "Found no Ignition distribution for PyPI package")
 endif()
 
-find_package(SWIG 4.0 QUIET)
-option(SCENARIO_ENABLE_BINDINGS "Enable SWIG bindings" ${SWIG_FOUND})
-
 if(SCENARIO_ENABLE_BINDINGS)
     add_subdirectory(bindings)
 endif()

scenario/bindings/CMakeLists.txt

@@ -46,7 +46,7 @@ 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 SCENARIO_CALL_FROM_SETUP_PY)
     set(SCENARIO_PACKAGE_INSTALL_DIR "${BINDINGS_INSTALL_PREFIX}/scenario")
 else()
     # If packaging for PyPI, install ScenarIO in the temp site-package directory
@@ -73,4 +73,5 @@ 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 ${SCENARIO_PACKAGE_INSTALL_DIR})
+    DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}
+    COMPONENT python)

scenario/bindings/__init__.py

@@ -28,6 +28,7 @@ def supported_versions_specifier_set() -> packaging.specifiers.SpecifierSet:
 
 class InstallMode(Enum):
     User = auto()
+    CondaBuild = auto()
     Developer = auto()
 
 
@@ -36,7 +37,17 @@ def detect_install_mode() -> InstallMode:
     import scenario.bindings.core
 
     install_prefix = scenario.bindings.core.get_install_prefix()
-    return InstallMode.User if install_prefix == "" else InstallMode.Developer
+
+    # In conda, there are null bytes terminating the returned string
+    install_prefix = install_prefix.replace("\x00", "")
+
+    if "$PREFIX" in install_prefix:
+        return InstallMode.CondaBuild
+
+    if install_prefix == "":
+        return InstallMode.User
+    else:
+        return InstallMode.Developer
 
 
 def setup_gazebo_environment() -> None:
@@ -49,12 +60,23 @@ def setup_gazebo_environment() -> None:
     if "IGN_GAZEBO_SYSTEM_PLUGIN_PATH" in os.environ:
         ign_gazebo_system_plugin_path = os.environ.get("IGN_GAZEBO_SYSTEM_PLUGIN_PATH")
 
+    # Exporting this env variable is done by the conda "libscenario" package
+    if detect_install_mode() is InstallMode.CondaBuild:
+        return
+
     # Add the plugins path
-    if detect_install_mode() == InstallMode.Developer:
-        install_prefix = Path(scenario.bindings.core.get_install_prefix())
-    else:
+    if detect_install_mode() is InstallMode.Developer:
+        install_prefix = scenario.bindings.core.get_install_prefix()
+
+        # In conda, there are null bytes terminating the returned string
+        install_prefix = Path(install_prefix.replace("\x00", ""))
+
+    elif detect_install_mode() is InstallMode.User:
         install_prefix = Path(os.path.dirname(__file__))
 
+    else:
+        raise ValueError(detect_install_mode())
+
     plugin_dir = install_prefix / "lib" / "scenario" / "plugins"
     ign_gazebo_system_plugin_path += f":{str(plugin_dir)}"
 

scenario/bindings/core/CMakeLists.txt

@@ -9,7 +9,7 @@ set_source_files_properties(${scenario_swig_name}.i PROPERTIES CPLUSPLUS ON)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/../scenario/bindings)
 
 swig_add_library(${scenario_swig_name}
-    TYPE SHARED
+    TYPE MODULE
     LANGUAGE python
     OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/../scenario/bindings
     OUTFILE_DIR ${CMAKE_CURRENT_BINARY_DIR}/..
@@ -41,10 +41,12 @@ get_property(WRAPPER_PY_FILE TARGET ${scenario_swig_name} PROPERTY SWIG_SUPPORT_
 
 install(
     TARGETS ${scenario_swig_name}
+    COMPONENT python
     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 ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings)
+    DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings
+    COMPONENT python)

scenario/bindings/gazebo/CMakeLists.txt

@@ -9,7 +9,7 @@ set_source_files_properties(${scenario_swig_name}.i PROPERTIES CPLUSPLUS ON)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/../scenario/bindings)
 
 swig_add_library(${scenario_swig_name}
-    TYPE SHARED
+    TYPE MODULE
     LANGUAGE python
     OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/../scenario/bindings
     OUTFILE_DIR ${CMAKE_CURRENT_BINARY_DIR}/..
@@ -41,10 +41,12 @@ get_property(WRAPPER_PY_FILE TARGET ${scenario_swig_name} PROPERTY SWIG_SUPPORT_
 
 install(
     TARGETS ${scenario_swig_name}
+    COMPONENT python
     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 ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings)
+    DESTINATION ${SCENARIO_PACKAGE_INSTALL_DIR}/bindings
+    COMPONENT python)

scenario/setup.py

@@ -2,6 +2,8 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+import sys
+
 import setuptools
 from cmake_build_extension import BuildExtension, CMakeExtension
 
@@ -10,7 +12,12 @@
         CMakeExtension(
             name="ScenarioCMakeProject",
             install_prefix="scenario",
-            cmake_build_type="PyPI",
+            cmake_build_type="Release",
+            cmake_configure_options=[
+                "-DSCENARIO_CALL_FROM_SETUP_PY:BOOL=ON",
+                "-DSCENARIO_BUILD_SHARED_LIBRARY:BOOL=OFF",
+                f"-DPython3_EXECUTABLE:PATH={sys.executable}",
+            ],
             cmake_depends_on=["idyntree"],
             disable_editable=True,
         )

scenario/src/controllers/include/scenario/controllers/References.h

@@ -10,6 +10,7 @@
 #define SCENARIO_CONTROLLERS_REFERENCES_H
 
 #include <array>
+#include <cstddef>
 #include <vector>
 
 namespace scenario::controllers {

scenario/src/core/CMakeLists.txt

@@ -52,7 +52,7 @@ set_target_properties(CoreUtils PROPERTIES
 
 # This definition is used by the "scenario" Python package
 # to detect User / Developer installation mode
-if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
+if(NOT SCENARIO_CALL_FROM_SETUP_PY)
     target_compile_options(CoreUtils PRIVATE
         -DSCENARIO_CMAKE_INSTALL_PREFIX="${CMAKE_INSTALL_PREFIX}")
 endif()