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Fix loading of Python bindings on Windows when installed in arbitrary directory #905

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merged 3 commits into from
Oct 25, 2024
Merged

Fix loading of Python bindings on Windows when installed in arbitrary directory #905

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f0c286b
Fix loading of Python bindings on Windows when installed in arbitrary…
traversaro Oct 24, 2024
88901be
Update CHANGELOG.md
traversaro Oct 24, 2024
663222f
Fix trailing whitespace
traversaro Oct 24, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ All notable changes to this project are documented in this file.
- Bug fix of `JointTorqueControlDevice` device (https://github.com/ami-iit/bipedal-locomotion-framework/pull/890)
- Bug fix of `prepare_data` method calling in `joints-grid-position-tracking` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/895)
- Fix the normal force limit constraint in the `CentroidalMPC` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/898)
- Fix loading of Python bindings on Windows when installed in arbitrary directory (https://github.com/ami-iit/bipedal-locomotion-framework/pull/905)

## [0.19.0] - 2024-09-06
### Added
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24 changes: 21 additions & 3 deletions bindings/CMakeLists.txt
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Expand Up @@ -50,9 +50,27 @@ if(FRAMEWORK_COMPILE_PYTHON_BINDINGS)
add_subdirectory(python)

# Create the __init__.py file
file(GENERATE
OUTPUT "${BLF_PYTHON_PACKAGE}/__init__.py"
CONTENT "from .bindings import *${NEW_LINE}from . import utils${NEW_LINE}")
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/__init__.py "")

# If we are on Windows and BUILD_SHARED_LIBS is ON, handle the fact that
# the Python interpreter does not look into PATH to find dll (see https://docs.python.org/3.8/library/os.html#os.add_dll_directory)
if(WIN32 AND BUILD_SHARED_LIBS)
if(IS_ABSOLUTE PYTHON_INSTDIR)
set(PYTHON_FULL_INSTDIR "${PYTHON_INSTDIR}")
else()
set(PYTHON_FULL_INSTDIR "${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTDIR}")
endif()
file(RELATIVE_PATH RELATIVE_PATH_BETWEEN_INIT_PY_AND_DLL_DIRECTORY ${PYTHON_FULL_INSTDIR} ${CMAKE_INSTALL_FULL_BINDIR})
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "import os${NEW_LINE}")
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "library_dll_path = os.path.join(os.path.dirname(__file__),'${RELATIVE_PATH_BETWEEN_INIT_PY_AND_DLL_DIRECTORY}')${NEW_LINE}")
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "# Avoid to call add_dll_directory if not necessary,${NEW_LINE}")
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "# for example if the library to find are already found in the proper location in a conda environment${NEW_LINE}")
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "if(library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'Library','bin') and library_dll_path != os.path.join(os.environ.get('CONDA_PREFIX', ''),'bin')):${NEW_LINE}")
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" " if(os.path.exists(library_dll_path)):${NEW_LINE}")
file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" " os.add_dll_directory(library_dll_path)${NEW_LINE}")
endif()

file(APPEND "${BLF_PYTHON_PACKAGE}/__init__.py" "from .bindings import *${NEW_LINE}from . import utils${NEW_LINE}")

# Install the __init__.py file
install(FILES "${BLF_PYTHON_PACKAGE}/__init__.py"
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