WIP: attempt to get Qt-dependent projects building.

RoboStack · Sep 16, 2024 · b3f7860 · b3f7860
1 parent d152c00
commit b3f7860
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diff --git a/conda_build_config.yaml b/conda_build_config.yaml
@@ -24,15 +24,14 @@ c_stdlib_version:
   - ${{ "10.14" if osx and x86_64 }}
   - ${{ "11.0" if osx and arm64 }}
 
-
-# # Project overrides
-# macos_min_version:             # [osx and x86_64]
-#   - 10.14                      # [osx and x86_64]
-# macos_machine:                 # [osx]
-#   - x86_64-apple-darwin13.4.0  # [osx and x86_64]
-#   - arm64-apple-darwin20.0.0   # [osx and arm64]
-# MACOSX_DEPLOYMENT_TARGET:      # [osx]
-#   - 11.0                       # [osx and arm64]
-#   - 10.14                      # [osx and x86_64]
-# CONDA_BUILD_SYSROOT:
-#   - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk  # [osx and arm64]
+# Project overrides
+macos_min_version:             # [osx and x86_64]
+  - 10.15                      # [osx and x86_64]
+macos_machine:                 # [osx]
+  - x86_64-apple-darwin13.4.0  # [osx and x86_64]
+  - arm64-apple-darwin20.0.0   # [osx and arm64]
+MACOSX_DEPLOYMENT_TARGET:      # [osx]
+  - 11.0                       # [osx and arm64]
+  - 10.15                      # [osx and x86_64]
+CONDA_BUILD_SYSROOT:
+  - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk  # [osx and arm64]
diff --git a/patch/ros-jazzy-python-qt-binding.patch b/patch/ros-jazzy-python-qt-binding.patch
@@ -0,0 +1,249 @@
+From c8c554e4b8306ee18e5e1819ef7aacbdd2a0f6ac Mon Sep 17 00:00:00 2001
+From: Jacob Oursland <[email protected]>
+Date: Mon, 16 Sep 2024 10:15:49 -0700
+Subject: [PATCH] X
+
+---
+ CMakeLists.txt                    |   1 +
+ cmake/pyproject.toml.in           |  25 ++++++
+ cmake/sip_configure.py            |   1 +
+ cmake/sip_helper.cmake            | 130 ++++++++++++++++++++++++------
+ src/python_qt_binding/__init__.py |   8 ++
+ 5 files changed, 141 insertions(+), 24 deletions(-)
+ create mode 100644 cmake/pyproject.toml.in
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 919969e..2bf015a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -11,6 +11,7 @@ install(FILES
+   cmake/shiboken_helper.cmake
+   cmake/sip_configure.py
+   cmake/sip_helper.cmake
++  cmake/pyproject.toml.in
+   DESTINATION share/${PROJECT_NAME}/cmake)
+
+ if(BUILD_TESTING)
+diff --git a/cmake/pyproject.toml.in b/cmake/pyproject.toml.in
+new file mode 100644
+index 0000000..87c4527
+--- /dev/null
++++ b/cmake/pyproject.toml.in
+@@ -0,0 +1,27 @@
++[project]
++name = "lib@PROJECT_NAME@"
++
++# Specify sip v5 as the build system for the package.
++[build-system]
++requires = ["PyQt-builder >=1, <2"]
++build-backend = "sipbuild.api"
++
++[tool.sip]
++project-factory = "pyqtbuild:PyQtProject"
++
++[tool.sip.builder]
++qmake = "@QMAKE_EXECUTABLE@"
++
++[tool.sip.project]
++sip-files-dir = "@SIP_FILES_DIR@"
++build-dir = "@SIP_BUILD_DIR@"
++verbose = true
++minimum-macos-version = "@MACOS_MINIMUM_VERSION@"
++
++[tool.sip.bindings.libqt_gui_cpp_sip]
++sip-file = "@SIP_FILE@"
++include-dirs = [@SIP_INCLUDE_DIRS@]
++libraries = [@SIP_LIBARIES@]
++library-dirs = [@SIP_LIBRARY_DIRS@]
++qmake-QT = ["widgets"]
++exceptions = true
+diff --git a/cmake/sip_configure.py b/cmake/sip_configure.py
+index 5210ee5..7bafe73 100644
+--- a/cmake/sip_configure.py
++++ b/cmake/sip_configure.py
+@@ -215,6 +215,7 @@ if sys.platform == 'win32':
+     # The __cplusplus flag is not properly set on Windows for backwards
+     # compatibilty. This flag sets it correctly
+     makefile.CXXFLAGS.append('/Zc:__cplusplus')
++    makefile.extra_cxxflags.append('/DROS_BUILD_SHARED_LIBS=1')
+ else:
+     makefile.extra_cxxflags.append('-std=c++17')
+
+diff --git a/cmake/sip_helper.cmake b/cmake/sip_helper.cmake
+index a5ac3c2..a1f145c 100644
+--- a/cmake/sip_helper.cmake
++++ b/cmake/sip_helper.cmake
+@@ -31,7 +31,7 @@ execute_process(
+ if(PYTHON_SIP_EXECUTABLE)
+   string(STRIP ${PYTHON_SIP_EXECUTABLE} SIP_EXECUTABLE)
+ else()
+-  find_program(SIP_EXECUTABLE sip)
++  find_program(SIP_EXECUTABLE NAMES sip sip-build)
+ endif()
+
+ if(SIP_EXECUTABLE)
+@@ -42,6 +42,15 @@ else()
+   set(sip_helper_NOTFOUND TRUE)
+ endif()
+
++if(sip_helper_FOUND)
++  execute_process(
++    COMMAND ${SIP_EXECUTABLE} -V
++    OUTPUT_VARIABLE SIP_VERSION
++    ERROR_QUIET)
++  string(STRIP ${SIP_VERSION} SIP_VERSION)
++  message(STATUS "SIP binding generator version: ${SIP_VERSION}")
++endif()
++
+ #
+ # Run the SIP generator and compile the generated code into a library.
+ #
+@@ -93,34 +102,107 @@ function(build_sip_binding PROJECT_NAME SIP_FILE)
+     set(LIBRARY_DIRS ${${PROJECT_NAME}_LIBRARY_DIRS})
+     set(LDFLAGS_OTHER ${${PROJECT_NAME}_LDFLAGS_OTHER})
+
+-    add_custom_command(
+-        OUTPUT ${SIP_BUILD_DIR}/Makefile
+-        COMMAND ${Python3_EXECUTABLE} ${sip_SIP_CONFIGURE} ${SIP_BUILD_DIR} ${SIP_FILE} ${sip_LIBRARY_DIR}
+-          \"${INCLUDE_DIRS}\" \"${LIBRARIES}\" \"${LIBRARY_DIRS}\" \"${LDFLAGS_OTHER}\"
+-        DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS}
+-        WORKING_DIRECTORY ${sip_SOURCE_DIR}
+-        COMMENT "Running SIP generator for ${PROJECT_NAME} Python bindings..."
+-    )
++    if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0")
++        # Since v5, SIP implements the backend per PEP 517, PEP 518
++        # Here we synthesize `pyproject.toml` and run `pip install`
+
+-    if(NOT EXISTS "${sip_LIBRARY_DIR}")
++        find_program(QMAKE_EXECUTABLE NAMES qmake REQUIRED)
++
++        file(REMOVE_RECURSE ${SIP_BUILD_DIR})
+         file(MAKE_DIRECTORY ${sip_LIBRARY_DIR})
+-    endif()
+
+-    if(WIN32)
+-      set(MAKE_EXECUTABLE NMake.exe)
++        set(SIP_FILES_DIR ${sip_SOURCE_DIR})
++
++        set(SIP_INCLUDE_DIRS "")
++        foreach(_x ${INCLUDE_DIRS})
++          set(SIP_INCLUDE_DIRS "${SIP_INCLUDE_DIRS},\"${_x}\"")
++        endforeach()
++        string(REGEX REPLACE "^," "" SIP_INCLUDE_DIRS ${SIP_INCLUDE_DIRS})
++
++        # SIP expects the libraries WITHOUT the file extension.
++        set(SIP_LIBARIES "")
++        set(SIP_LIBRARY_DIRS "")
++
++        if(APPLE)
++          set(LIBRARIES_TO_LOOP ${LIBRARIES})
++        else()
++          set(LIBRARIES_TO_LOOP ${LIBRARIES} ${PYTHON_LIBRARIES})
++        endif()
++
++        foreach(_x ${LIBRARIES_TO_LOOP})
++          get_filename_component(_x_NAME "${_x}" NAME_WLE)
++          get_filename_component(_x_DIR "${_x}" DIRECTORY)
++          get_filename_component(_x "${_x_DIR}/${_x_NAME}" ABSOLUTE)
++          STRING(REGEX REPLACE "^lib" "" _x_NAME_NOPREFIX ${_x_NAME})
++
++          string(FIND "${_x_NAME_NOPREFIX}" "$<TARGET_FILE" out)
++          string(FIND "${_x_NAME_NOPREFIX}" "::" out2)
++          if("${out}" EQUAL 0)
++            STRING(REGEX REPLACE "\\$<TARGET_FILE:" "" _x_NAME_NOPREFIX ${_x_NAME_NOPREFIX})
++            STRING(REGEX REPLACE ">" "" _x_NAME_NOPREFIX ${_x_NAME_NOPREFIX})
++            if(NOT "${out2}" EQUAL -1)
++              message(STATUS "IGNORE: ${_x_NAME_NOPREFIX}")
++            else()
++              set(SIP_LIBARIES "${SIP_LIBARIES},\"${_x_NAME_NOPREFIX}\"")
++            endif()
++          else()
++            set(SIP_LIBARIES "${SIP_LIBARIES},\"${_x_NAME_NOPREFIX}\"")
++            set(SIP_LIBRARY_DIRS "${SIP_LIBRARY_DIRS},\"${_x_DIR}\"")
++          endif()
++        endforeach()
++        string(REGEX REPLACE "^," "" SIP_LIBARIES ${SIP_LIBARIES})
++
++        foreach(_x ${LIBRARY_DIRS})
++          set(SIP_LIBRARY_DIRS "${SIP_LIBRARY_DIRS},\"${_x}\"")
++        endforeach()
++        string(REGEX REPLACE "^," "" SIP_LIBRARY_DIRS ${SIP_LIBRARY_DIRS})
++        message(WARNING "test lib dir: ${SIP_LIBRARY_DIRS}")
++
++        set(MACOS_MINIMUM_VERSION ${CMAKE_OSX_DEPLOYMENT_TARGET})
++
++        # TODO:
++        #   I don't know what to do about LDFLAGS_OTHER
++        #   what's the equivalent construct in sip5?
++
++        configure_file(
++            ${__PYTHON_QT_BINDING_SIP_HELPER_DIR}/pyproject.toml.in
++            ${sip_BINARY_DIR}/sip/pyproject.toml
++        )
++        add_custom_command(
++            OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}
++            COMMAND ${Python3_EXECUTABLE} -m pip install . --target ${sip_LIBRARY_DIR} --no-deps --verbose --upgrade
++            DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS}
++            WORKING_DIRECTORY ${sip_BINARY_DIR}/sip
++            COMMENT "Running SIP-build generator for ${PROJECT_NAME} Python bindings..."
++        )
+     else()
+-      find_program(MAKE_PROGRAM NAMES make)
+-      message(STATUS "Found required make: ${MAKE_PROGRAM}")
+-      set(MAKE_EXECUTABLE ${MAKE_PROGRAM})
+-    endif()
++        add_custom_command(
++            OUTPUT ${SIP_BUILD_DIR}/Makefile
++            COMMAND ${Python3_EXECUTABLE} ${sip_SIP_CONFIGURE} ${SIP_BUILD_DIR} ${SIP_FILE} ${sip_LIBRARY_DIR}
++              \"${INCLUDE_DIRS}\" \"${LIBRARIES}\" \"${LIBRARY_DIRS}\" \"${LDFLAGS_OTHER}\"
++            DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS}
++            WORKING_DIRECTORY ${sip_SOURCE_DIR}
++            COMMENT "Running SIP generator for ${PROJECT_NAME} Python bindings..."
++        )
+
+-    add_custom_command(
+-        OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}
+-        COMMAND ${MAKE_EXECUTABLE}
+-        DEPENDS ${SIP_BUILD_DIR}/Makefile
+-        WORKING_DIRECTORY ${SIP_BUILD_DIR}
+-        COMMENT "Compiling generated code for ${PROJECT_NAME} Python bindings..."
+-    )
++        if(NOT EXISTS "${sip_LIBRARY_DIR}")
++            file(MAKE_DIRECTORY ${sip_LIBRARY_DIR})
++        endif()
++
++        if(WIN32)
++            set(MAKE_EXECUTABLE NMake.exe)
++        else()
++            set(MAKE_EXECUTABLE make)
++        endif()
++
++        add_custom_command(
++            OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}
++            COMMAND ${MAKE_EXECUTABLE}
++            DEPENDS ${SIP_BUILD_DIR}/Makefile
++            WORKING_DIRECTORY ${SIP_BUILD_DIR}
++            COMMENT "Compiling generated code for ${PROJECT_NAME} Python bindings..."
++        )
++    endif()
+
+     add_custom_target(lib${PROJECT_NAME} ALL
+         DEPENDS ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}
+diff --git a/src/python_qt_binding/__init__.py b/src/python_qt_binding/__init__.py
+index 1e209de..6b55f35 100644
+--- a/src/python_qt_binding/__init__.py
++++ b/src/python_qt_binding/__init__.py
+@@ -66,3 +66,11 @@ for module_name, module in QT_BINDING_MODULES.items():
+     del module
+
+ del sys
++
++import os
++from PyQt5.QtGui import QIcon
++current_theme_path = QIcon.themeSearchPaths()
++conda_path = os.environ['CONDA_PREFIX']
++QIcon.setThemeSearchPaths(current_theme_path + [os.path.join(conda_path, 'share/icons/')])
++QIcon.setThemeName('Adwaita')
++del os
+-- 
+2.46.1
diff --git a/patch/ros-jazzy-qt-gui-cpp.patch b/patch/ros-jazzy-qt-gui-cpp.patch
@@ -0,0 +1,62 @@
+diff --git a/src/qt_gui_cpp_sip/CMakeLists.txt b/src/qt_gui_cpp_sip/CMakeLists.txt
+index 47c24958..11378b3e 100644
+--- a/src/qt_gui_cpp_sip/CMakeLists.txt
++++ b/src/qt_gui_cpp_sip/CMakeLists.txt
+@@ -28,7 +28,7 @@ set(qt_gui_cpp_sip_DEPENDENT_FILES
+
+ # maintain context for different named target
+ set(qt_gui_cpp_sip_INCLUDE_DIRS ${qt_gui_cpp_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/../../include")
+-set(qt_gui_cpp_sip_LIBRARY_DIRS ${qt_gui_cpp_LIBRARY_DIRS} lib)
++set(qt_gui_cpp_sip_LIBRARY_DIRS ${CMAKE_BINARY_DIR} lib)
+ set(qt_gui_cpp_sip_LDFLAGS_OTHER ${qt_gui_cpp_LDFLAGS_OTHER})
+
+ ament_get_recursive_properties(deps_include_dirs deps_libraries ${pluginlib_TARGETS})
+@@ -51,16 +51,22 @@ cmake_minimum_required(VERSION 3.20)
+ cmake_policy(SET CMP0094 NEW)
+ set(Python3_FIND_UNVERSIONED_NAMES FIRST)
+
+-find_package(Python3 REQUIRED COMPONENTS Development)
++find_package(Python REQUIRED COMPONENTS Interpreter Development)
++find_package(OpenGL REQUIRED)
+
+ set(_qt_gui_cpp_sip_LIBRARIES
+   ${deps_libraries}
+-  Python3::Python
+   qt_gui_cpp
++  OpenGL::GL
+ )
+
++if(NOT APPLE)
++  set(_qt_gui_cpp_sip_LIBRARIES ${_qt_gui_cpp_sip_LIBRARIES} Python::Python)
++endif()
++
+ # sip needs libraries to have resolved paths and cannot link to cmake targets
+-foreach(_lib_name ${_qt_gui_cpp_sip_LIBRARIES})
++foreach(_lib_name_raw ${_qt_gui_cpp_sip_LIBRARIES})
++  string(REGEX REPLACE "\\.so\\.[0-9,\\.]*" ".so" _lib_name ${_lib_name_raw})
+   if(TARGET ${_lib_name})
+     # Use a nifty cmake generator expression to resolve the target location
+     list(APPEND qt_gui_cpp_sip_LIBRARIES $<TARGET_FILE:${_lib_name}>)
+@@ -91,11 +97,20 @@ if(sip_helper_FOUND)
+   )
+
+   if(APPLE)
+-    set(LIBQT_GUI_CPP_SIP_SUFFIX .so)
++    # Okay-ish hack for now
++    if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0")
++      set(LIBQT_GUI_CPP_SIP_SUFFIX ".cpython-${Python_VERSION_MAJOR}${Python_VERSION_MINOR}-darwin.so")
++    else()
++      set(LIBQT_GUI_CPP_SIP_SUFFIX .so)
++    endif()
+   elseif(WIN32)
+     set(LIBQT_GUI_CPP_SIP_SUFFIX .pyd)
+   else()
+-    set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
++    if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0")
++      set(LIBQT_GUI_CPP_SIP_SUFFIX ".cpython-${Python_VERSION_MAJOR}${Python_VERSION_MINOR}-${CMAKE_HOST_SYSTEM_PROCESSOR}-linux-gnu${CMAKE_SHARED_LIBRARY_SUFFIX}")
++    else()
++      set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
++    endif()
+   endif()
+
+   install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libqt_gui_cpp_sip${LIBQT_GUI_CPP_SIP_SUFFIX}