CMake: project is not viable without python interface

CMakeLists.txt

@@ -10,14 +10,10 @@ SET(PROJECT_DESCRIPTION "Hierarchical task solver plug-in for dynamic-graph.")
 SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
 # Project options
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
 OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 
 # Project configuration
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 SET(CUSTOM_HEADER_DIR "sot/core")
 SET(CXX_DISABLE_WERROR TRUE)
 SET(DOXYGEN_USE_MATHJAX YES)
@@ -38,6 +34,8 @@ ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED)
 ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.6 REQUIRED)
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
 ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS regex program_options)
+ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
+include(cmake/python.cmake) # TODO: overwriting eigenpy/python.cmake
 IF(BUILD_TESTING)
   ADD_PROJECT_DEPENDENCY(example-robot-data 3.8.0)
   FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
@@ -49,11 +47,7 @@ IF(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
   ADD_DEFINITIONS(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
 ENDIF()
 
-IF(BUILD_PYTHON_INTERFACE)
-  STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
-  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
-  include(cmake/python.cmake) # TODO: overwriting eigenpy/python.cmake
-ENDIF(BUILD_PYTHON_INTERFACE)
+STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
 
 # Verbosity level
 IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
@@ -187,9 +181,7 @@ IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
 ENDIF(SUFFIX_SO_VERSION)
 
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 
 ADD_SUBDIRECTORY(src)
 IF(BUILD_TESTING)
@@ -197,6 +189,4 @@ IF(BUILD_TESTING)
 ENDIF(BUILD_TESTING)
 ADD_SUBDIRECTORY(doc)
 
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})

doc/CMakeLists.txt

@@ -5,11 +5,9 @@
 
 # get the python script install path
 
-IF(BUILD_PYTHON_INTERFACE)
-  IF(INSTALL_DOCUMENTATION)
-    INSTALL (FILES
-      pictures/feature.png
-      pictures/task.png
-      DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)
-  ENDIF(INSTALL_DOCUMENTATION)
-ENDIF(BUILD_PYTHON_INTERFACE)
+IF(INSTALL_DOCUMENTATION)
+  INSTALL (FILES
+    pictures/feature.png
+    pictures/task.png
+    DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)
+ENDIF(INSTALL_DOCUMENTATION)

src/CMakeLists.txt

@@ -102,72 +102,66 @@ FOREACH(plugin ${plugins})
 
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC ${PROJECT_NAME} ${${LIBRARY_NAME}_deps})
 
-  IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-    INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
-      DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
-  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-
-  IF(BUILD_PYTHON_INTERFACE)
-    STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
-    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
-      DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
-        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
-        SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
-    else()
-      DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
-        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
-        MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.h")
-    endif()
-    target_link_libraries(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap eigenpy::eigenpy)
-  ENDIF(BUILD_PYTHON_INTERFACE)
+  INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+
+  STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
+  if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+    DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+      SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+  else()
+    DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+      MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.h")
+  endif()
+  target_link_libraries(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap eigenpy::eigenpy)
 ENDFOREACH(plugin)
 
-IF(BUILD_PYTHON_INTERFACE)
-  DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}"
-    ${PROJECT_NAME} ${PROJECT_NAME}-wrap
-    SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/python-module.cc")
-
-  INSTALL(FILES
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot)
-
-  SET(${PROJECT_NAME}_PYTHON
-    __init__.py
-    math_small_entities.py
-    feature_position.py
-    feature_position_relative.py
-    matrix_util.py
-    meta_tasks.py
-    meta_task_6d.py
-    meta_tasks_kine.py
-    meta_tasks_kine_relative.py
-    meta_task_posture.py
-    meta_task_visual_point.py
-    )
+DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}"
+  ${PROJECT_NAME} ${PROJECT_NAME}-wrap
+  SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/python-module.cc")
+
+INSTALL(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
+  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot)
+
+SET(${PROJECT_NAME}_PYTHON
+  __init__.py
+  math_small_entities.py
+  feature_position.py
+  feature_position_relative.py
+  matrix_util.py
+  meta_tasks.py
+  meta_task_6d.py
+  meta_tasks_kine.py
+  meta_tasks_kine_relative.py
+  meta_task_posture.py
+  meta_task_visual_point.py
+  )
 
-  FOREACH(file ${${PROJECT_NAME}_PYTHON})
-    PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}" ${file})
-  ENDFOREACH(file ${${PROJECT_NAME}_PYTHON})
-
-  SET(${PY_NAME}_PYTHON_UTILS
-    __init__.py
-    attime.py
-    history.py
-    thread_interruptible_loop.py
-    viewer_loger.py
-    viewer_helper.py
-    )
+FOREACH(file ${${PROJECT_NAME}_PYTHON})
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}" ${file})
+ENDFOREACH(file ${${PROJECT_NAME}_PYTHON})
+
+SET(${PY_NAME}_PYTHON_UTILS
+  __init__.py
+  attime.py
+  history.py
+  thread_interruptible_loop.py
+  viewer_loger.py
+  viewer_helper.py
+  )
 
-  FOREACH(file ${${PY_NAME}_PYTHON_UTILS})
-    PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}/utils" ${file})
-  ENDFOREACH(file ${${PY_NAME}_PYTHON_UTILS})
-
-  # **********************************
-  # Robot_utils_sot_py PYTHON module *
-  # **********************************
-  ADD_LIBRARY(robot_utils_sot_py SHARED tools/robot-utils-py.cpp)
-  TARGET_LINK_LIBRARIES(robot_utils_sot_py PUBLIC ${PROJECT_NAME})
-  TARGET_LINK_BOOST_PYTHON(robot_utils_sot_py PRIVATE)
-  SET_TARGET_PROPERTIES(robot_utils_sot_py PROPERTIES PREFIX "")
-  INSTALL(TARGETS robot_utils_sot_py DESTINATION "${PYTHON_SITELIB}/dynamic_graph/${PYTHON_DIR}")
-ENDIF(BUILD_PYTHON_INTERFACE)
+FOREACH(file ${${PY_NAME}_PYTHON_UTILS})
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}/utils" ${file})
+ENDFOREACH(file ${${PY_NAME}_PYTHON_UTILS})
+
+# **********************************
+# Robot_utils_sot_py PYTHON module *
+# **********************************
+ADD_LIBRARY(robot_utils_sot_py SHARED tools/robot-utils-py.cpp)
+TARGET_LINK_LIBRARIES(robot_utils_sot_py PUBLIC ${PROJECT_NAME})
+TARGET_LINK_BOOST_PYTHON(robot_utils_sot_py PRIVATE)
+SET_TARGET_PROPERTIES(robot_utils_sot_py PROPERTIES PREFIX "")
+INSTALL(TARGETS robot_utils_sot_py DESTINATION "${PYTHON_SITELIB}/dynamic_graph/${PYTHON_DIR}")

tests/CMakeLists.txt

@@ -134,6 +134,4 @@ FOREACH(path ${tests})
   ENDIF(UNIX)
 ENDFOREACH(path ${tests})
 
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+ADD_SUBDIRECTORY(python)