Merge pull request #347 from nim65s/standalone

CMake: BUILD_STANDALONE_PYTHON_INTERFACE

Author: ManifoldFR

CHANGELOG.md

@@ -24,6 +24,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - gar: add CTAD for the `ParallelRiccatiSolver` and `ProximalRiccatiSolver` classes
 - testing: added a test_mpc.py script to test parallel and serial mpc implementations (https://github.com/Simple-Robotics/aligator/pull/331)
 - modelling : added wheeled inverted pendulum dynamics (https://github.com/Simple-Robotics/aligator/pull/326)
+- CMake option to `BUILD_STANDALONE_PYTHON_INTERFACE` (https://github.com/Simple-Robotics/aligator/pull/347)
 
 ## [0.15.0] - 2025-05-23
 

CMakeLists.txt

@@ -124,7 +124,6 @@ function(set_standard_output_directory target)
 endfunction()
 
 # --- OPTIONS ----------------------------------------
-option(BUILD_PYTHON_INTERFACE "Build the Python bindings" ON)
 option(
   BUILD_WITH_VERSION_SUFFIX
   "Build libraries with version appended to suffix"
@@ -409,17 +408,21 @@ function(create_library)
   endforeach()
 endfunction()
 
-create_library()
+if(BUILD_STANDALONE_PYTHON_INTERFACE)
+  ADD_PROJECT_DEPENDENCY(${PROJECT_NAME} REQUIRED CONFIG)
+else()
+  create_library()
 
-ADD_HEADER_GROUP(LIB_HEADERS)
-ADD_SOURCE_GROUP(LIB_SOURCES)
+  ADD_HEADER_GROUP(LIB_HEADERS)
+  ADD_SOURCE_GROUP(LIB_SOURCES)
 
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT ${TARGETS_EXPORT_NAME}
-  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-)
+  install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  )
+endif()
 
 if(DOWNLOAD_TRACY)
   install(
@@ -434,7 +437,7 @@ if(DOWNLOAD_TRACY)
   )
 endif()
 
-if(BUILD_CROCODDYL_COMPAT)
+if(BUILD_CROCODDYL_COMPAT AND NOT BUILD_STANDALONE_PYTHON_INTERFACE)
   ADD_PROJECT_DEPENDENCY(crocoddyl 3.0.1 REQUIRED)
   add_subdirectory(src/compat/crocoddyl)
 endif()
@@ -478,7 +481,11 @@ endif()
 
 # create an utility library to avoid recompiling crocoddyl talos arm problem
 # used in examples and benchmarks
-if(BUILD_CROCODDYL_COMPAT AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS))
+if(
+  NOT BUILD_STANDALONE_PYTHON_INTERFACE
+  AND BUILD_CROCODDYL_COMPAT
+  AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS)
+)
   add_library(
     croc_talos_arm_utils
     STATIC
@@ -500,7 +507,10 @@ if(BUILD_CROCODDYL_COMPAT AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS))
   set_standard_output_directory(croc_talos_arm_utils)
 endif()
 
-if(BUILD_BENCHMARKS OR BUILD_TESTING)
+if(
+  NOT BUILD_STANDALONE_PYTHON_INTERFACE
+  AND (BUILD_BENCHMARKS OR BUILD_TESTING)
+)
   add_library(
     gar_test_utils
     STATIC
@@ -510,7 +520,10 @@ if(BUILD_BENCHMARKS OR BUILD_TESTING)
   set_standard_output_directory(gar_test_utils)
 endif()
 
-if(BUILD_EXAMPLES OR BUILD_BENCHMARKS)
+if(
+  NOT BUILD_STANDALONE_PYTHON_INTERFACE
+  AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS)
+)
   add_library(
     talos_walk_utils
     STATIC
@@ -535,7 +548,7 @@ if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
-if(BUILD_BENCHMARKS)
+if(BUILD_BENCHMARKS AND NOT BUILD_STANDALONE_PYTHON_INTERFACE)
   find_package(benchmark REQUIRED)
   add_subdirectory(bench)
 endif()

bindings/python/CMakeLists.txt

@@ -74,12 +74,14 @@ endfunction()
 
 make_bindings()
 
-install(
-  DIRECTORY ${PY_HEADER_DIR}
-  DESTINATION "include/${PROJECT_NAME}"
-  FILES_MATCHING
-  PATTERN "*.hpp"
-)
+if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
+  install(
+    DIRECTORY ${PY_HEADER_DIR}
+    DESTINATION "include/${PROJECT_NAME}"
+    FILES_MATCHING
+    PATTERN "*.hpp"
+  )
+endif()
 
 if(IS_ABSOLUTE ${PYTHON_SITELIB})
   set(ABSOLUTE_PYTHON_SITELIB ${PYTHON_SITELIB})

examples/CMakeLists.txt

@@ -2,8 +2,6 @@
 # Copyright (C) 2022-2024 LAAS-CNRS, INRIA
 #
 
-cmake_policy(SET CMP0057 NEW)
-
 # Create an example
 function(create_example exfile)
   set(options "")
@@ -23,25 +21,29 @@ function(create_example exfile)
   create_ex_or_bench(${exfile} ${exname} DEPENDENCIES ${arg_crex_DEPENDENCIES})
 endfunction()
 
-create_example(clqr.cpp)
-create_example(talos-walk.cpp DEPENDENCIES talos_walk_utils)
-create_example(se2-car.cpp)
-
-if(BUILD_CROCODDYL_COMPAT)
-  ADD_PROJECT_PRIVATE_DEPENDENCY(example-robot-data 4.0.9 REQUIRED)
-  create_example(
-    talos-arm.cpp
-    DEPENDENCIES aligator::croc_compat croc_talos_arm_utils
-  )
+if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
+  create_example(clqr.cpp)
+  create_example(talos-walk.cpp DEPENDENCIES talos_walk_utils)
+  create_example(se2-car.cpp)
+
+  if(BUILD_CROCODDYL_COMPAT)
+    ADD_PROJECT_PRIVATE_DEPENDENCY(example-robot-data 4.0.9 REQUIRED)
+    create_example(
+      talos-arm.cpp
+      DEPENDENCIES aligator::croc_compat croc_talos_arm_utils
+    )
+  endif()
 endif()
 
-file(GLOB EXAMPLES_PY *.py)
-
-foreach(pyfile ${EXAMPLES_PY})
-  get_filename_component(pyfile_name ${pyfile} NAME)
-  execute_process(
-    COMMAND
-      ${CMAKE_COMMAND} -E create_symlink ${pyfile}
-      ${CMAKE_CURRENT_BINARY_DIR}/${pyfile_name}
-  )
-endforeach()
+if(BUILD_PYTHON_INTERFACE)
+  file(GLOB EXAMPLES_PY *.py)
+
+  foreach(pyfile ${EXAMPLES_PY})
+    get_filename_component(pyfile_name ${pyfile} NAME)
+    execute_process(
+      COMMAND
+        ${CMAKE_COMMAND} -E create_symlink ${pyfile}
+        ${CMAKE_CURRENT_BINARY_DIR}/${pyfile_name}
+    )
+  endforeach()
+endif()

flake.nix

@@ -12,6 +12,7 @@
       systems = inputs.nixpkgs.lib.systems.flakeExposed;
       perSystem =
         {
+          lib,
           pkgs,
           self',
           ...
@@ -21,13 +22,12 @@
             type = "app";
             program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
           };
-          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
           packages = {
-            default = self'.packages.aligator;
-            aligator = pkgs.python3Packages.aligator.overrideAttrs {
-              src = pkgs.lib.fileset.toSource {
+            default = self'.packages.py-aligator;
+            aligator = pkgs.aligator.overrideAttrs {
+              src = lib.fileset.toSource {
                 root = ./.;
-                fileset = pkgs.lib.fileset.unions [
+                fileset = lib.fileset.unions [
                   ./bench
                   ./bindings
                   ./CMakeLists.txt
@@ -41,6 +41,31 @@
                 ];
               };
             };
+            py-aligator = pkgs.python3Packages.toPythonModule (self'.packages.aligator.overrideAttrs (super:{
+              cmakeFlags = super.cmakeFlags ++ [
+                (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
+                (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+              ];
+              nativeBuildInputs = super.nativeBuildInputs ++ [
+                pkgs.python3Packages.python
+              ];
+              propagatedBuildInputs = super.propagatedBuildInputs ++ [
+                self'.packages.aligator
+                pkgs.python3Packages.crocoddyl
+                pkgs.python3Packages.pinocchio
+              ];
+              nativeCheckInputs = [
+                pkgs.ctestCheckHook
+                pkgs.python3Packages.pythonImportsCheckHook
+              ];
+              checkInputs = super.checkInputs++ [
+                pkgs.python3Packages.matplotlib
+                pkgs.python3Packages.pytest
+              ];
+              disabledTests = lib.optionals pkgs.stdenv.hostPlatform.isDarwin [
+                "aligator-test-py-rollout"
+              ];
+            }));
           };
         };
     };

src/compat/crocoddyl/CMakeLists.txt

@@ -8,6 +8,8 @@ file(GLOB_RECURSE HEADERS ${INCLUDE_DIR}/*.hpp ${INCLUDE_DIR}/*.hxx)
 add_library(aligator_croc_compat SHARED ${HEADERS})
 add_library(aligator::croc_compat ALIAS aligator_croc_compat)
 
+set_target_properties(aligator_croc_compat PROPERTIES EXPORT_NAME croc_compat)
+
 if(ENABLE_TEMPLATE_INSTANTIATION)
   file(GLOB SOURCES_TEMPL ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
   list(APPEND HEADERS ${HEADERS_TEMPL})

tests/CMakeLists.txt

@@ -65,17 +65,18 @@ if(CHECK_RUNTIME_MALLOC)
   list(APPEND TEST_NAMES nomalloc)
 endif()
 
-foreach(test_name ${TEST_NAMES})
-  add_aligator_test(${test_name})
-endforeach()
-
-add_subdirectory(gar)
+if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
+  foreach(test_name ${TEST_NAMES})
+    add_aligator_test(${test_name})
+  endforeach()
+  add_subdirectory(gar)
+
+  if(BUILD_CROCODDYL_COMPAT)
+    add_subdirectory(compat)
+  endif()
+endif()
 
 # PYTHON TESTS
 if(BUILD_PYTHON_INTERFACE)
   add_subdirectory(python)
 endif()
-
-if(BUILD_CROCODDYL_COMPAT)
-  add_subdirectory(compat)
-endif()