[CMake] Add BUILD_PYTHON_INTERFACE option, fix #57

CMakeLists.txt

@@ -20,6 +20,7 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME sot-core)
 SET(PROJECT_DESCRIPTION "Hierarchical task solver plug-in for dynamic-graph.")
@@ -43,11 +44,20 @@ PKG_CONFIG_APPEND_LIBS("sot-core")
 # Search for dependencies.
 # Boost
 SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex )
-SEARCH_FOR_BOOST()
 SEARCH_FOR_EIGEN()
 
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
-ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+IF(BUILD_PYTHON_INTERFACE)
+  FINDPYTHON()
+  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  SET(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+SEARCH_FOR_BOOST()
 
 ADD_SUBDIRECTORY(include)
 ADD_SUBDIRECTORY(src)

doc/CMakeLists.txt

@@ -4,13 +4,13 @@
 #
 
 # get the python script install path
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
 
-INCLUDE(../cmake/sphinx.cmake)
-SPHINX_SETUP()
-SPHINX_FINALIZE()
-INSTALL (FILES
-  pictures/feature.png 
-  pictures/task.png 
-  DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)
+IF(BUILD_PYTHON_INTERFACE)
+  INCLUDE(../cmake/sphinx.cmake)
+  SPHINX_SETUP()
+  SPHINX_FINALIZE()
+  INSTALL (FILES
+    pictures/feature.png
+    pictures/task.png
+    DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)
+ENDIF(BUILD_PYTHON_INTERFACE)

src/CMakeLists.txt

@@ -13,10 +13,6 @@
 # received a copy of the GNU Lesser General Public License along with
 # sot-core. If not, see <http://www.gnu.org/licenses/>.
 
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
-INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-
 # Verbosity level
 IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
   ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
@@ -24,7 +20,6 @@ ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
 
 # The main include dir
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
-LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
 
 #define DEBUG=2 if we're building in debug mode (what for?)
 IF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
@@ -167,7 +162,9 @@ SET_TARGET_PROPERTIES(${LIBRARY_NAME}
   SOVERSION ${PROJECT_VERSION})
 
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
+IF(BUILD_PYTHON_INTERFACE)
+  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
+ENDIF(BUILD_PYTHON_INTERFACE)
 
 IF(UNIX)
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
@@ -179,7 +176,7 @@ ENDIF(UNIX AND NOT APPLE)
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
 
-INSTALL(TARGETS ${LIBRARY_NAME} 
+INSTALL(TARGETS ${LIBRARY_NAME}
   DESTINATION ${CMAKE_INSTALL_LIBDIR})
 
 #Plugins compilation, link, and installation
@@ -187,7 +184,7 @@ INSTALL(TARGETS ${LIBRARY_NAME}
 FOREACH(plugin ${plugins})
   #retrieve plugin name
   GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
-  
+
   # only one source file per plugin
   ADD_LIBRARY(${LIBRARY_NAME}
     SHARED
@@ -212,8 +209,8 @@ FOREACH(plugin ${plugins})
   IF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
     ADD_DEPENDENCIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
     TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
-  ENDIF(ADDITIONAL_${LIBRARY_NAME}_LIBS)	
-  
+  ENDIF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
+
   # Linux dynamic loading library flags
   IF(UNIX)
     TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
@@ -222,44 +219,47 @@ FOREACH(plugin ${plugins})
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
 
   # build python submodule
-  STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
-  DYNAMIC_GRAPH_PYTHON_MODULE("sot/core/${PYTHON_LIBRARY_NAME}"
-    ${LIBRARY_NAME}
-    sot-core-${PYTHON_LIBRARY_NAME}-wrap
-    )
+  IF(BUILD_PYTHON_INTERFACE)
+    STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
+    DYNAMIC_GRAPH_PYTHON_MODULE("sot/core/${PYTHON_LIBRARY_NAME}"
+      ${LIBRARY_NAME}
+      sot-core-${PYTHON_LIBRARY_NAME}-wrap
+      )
+  ENDIF(BUILD_PYTHON_INTERFACE)
   # Install plugins
   INSTALL(TARGETS ${LIBRARY_NAME}
     DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
 ENDFOREACH(plugin)
 
-# Bindings Python
-DYNAMIC_GRAPH_PYTHON_MODULE("sot/core" ${SOTCORE_LIB_NAME} wrap)
+IF(BUILD_PYTHON_INTERFACE)
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/core" ${SOTCORE_LIB_NAME} wrap)
 
-# Install empty __init__.py files in intermediate directories.
-INSTALL(FILES
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
-  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot
-  )
-INSTALL(FILES
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/__init__.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/math_small_entities.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/feature_position.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/feature_position_relative.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/matrix_util.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_6d.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks_kine.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks_kine_relative.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_posture.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_visual_point.py
-  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/core
-  )
-INSTALL(FILES
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/__init__.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/attime.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/history.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/thread_interruptible_loop.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/viewer_loger.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/viewer_helper.py
-  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/core/utils
-  )
+  # Install empty __init__.py files in intermediate directories.
+  INSTALL(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot
+    )
+  INSTALL(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/__init__.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/math_small_entities.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/feature_position.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/feature_position_relative.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/matrix_util.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_6d.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks_kine.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_tasks_kine_relative.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_posture.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/meta_task_visual_point.py
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/core
+    )
+  INSTALL(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/__init__.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/attime.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/history.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/thread_interruptible_loop.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/viewer_loger.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/core/utils/viewer_helper.py
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/core/utils
+    )
+ENDIF(BUILD_PYTHON_INTERFACE)

unitTesting/CMakeLists.txt

@@ -137,7 +137,9 @@ FOREACH(test ${tests})
 	ENDIF(UNIX)
 
 	PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
-	PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
+  IF(BUILD_PYTHON_INTERFACE)
+    PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
+  ENDIF(BUILD_PYTHON_INTERFACE)
 
 	# Link against Boost.
 	TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARY})