Check pybind11 first and copy the dll file

Author: Liuchuan Yu

setup_windows.bat

@@ -17,6 +17,7 @@ set "PXREAROBOTSDK_LIB_DIR=%XROBOTKIT_CLONED_REPO_PATH%\RoboticsService\SDK\win\
 :: Define destination directories
 set "LIB_DEST_DIR=%SCRIPT_ROOT%\lib"
 set "INCLUDE_DEST_DIR=%SCRIPT_ROOT%\include"
+
 :: Create destination directories
 echo Creating destination directories...
 mkdir "%LIB_DEST_DIR%" 2>NUL
@@ -33,6 +34,46 @@ if not exist "%INCLUDE_DEST_DIR%" (
 
 echo Destination directories created successfully.
 
+:: --- Check for pybind11 and install if not found ---
+echo.
+echo Checking for pybind11...
+pip show pybind11 >NUL 2>&1
+if %errorlevel% neq 0 (
+    echo Error: pybind11 not found. Please run `pip install pybind11` first. Exiting.
+    exit /b 1
+)
+
+:: --- Set PYBIND11_DIR for CMake ---
+echo.
+echo Setting PYBIND11_DIR environment variable...
+for /f "usebackq" %%i in (`python -c "import sys; print(sys.prefix)"`) do set PYTHON_PREFIX=%%i
+if not defined PYTHON_PREFIX (
+    echo Error: Could not determine Python installation prefix.
+    echo Please ensure Python is correctly installed and in your PATH. Exiting.
+    exit /b 1
+)
+
+set "PYBIND11_DIR=%PYTHON_PREFIX%\Lib\site-packages\pybind11\share\cmake\pybind11"
+echo Attempting to set PYBIND11_DIR to: %PYBIND11_DIR%
+set PYBIND11_DIR=%PYBIND11_DIR%
+if not exist "%PYBIND11_DIR%\pybind11Config.cmake" (
+    echo Warning: pybind11Config.cmake not found at expected PYBIND11_DIR: "%PYBIND11_DIR%"
+    echo This might indicate a problem with the pybind11 installation or its path.
+    :: Attempting to find another common path if the standard one doesn't work.
+    for /d %%d in ("%PYTHON_PREFIX%\Lib\site-packages\pybind11\share\cmake\*") do (
+        if exist "%%d\pybind11Config.cmake" (
+            set "PYBIND11_DIR=%%d"
+            echo Found pybind11Config.cmake in "%%d". Using this path.
+            goto :pybind11_dir_found
+        )
+    )
+    echo Critical Error: pybind11Config.cmake could not be found after pybind11 installation.
+    echo Please check your pybind11 installation. Exiting.
+    exit /b 1
+)
+:pybind11_dir_found
+echo PYBIND11_DIR set to: %PYBIND11_DIR%
+
 set "DLL_NAME=PXREARobotSDK.dll"
 set "LIB_NAME=PXREARobotSDK.lib"
 
@@ -139,58 +180,57 @@ if %errorlevel% neq 0 (
 
 echo Libraries copied successfully.
 
-:: --- Check for pybind11 and install if not found ---
+:: Build and install the Python project
 echo.
-echo Checking for pybind11...
-pip show pybind11 >NUL 2>&1
+echo Building and installing the Python project...
+python setup.py install
 if %errorlevel% neq 0 (
-    echo Error: pybind11 not found. Please install pybind11 first. Exiting.
+    echo Error: Python setup.py install failed. Exiting.
     goto :cleanup_and_exit
 )
 
-:: --- Set PYBIND11_DIR for CMake ---
-:: This helps CMake find pybind11's configuration files during setup.py build.
+:: Copy DLL to the installed package location
 echo.
-echo Setting PYBIND11_DIR environment variable...
-for /f "usebackq" %%i in (`python -c "import sys; print(sys.prefix)"`) do set PYTHON_PREFIX=%%i
-if not defined PYTHON_PREFIX (
-    echo Error: Could not determine Python installation prefix.
-    echo Please ensure Python is correctly installed and in your PATH. Exiting.
+echo Copying DLL to the installed package location...
+for /f "usebackq" %%i in (`python -c "import site; print(site.getsitepackages()[0])"`) do set SITE_PACKAGES=%%i
+if not defined SITE_PACKAGES (
+    echo Warning: Could not determine site-packages directory.
+    echo DLL not copied to package location. You may need to do this manually.
     goto :cleanup_and_exit
 )
 
-set "PYBIND11_DIR=%PYTHON_PREFIX%\Lib\site-packages\pybind11\share\cmake\pybind11"
-echo Attempting to set PYBIND11_DIR to: %PYBIND11_DIR%
-set PYBIND11_DIR=%PYBIND11_DIR%
-if not exist "%PYBIND11_DIR%\pybind11Config.cmake" (
-    echo Warning: pybind11Config.cmake not found at expected PYBIND11_DIR: "%PYBIND11_DIR%"
-    echo This might indicate a problem with the pybind11 installation or its path.
-    :: Attempting to find another common path if the standard one doesn't work.
-    for /d %%d in ("%PYTHON_PREFIX%\Lib\site-packages\pybind11\share\cmake\*") do (
-        if exist "%%d\pybind11Config.cmake" (
-            set "PYBIND11_DIR=%%d"
-            echo Found pybind11Config.cmake in "%%d". Using this path.
-            goto :pybind11_dir_found
-        )
+:: Find the egg directory
+set "FOUND_EGG="
+for /d %%d in ("%SITE_PACKAGES%\Lib\site-packages\xrobotoolkit_sdk-*") do (
+    set "FOUND_EGG=%%d"
+    goto :egg_found
+)
+:egg_found
+
+if not defined FOUND_EGG (
+    echo Warning: Could not find xrobotoolkit_sdk egg directory in %SITE_PACKAGES%
+    echo Looking in easy-install.pth...
+    if exist "%SITE_PACKAGES%\easy-install.pth" (
+        for /f "usebackq tokens=*" %%i in (`findstr /i "xrobotoolkit_sdk" "%SITE_PACKAGES%\easy-install.pth"`) do set "FOUND_EGG=%%i"
     )
-    echo Critical Error: pybind11Config.cmake could not be found after pybind11 installation.
-    echo Please check your pybind11 installation. Exiting.
-    goto :cleanup_and_exit
 )
-:pybind11_dir_found
-echo PYBIND11_DIR set to: %PYBIND11_DIR%
 
-:: Build and install the Python project
-echo.
-echo Building and installing the Python project...
-python setup.py install
-echo.
-echo Setup completed successfully!
-if %errorlevel% neq 0 (
-    echo Error: Python setup.py install failed. Exiting.
-    goto :cleanup_and_exit
+if not defined FOUND_EGG (
+    echo Warning: Could not find xrobotoolkit_sdk egg directory.
+    echo DLL not copied to package location. You may need to do this manually.
+) else (
+    echo Found egg directory: %FOUND_EGG%
+    echo Copying %DLL_NAME% to %FOUND_EGG%
+    copy "%LIB_DEST_DIR%\%DLL_NAME%" "%FOUND_EGG%\"
+    if %errorlevel% neq 0 (
+        echo Warning: Failed to copy DLL to egg directory.
+    ) else (
+        echo DLL successfully copied to package location.
+    )
 )
 
+echo Setup completed successfully!
+
 :cleanup_and_exit
 :: Remove the temporary directory
 echo Cleaning up temporary directory: %TEMP_DIR%
@@ -199,4 +239,4 @@ if %errorlevel% neq 0 (
     echo Warning: Failed to remove temporary directory "%SCRIPT_ROOT%\%TEMP_DIR%". Please remove it manually.
 )
 
-endlocal
+endlocal