Add setuptools support

.github/workflows/python.yml

@@ -0,0 +1,213 @@
+name: Python CI/CD
+
+on:
+  push:
+    branches: ['**']
+    tags-ignore: ['**']
+  pull_request:
+  release:
+    types:
+      - published
+
+jobs:
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-20.04
+
+    steps:
+
+      - name: Inspect Environment
+        run: |
+          env | grep ^GITHUB
+          echo ""
+          cat ${GITHUB_EVENT_PATH}
+          echo ""
+          env
+
+      - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
+
+      - uses: conda-incubator/setup-miniconda@v2
+        with:
+          mamba-version: "*"
+          channel-priority: true
+          auto-update-conda: true
+          activate-environment: ci
+          python-version: 3.8
+          channels: conda-forge,robotology,defaults
+
+      - name: Mamba info
+        run: mamba info
+
+      - name: Mamba list
+        run: mamba list
+
+      - name: Install pypa/build
+        shell: bash -l {0}
+        run: mamba install build
+
+      # These dependencies can also be installed through apt.
+      # However, often blf needs more recent versions, therefore relying on conda-forge
+      # is more future-proof for what concerns CI.
+      # In any case, the sdist is built in this environment only for testing purpose,
+      # the distributed wheels are generated in a docker image compatible with manylinux.
+      - name: Install build dependencies
+        shell: bash -l {0}
+        run: |
+          # The CMake project included in the casadi wheel has few problems.
+          # 1) Importing the targets requires to find system dependencies that match their CI,
+          #    probably due to non-relocatable resources.
+          # 2) The target of the vendored osqp is malformed, as a workaround we install osqp with
+          #    conda and instruct blf to find it from there.
+          #sudo apt-get install -y coinor-libipopt-dev libmumps-dev libmumps-seq-dev
+          #sudo ln -s /usr/lib/x86_64-linux-gnu/libdmumps_seq.so /usr/lib/
+          # yarp
+          mamba install -y ace swig
+          # idyntree
+          mamba install -y assimp libxml2
+          # blf
+          mamba install -y compilers spdlog eigen casadi libosqp osqp-eigen qhull nlohmann_json
+
+      - name: Build the wheel from the sdist
+        shell: bash -l {0}
+        run: python -m build
+        #  python -m build \
+        #    -C--global-option=build_ext \
+        #    -C--global-option="-Dosqp_DIR=$CONDA_PREFIX/lib/cmake/osqp"
+
+      - name: Install the wheel
+        shell: bash -l {0}
+        run: pip install dist/bipedal_locomotion_framework*.whl
+
+      - name: Python tests
+        shell: bash -l {0}
+        run: |
+          mamba install pytest
+          pytest $(find bindings/python/ -name "test_*.py")
+
+      - name: Remove external wheels
+        run: find dist/ -type f -not -name 'bipedal_locomotion_framework-*' -delete -print
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      - uses: actions/upload-artifact@v2
+        with:
+          name: dist
+          path: dist/*.tar.gz
+
+# TODO:
+# Building wheels is disabled
+# https://github.com/dic-iit/bipedal-locomotion-framework/pull/296#issuecomment-870492568
+#
+#  build_wheels:
+#    name: Build wheels [${{ matrix.os }}]
+#    runs-on: ${{ matrix.os }}
+#    strategy:
+#      fail-fast: false
+#      matrix:
+#        python-version:
+#          - 3.8
+#        os:
+#          - ubuntu-20.04
+#          #- macos-latest
+#          #- windows-latest
+#
+#    steps:
+#
+#      - uses: actions/checkout@master
+#      - run: git fetch --prune --unshallow
+#
+#      - name: Set up Python
+#        uses: actions/setup-python@v2
+#        with:
+#          python-version: ${{ matrix.python-version }}
+#
+#      - name: Install cibuildwheel
+#        run: pip install --pre cibuildwheel
+#
+#      - name: Build wheels
+#        run: python -m cibuildwheel --output-dir wheelhouse
+#        env:
+#          CIBW_BUILD_VERBOSITY: 1
+#          CIBW_BUILD: cp37-*_x86_64 cp38-*_x86_64 cp39-*_x86_64
+#          CIBW_MANYLINUX_X86_64_IMAGE: manylinux_2_24
+#          CIBW_ENVIRONMENT_LINUX: "AUDITWHEEL_PLAT=manylinux_2_24_x86_64 CC=clang-7 CXX=clang++-7"
+#          CIBW_BEFORE_ALL_LINUX: |
+#              apt-get update &&\
+#              apt-get install -y libace-dev &&\
+#              apt-get install -y libassimp-dev libxml2-dev coinor-libipopt-dev &&\
+#              apt-get install -y clang-7 libspdlog-dev libeigen3-dev &&\
+#              apt-get install -y git &&\
+#              git clone https://github.com/qhull/qhull /tmp/qhull &&\
+#              cmake -B /tmp/qhull/build -S /tmp/qhull &&\
+#              cd /tmp/qhull/build && make install &&\
+#              git clone --recursive https://github.com/oxfordcontrol/osqp /tmp/osqp &&\
+#              cmake -B /tmp/osqp/build -S /tmp/osqp -DBUILD_SHARED_LIBS:BOOL=OFF &&\
+#              cmake --build /tmp/osqp/build --target install &&\
+#              git clone https://github.com/robotology/osqp-eigen /tmp/osqp-eigen &&\
+#              cmake -B /tmp/osqp-eigen/build -S /tmp/osqp-eigen -DBUILD_SHARED_LIBS:BOOL=OFF &&\
+#              cmake --build /tmp/osqp-eigen/build --target install &&\
+#              git clone https://github.com/nlohmann/json /tmp/json &&\
+#              cmake -B /tmp/json/build -S /tmp/json -DBUILD_SHARED_LIBS:BOOL=OFF &&\
+#              cmake --build /tmp/json/build --target install
+#          CIBW_BEFORE_BUILD_LINUX: python -m pip install --upgrade pip
+#          CIBW_TEST_REQUIRES: pytest
+#          CIBW_TEST_COMMAND: "pytest $(find bindings/python/ -name 'test_*.py')"
+#
+#      - name: Inspect wheelhouse folder
+#        run: ls -lah wheelhouse/
+#
+#      - uses: actions/upload-artifact@v2
+#        with:
+#          name: dist
+#          path: ./wheelhouse/*.whl
+
+  upload_pypi:
+    needs:
+      - build_sdist
+      # - build_wheels
+    runs-on: ubuntu-latest
+    # Master branch produces pre-releases.
+    # GitHub Releases 'vX.Y.Z' produce stable releases.
+
+    steps:
+
+      - uses: actions/download-artifact@v2
+        with:
+          name: dist
+          path: dist
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      # Validate the tag accordingly to PEP440
+      # From https://stackoverflow.com/a/37972030/12150968
+      - name: Check PEP440 compliance
+        if: github.event_name == 'release'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y source-highlight
+          last_tag_with_v="$(git describe --abbrev=0 --tags)"
+          last_tag=${last_tag_with_v#v}
+          rel_regexp='^(\d+!)?(\d+)(\.\d+)+([\.\-\_])?((a(lpha)?|b(eta)?|c|r(c|ev)?|pre(view)?)\d*)?(\.?(post|dev)\d*)?$'
+          echo ""
+          echo $last_tag
+          echo ""
+          check-regexp ${rel_regexp} ${last_tag}
+          match=$(check-regexp ${rel_regexp} ${last_tag} | grep matches | cut -d ' ' -f 5)
+          test $match -eq 1 && true
+
+# TODO:
+# Uploading to PyPI is currently disabled while waiting to find a workaround to build compliant wheels
+# https://github.com/dic-iit/bipedal-locomotion-framework/pull/296#issuecomment-870492568
+#
+#      - uses: pypa/gh-action-pypi-publish@master
+#        if: |
+#          github.repository == 'dic-iit/bipedal-locomotion-framework' &&
+#          ((github.event_name == 'release' && github.event.action == 'published') ||
+#           (github.event_name == 'push' && github.ref == 'refs/heads/main'))
+#        with:
+#          user: __token__
+#          password: ${{ secrets.PYPI_TOKEN }}

CHANGELOG.md

@@ -8,6 +8,7 @@ All notable changes to this project are documented in this file.
 - Add a synchronization mechanism for the `AdvanceableRunner` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/403)
 - Add the possibility to use spdlog with YARP (https://github.com/ami-iit/bipedal-locomotion-framework/pull/408)
 - Add new Advanceable exposing `UnicyclePlanner` (https://github.com/dic-iit/bipedal-locomotion-framework/pull/320)
+- Add setuptools support (https://github.com/dic-iit/bipedal-locomotion-framework/pull/296)
 
 ### Changed
 - Add `name` parameter to the `AdvanceableRunner` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/406)

CMakeLists.txt

@@ -62,7 +62,7 @@ option(ENABLE_RPATH "Enable RPATH for this library" ON)
 mark_as_advanced(ENABLE_RPATH)
 include(AddInstallRPATHSupport)
 add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
-  LIB_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
+  LIB_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}" "${CMAKE_INSTALL_PREFIX}"
   INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}"
   DEPENDS ENABLE_RPATH
   USE_LINK_PATH)

bindings/CMakeLists.txt

@@ -11,6 +11,8 @@ if(FRAMEWORK_COMPILE_PYTHON_BINDINGS)
     # Install the resulting Python package for the active interpreter
     if(FRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES)
         set(PYTHON_INSTDIR ${Python3_SITELIB}/bipedal_locomotion_framework)
+    elseif(FRAMEWORK_PACKAGE_FOR_PYPI)
+        set(PYTHON_INSTDIR ${CMAKE_INSTALL_PREFIX})
     else()
      execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
                      OUTPUT_VARIABLE _PYTHON_INSTDIR)

cmake/BipedalLocomotionFrameworkDependencies.cmake

@@ -43,8 +43,15 @@ find_package(OsqpEigen 0.6.3 QUIET)
 checkandset_dependency(OsqpEigen)
 dependency_classifier(OsqpEigen MINIMUM_VERSION 0.6.3 IS_USED ${FRAMEWORK_USE_OsqpEigen})
 
-find_package(Python3 3.6 COMPONENTS Interpreter Development QUIET)
-checkandset_dependency(Python3 MINIMUM_VERSION 3.6 COMPONENTS Interpreter Development)
+# https://github.com/pybind/pybind11/pull/2689
+if(${CMAKE_VERSION} VERSION_LESS "3.18.0")
+  set(BLF_Python_Development_Component "Development")
+else()
+  set(BLF_Python_Development_Component "Development.Module")
+endif()
+
+find_package(Python3 3.6 COMPONENTS Interpreter ${BLF_Python_Development_Component} QUIET)
+checkandset_dependency(Python3 MINIMUM_VERSION 3.6 COMPONENTS Interpreter ${BLF_Python_Development_Component})
 
 find_package(pybind11 2.4.3 CONFIG QUIET)
 checkandset_dependency(pybind11)

pyproject.toml

@@ -0,0 +1,21 @@
+[build-system]
+build-backend = "setuptools.build_meta"
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.0",
+    "cmake-build-extension",
+    "pybind11",
+    "idyntree>=3.1.0",
+    # "casadi",
+    "ycm_cmake_modules",
+    # "yarp_middleware>=3.5.1",
+    "yarp_middleware @ git+https://github.com/robotology/[email protected]#egg=yarp_middleware&subdirectory=scripts/pip",
+    "manifpy @ git+https://github.com/artivis/manif",
+]
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+
+[tool.cibuildwheel]
+build-frontend = "build"

setup.cfg

@@ -0,0 +1,47 @@
+[metadata]
+name = bipedal_locomotion_framework
+description = Suite of libraries for achieving bipedal locomotion on humanoid robots.
+long_description = file: README.md
+long_description_content_type = text/markdown
+author = Diego Ferigo
+author_email = [email protected]
+license = LGPL
+platforms = any
+url = https://ami-iit.github.io/bipedal-locomotion-framework
+
+project_urls =
+    Tracker = https://github.com/ami-iit/bipedal-locomotion-framework/issues
+    Documentation = https://ami-iit.github.io/bipedal-locomotion-framework
+    Source = https://github.com/ami-iit/bipedal-locomotion-framework
+
+keywords =
+    robot
+    robotics
+    locomotion
+    humanoid
+    framework
+
+classifiers =
+    Development Status :: 5 - Production/Stable
+    Operating System :: POSIX :: Linux
+    Operating System :: MacOS
+    Operating System :: Microsoft :: Windows
+    Framework :: Robot Framework
+    Intended Audience :: Science/Research
+    Intended Audience :: Developers
+    Intended Audience :: Education
+    Programming Language :: C++
+    Programming Language :: Python :: 3
+    Programming Language :: Python :: 3 :: Only
+    License :: OSI Approved :: GNU Lesser General Public License v2 or later (LGPLv2+)
+
+[options]
+zip_safe = False
+python_requires = >=3.6
+
+[options.extras_require]
+testing =
+    pytest
+    pytest-icdiff
+all =
+    %(testing)s

setup.py

@@ -0,0 +1,71 @@
+# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+import os
+import sys
+
+import cmake_build_extension
+import setuptools
+
+if "CIBUILDWHEEL" in os.environ and os.environ["CIBUILDWHEEL"] == "1":
+    CIBW_CMAKE_OPTIONS = [
+        # Prevent CMake to use lib64 on Debian Stretch
+        "-DCMAKE_INSTALL_LIBDIR=lib",
+    ]
+else:
+    CIBW_CMAKE_OPTIONS = []
+
+
+setuptools.setup(
+    cmdclass=dict(build_ext=cmake_build_extension.BuildExtension),
+    ext_modules=[
+        cmake_build_extension.CMakeExtension(
+            name="BlfCMakeProject",
+            install_prefix="bipedal_locomotion_framework",
+            cmake_depends_on=[
+                "idyntree",
+                "pybind11",
+                "ycm_cmake_modules",
+                "yarp",
+                "manifpy",
+                # "casadi",
+            ],
+            disable_editable=True,
+            cmake_configure_options=[
+                f"-DPython3_EXECUTABLE:PATH={sys.executable}",
+                "-DFRAMEWORK_PACKAGE_FOR_PYPI:BOOL=ON",
+                "-DBUILD_SHARED_LIBS:BOOL=OFF",
+                # *_USE_*
+                "-DFRAMEWORK_USE_Catch2:BOOL=OFF",
+                "-DFRAMEWORK_USE_LieGroupControllers:BOOL=OFF",
+                "-DFRAMEWORK_USE_OpenCV:BOOL=OFF",
+                "-DFRAMEWORK_USE_OsqpEigen:BOOL=ON",
+                "-DFRAMEWORK_USE_PCL:BOOL=OFF",
+                "-DFRAMEWORK_USE_Python3:BOOL=ON",
+                "-DFRAMEWORK_USE_Qhull:BOOL=ON",
+                "-DFRAMEWORK_USE_VALGRIND:BOOL=OFF",
+                "-DFRAMEWORK_USE_YARP:BOOL=ON",
+                "-DFRAMEWORK_USE_casadi:BOOL=ON",
+                "-DFRAMEWORK_USE_cppad:BOOL=OFF",
+                "-DFRAMEWORK_USE_manif:BOOL=ON",
+                "-DFRAMEWORK_USE_matioCpp:BOOL=OFF",
+                "-DFRAMEWORK_USE_nlohmann_json:BOOL=ON",
+                "-DFRAMEWORK_USE_pybind11:BOOL=ON",
+                "-DFRAMEWORK_USE_realsense2:BOOL=OFF",
+                "-DFRAMEWORK_USE_tomlplusplus:BOOL=OFF",
+                # *_COMPILE_*
+                "-DFRAMEWORK_COMPILE_Contact:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_Math:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_Planners:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_RobotInterface:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_System:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_YarpImplementation:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_YarpUtilities:BOOL=ON",
+                "-DFRAMEWORK_COMPILE_JointPositionTrackingApplication:BOOL=OFF",
+            ]
+            + CIBW_CMAKE_OPTIONS,
+        )
+    ],
+)