Merge branch 'main' into embeddedsdf_refactoring

.github/ci/before_cmake.sh

@@ -7,12 +7,17 @@ BUILD_DIR=`pwd`
 cd /tmp
 
 # check that we can compile USD from sources (only Focal)
+# see https://github.com/ignitionrobotics/sdformat/issues/869
+return_code=0
+if [ "$(lsb_release -r -s)" != "20.04" ]; then
+  return_code=$(($return_code + 1))
+fi
+
 mkdir cmake_test
 cd cmake_test
 
 echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
 
-return_code=0
 cmake . || return_code=$(($return_code + $?))
 if [ $return_code -eq 0 ]
 then

.github/ci/packages.apt

@@ -1,11 +1,15 @@
-libignition-cmake2-dev
+libignition-cmake3-dev
 libignition-common5-dev
 libignition-math7-dev
-libignition-tools-dev
-libignition-utils1-dev
-libignition-utils1-cli-dev
+libignition-tools2-dev
+libignition-utils2-dev
+libignition-utils2-cli-dev
 libtinyxml2-dev
 liburdfdom-dev
 libxml2-utils
+python3-dev
+python3-distutils
+python3-ignition-math7
 python3-psutil
+python3-pybind11
 ruby-dev

.github/workflows/ci.yml

@@ -21,3 +21,12 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@jammy

.github/workflows/macos.yml

@@ -39,7 +39,9 @@ jobs:
     - run: mkdir build
     - name: cmake
       working-directory: build
-      run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+      run: |
+        export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python
+        cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
     - run: make
       working-directory: build
     - run: make test

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
 if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0003 NEW)
@@ -18,8 +18,18 @@ set (BUILD_SDF ON CACHE INTERNAL "Build SDF" FORCE)
 
 #################################################
 # Find ign-cmake
-find_package(ignition-cmake2 2.10 REQUIRED)
-set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
+find_package(ignition-cmake3 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake3_VERSION_MAJOR})
+
+########################################
+# Python interfaces vars
+option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
+      "Install python modules in standard system paths in the system"
+      OFF)
+
+option(USE_DIST_PACKAGES_FOR_PYTHON
+      "Use dist-packages instead of site-package to install python modules"
+      OFF)
 
 if (BUILD_SDF)
   ign_configure_project(
@@ -70,7 +80,7 @@ if (BUILD_SDF)
       # A module's location is usually a directory, but for
       # binary modules
       # it's a .so file.
-      execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
+      execute_process(COMMAND "${Python3_EXECUTABLE}" "-c" "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
         RESULT_VARIABLE _${module}_status
         OUTPUT_VARIABLE _${module}_location
         ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
@@ -106,14 +116,34 @@ if (BUILD_SDF)
 
   ########################################
   # Find ignition utils
-  ign_find_package(ignition-utils1 VERSION REQUIRED)
-  set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
+  ign_find_package(ignition-utils2 REQUIRED COMPONENTS cli)
+  set(IGN_UTILS_VER ${ignition-utils2_VERSION_MAJOR})
 
   ########################################
   # Find ignition common
   ign_find_package(ignition-common5 COMPONENTS graphics REQUIRED_BY usd)
   set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
 
+  ########################################
+  # Python interfaces
+  if (NOT PYTHON3_FOUND)
+    IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+    message (STATUS "Searching for Python - not found.")
+  else()
+    message (STATUS "Searching for Python - found version ${Python3_VERSION}.")
+
+    set(PYBIND11_PYTHON_VERSION 3)
+    find_package(pybind11 2.4 QUIET)
+
+    if (${pybind11_FOUND})
+      find_package(Python3 ${IGN_PYTHON_VERSION} REQUIRED COMPONENTS Development)
+      message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
+  	else()
+  		IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+  		message (STATUS "Searching for pybind11 - not found.")
+  	endif()
+  endif()
+
   ########################################
   # Find PXR
   ign_find_package(pxr QUIET REQUIRED_BY usd PKGCONFIG pxr)
@@ -126,6 +156,9 @@ if (BUILD_SDF)
   add_subdirectory(sdf)
   add_subdirectory(conf)
   add_subdirectory(doc)
+  if (${pybind11_FOUND})
+  	add_subdirectory(python)
+  endif()
 endif(BUILD_SDF)
 
 ########################################