Merge pull request #1428 from jcarpent/topic/pypy

Skip embeded Python for PyPy compiler

.github/workflows/windows-conda-v142.yml

@@ -85,7 +85,7 @@ jobs:
         set PATH=%PATH%;%CONDA_PREFIX%\Library\bin
         .\unittest\Release\test-cpp-urdf.exe
         .\examples\Release\example-cpp-geometry-models.exe
-        ctest --output-on-failure -C Release -V --repeat until-pass:2
+        ctest --output-on-failure -C Release -V --repeat until-pass:5
 
 #        :: Test Python import
 #        cd ..

CMakeLists.txt

@@ -144,6 +144,18 @@ IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON(REQUIRED)
   SEARCH_FOR_BOOST_PYTHON(REQUIRED)
   ADD_PROJECT_DEPENDENCY(eigenpy 2.6.2 REQUIRED)
+  
+  # Check wether this a PyPy Python
+  EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import platform; print(platform.python_implementation())"
+    OUTPUT_VARIABLE _python_implementation_value
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    ERROR_QUIET)
+  
+  MESSAGE(STATUS "Python compiler: ${_python_implementation_value}")
+  IF(_python_implementation_value MATCHES "PyPy")
+    SET(BUILD_PYTHON_INTERFACE_WITH_PYPY TRUE)
+  ENDIF()
+  
 ELSE(BUILD_PYTHON_INTERFACE)
   MESSAGE(STATUS "Pinocchio won't be compiled with its Python bindings. If you want to enable this feature, please set the option BUILD_PYTHON_INTERFACE to ON.")
 ENDIF(BUILD_PYTHON_INTERFACE)

bindings/python/CMakeLists.txt

@@ -48,21 +48,24 @@ FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_SOURCES
      ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp 
      ) 
 
-# Parser for Python model
-LIST(APPEND ${PROJECT_NAME}_PYTHON_HEADERS
-  parsers/python.hpp
-  )
-SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
-  parsers/python.hpp
-  )
-
-LIST(APPEND ${PROJECT_NAME}_PYTHON_SOURCES
-  parsers/python/model.cpp
-  )
-
 REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_HEADERS)
 REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_SOURCES}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_SOURCES)
 
+# Parser for Python model
+IF(BUILD_PYTHON_INTERFACE_WITH_PYPY)
+  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
+    parsers/python.hpp
+    )
+
+  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
+    parsers/python/model.cpp
+    )
+ELSE(BUILD_PYTHON_INTERFACE_WITH_PYPY)
+  SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
+    parsers/python.hpp
+    )
+ENDIF(BUILD_PYTHON_INTERFACE_WITH_PYPY)
+
 # Python exposition of FCL
 IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
@@ -112,8 +115,10 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/
 SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PYTHON_HEADERS}" "bindings/python")
 
 # Headers of the Python parser
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/python")
-SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}" "")
+IF(NOT BUILD_PYTHON_INTERFACE_WITH_PYPY)
+  MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/python")
+  SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}" "")
+ENDIF(NOT BUILD_PYTHON_INTERFACE_WITH_PYPY)
 
 # --- COMPILE WRAPPER
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")

unittest/CMakeLists.txt

@@ -95,7 +95,7 @@ IF(urdfdom_FOUND)
   ENDIF(hpp-fcl_FOUND)
 ENDIF(urdfdom_FOUND)
 
-IF(BUILD_PYTHON_INTERFACE)
+IF(BUILD_PYTHON_INTERFACE AND NOT BUILD_PYTHON_INTERFACE_WITH_PYPY)
   ADD_PINOCCHIO_UNIT_TEST(python_parser PACKAGES eigenpy)
   TARGET_INCLUDE_DIRECTORIES(test-cpp-python_parser SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
 
@@ -113,7 +113,7 @@ IF(BUILD_PYTHON_INTERFACE)
   ENDIF(APPLE)
   SET_PROPERTY(TEST test-cpp-python_parser PROPERTY ENVIRONMENT ${ENV_VARIABLES})
   ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+ENDIF(BUILD_PYTHON_INTERFACE AND NOT BUILD_PYTHON_INTERFACE_WITH_PYPY)
 
 # Test over the joints
 ADD_PINOCCHIO_UNIT_TEST(all-joints)