setup.py

"""This file defines the installation procedure of the safety shield and failsafe controller.

Owner:
    Jakob Thumm (JT)

Contributors:

Changelog:
    2.5.22 JT Formatted docstrings
"""
import os
import re
import subprocess
import sys

from setuptools import Extension, setup, find_packages  # noqa: 401
from setuptools.command.build_ext import build_ext
from setuptools.command.develop import develop
from setuptools.command.install import install

# Convert distutils Windows platform specifiers to CMake -A arguments
PLAT_TO_CMAKE = {
    "win32": "Win32",
    "win-amd64": "x64",
    "win-arm32": "ARM",
    "win-arm64": "ARM64",
}


class PostDevelopCommand(develop):
    """Pre-installation for development mode."""

    def run(self):
        """Run the safety shield python binding tests."""
        develop.run(self)
        # Python tests
        subprocess.check_call(["pytest", "safety_shield/tests/"])


class PostInstallCommand(install):
    """Pre-installation for installation mode."""

    def run(self):
        """Run the safety shield python binding tests."""
        install.run(self)
        # Python tests
        subprocess.check_call(["pytest", "safety_shield/tests/"])


# 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):
    """Defines a CMakeExtension."""

    def __init__(self, name, sourcedir=""):
        """Initialize the CMakeExtension."""
        Extension.__init__(self, name, sources=[])
        self.sourcedir = os.path.abspath(sourcedir)


class CMakeBuild(build_ext):
    """This class defines the building process of the safety shield."""

    def build_extension(self, ext):
        """Build the safety shield using cmake and run all tests."""
        extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name)))

        # required for auto-detection & inclusion of auxiliary "native" libs
        if not extdir.endswith(os.path.sep):
            extdir += os.path.sep

        debug = int(os.environ.get("DEBUG", 0)) if self.debug is None else self.debug
        cfg = "Debug" if debug else "Release"
        print("Using DCMake type " + cfg)

        # 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
        # EXAMPLE_VERSION_INFO shows you how to pass a value into the C++ code
        # from Python.
        cmake_args = [
            f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={extdir}",
            f"-DPYTHON_EXECUTABLE={sys.executable}",
            f"-DCMAKE_BUILD_TYPE={cfg}",  # not used on MSVC, but no harm
        ]
        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.
        cmake_args += [f"-DEXAMPLE_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)
            # multithreads 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:
                try:
                    import ninja  # noqa: F401

                    cmake_args += ["-GNinja"]
                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]]

            # 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"):
            # Cross-compile support for macOS - respect ARCHFLAGS if set
            archs = re.findall(r"-arch (\S+)", os.environ.get("ARCHFLAGS", ""))
            if archs:
                cmake_args += ["-DCMAKE_OSX_ARCHITECTURES={}".format(";".join(archs))]

        # Set CMAKE_BUILD_PARALLEL_LEVEL to control the parallel build level
        # across all generators.
        if "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}"]

        self.build_temp = ext.sourcedir + "/build/"

        if not os.path.exists(self.build_temp):
            os.makedirs(self.build_temp)

        subprocess.check_call(
            ["cmake", "-DPYTHON_EXECUTABLE:FILEPATH="+os.environ["CONDA_PREFIX"]+"/bin/python",
                "-DPYTHON_INCLUDE_DIR="+os.environ["CONDA_PREFIX"]+"/include/python3.8/",
                "-DPYTHON_LIBRARY:FILEPATH="+os.environ["CONDA_PREFIX"]+"/lib/libpython3.8.so",
                "-DEigen3_DIR="+os.environ["EIGEN3_INCLUDE_DIR"]+"/cmake/",
                ext.sourcedir] + cmake_args, cwd=self.build_temp
        )
        subprocess.check_call(
            ["cmake", "--build", ".", "-j 8"] + build_args, cwd=self.build_temp
        )
        test = True  # TODO: Find a way to include this in function call.
        if test:
            # << C++ tests >>
            subprocess.check_call(["ctest", "--output-on-failure"], cwd=self.build_temp)
        if sys.argv[1].startswith("develop"):
            # Remove unfound frameworks, otherwise develop mode will fail the install
            self.extensions = [
                x
                for x in self.extensions
                if os.path.exists(self.get_ext_fullpath(x.name))
            ]


# The information here can also be placed in setup.cfg - better separation of
# logic and declaration, and simpler if you include description/version in a file.
setup(
    name="safety_shield",
    version="0.0.1",
    author="Jakob Thumm",
    author_email="jakob.thumm@tum.de",
    description="Safety shield",
    long_description="",
    install_requires=["pytest>=7.1"],
    ext_modules=[CMakeExtension(name="safety_shield", sourcedir="safety_shield/")],
    cmdclass={
        "build_ext": CMakeBuild,
        # "develop": PostDevelopCommand,
        # "install": PostInstallCommand,
    },
    zip_safe=False,
    extras_require={"test": ["pytest>=6.0"]},
    python_requires=">=3.6",
)