stack-of-tasks · jcarpent · Apr 9, 2024 · Apr 9, 2024 · Apr 9, 2024 · Apr 9, 2024
diff --git a/.github/workflows/check-changelog.yml b/.github/workflows/check-changelog.yml
@@ -1,4 +1,5 @@
-name: Check-changelog
+name: CI - Check-changelog
+
 on:
   pull_request:
     types: [assigned, opened, synchronize, reopened, labeled, unlabeled, edited]

diff --git a/...rkflows/conda/environment_macos_linux.yml → .github/workflows/conda/environment_all.yml b/...rkflows/conda/environment_macos_linux.yml → .github/workflows/conda/environment_all.yml
diff --git a/.github/workflows/conda/environment_windows.yml b/.github/workflows/conda/environment_windows.yml
diff --git a/.github/workflows/jrl-cmakemodules.yml b/.github/workflows/jrl-cmakemodules.yml
@@ -1,5 +1,24 @@
-name: JRL-cmakemodules
-on: [push,pull_request]
+name: CI - JRL-cmakemodules
+
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true

diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -1,6 +1,24 @@
-name: Check build on linux
+name: CI - Linux via APT
 
-on: ["push", "pull_request"]
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true

diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
@@ -1,6 +1,24 @@
-name: Conda-CI
-
-on: [push,pull_request]
+name: CI - OSX/Linux via Conda
+
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
@@ -42,7 +60,7 @@ jobs:
       with:
         submodules: recursive
 
-    - uses: actions/cache@v3
+    - uses: actions/cache@v4
       with:
         path: .ccache
         key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.python-version }}-${{ github.sha }}
@@ -53,7 +71,7 @@ jobs:
       with:
         activate-environment: eigenpy
         auto-update-conda: true
-        environment-file: .github/workflows/conda/environment_macos_linux.yml
+        environment-file: .github/workflows/conda/environment_all.yml
         python-version: ${{ matrix.python-version }}
         auto-activate-base: false
 
@@ -62,7 +80,7 @@ jobs:
       with:
         activate-environment: eigenpy
         auto-update-conda: true
-        environment-file: .github/workflows/conda/environment_macos_linux.yml
+        environment-file: .github/workflows/conda/environment_all.yml
         python-version: ${{ matrix.python-version }}
         auto-activate-base: false
         installer-url: https://github.com/conda-forge/miniforge/releases/download/23.11.0-0/Mambaforge-23.11.0-0-MacOSX-arm64.sh
@@ -84,7 +102,7 @@ jobs:
           -DGENERATE_PYTHON_STUBS=ON \
           -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
           -DCMAKE_CXX_FLAGS=${{ matrix.cxx_options }}
-        cmake --build . -j2
+        cmake --build . -j4
         ctest --output-on-failure
         cmake --install .
 

diff --git a/.github/workflows/reloc.yml b/.github/workflows/reloc.yml
@@ -1,6 +1,24 @@
-name: Ensure relocatable
+name: CI - Ensure relocatable
 
-on: [push,pull_request]
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true

diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
@@ -1,10 +1,28 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: ROS-CI
+name: CI - Linux via ROS
 
 # This determines when this workflow is run
-on: [push, pull_request] # on all pushes and PRs
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true

diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml
@@ -1,5 +1,24 @@
-name: Build Eigenpy on Windows via Conda
-on: [push,pull_request]
+name: CI - Windows via Conda
+
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '*.md'
+      - 'LICENSE'
+      - 'colcon.pkg'
+      - '.pre-commit-config.yaml'
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
@@ -17,32 +36,34 @@ jobs:
       fail-fast: false
       matrix:
           os: [windows-latest]
+          compiler: ["cl", "clang-cl"]
 
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: recursive
 
+    - uses: actions/cache@v4
+      with:
+        path: .ccache
+        key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-
+
     - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: eigenpy
         auto-update-conda: true
-        environment-file: .github/workflows/conda/environment_windows.yml
+        environment-file: .github/workflows/conda/environment_all.yml
         python-version: "3.10"
         auto-activate-base: false
 
-    - uses: actions/cache@v3
-      with:
-        path: .ccache
-        key: ccache-windows-conda-${{ matrix.os }}-${{ github.sha }}
-        restore-keys: ccache-windows-conda-${{ matrix.os }}-
-
     - name: Build Eigenpy
       shell: cmd /C CALL {0}
+      env:
+        CC: ${{ matrix.compiler }}
+        CXX: ${{ matrix.compiler }}
       run: |
-        :: start building
-        call "%programfiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
-        if errorlevel 1 exit 1
+        call conda list
 
         mkdir build
         pushd build
@@ -57,14 +78,17 @@ jobs:
           ..
         if errorlevel 1 exit 1
 
-        :: Build and Install
-        cmake --build . -j3 --config Release --target install
+        :: Build
+        cmake --build . -j4
         if errorlevel 1 exit 1
 
         :: Testing
-        ctest --output-on-failure -C Release -V
+        ctest --output-on-failure
         if errorlevel 1 exit 1
 
+        :: Install
+        cmake --install .
+
         :: Test Python import
         cd ..
         python -c "import eigenpy"

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -8,6 +8,8 @@ repos:
     args:
     - --fix
     - --exit-non-zero-on-fix
+    - --ignore
+    - UP036
   - id: ruff-format
 - repo: https://github.com/cheshirekow/cmake-format-precommit
   rev: v0.6.13

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -19,6 +19,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix CMake export ([#446](https://github.com/stack-of-tasks/eigenpy/pull/446)
 - Fix `int` management on Windows ([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
 - Fix `long long` management on Mac ([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
+- Allow to run test in the build directory on Windows ([#457](https://github.com/stack-of-tasks/eigenpy/pull/457))
 
 ### Removed
 - Remove casting when converting from Eigen scalar to Numpy scalar.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,6 +43,14 @@ else()
   endif()
 endif()
 
+function(set_standard_output_directory target)
+  set_target_properties(
+    ${target}
+    PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
+               LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
+               ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
+endfunction()
+
 # Disable -Werror on Unix for now.
 set(CXX_DISABLE_WERROR True)
 set(CMAKE_VERBOSE_MAKEFILE True)
@@ -328,6 +336,7 @@ set(${PROJECT_NAME}_SOURCES
 
 add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
                                    ${${PROJECT_NAME}_HEADERS})
+set_standard_output_directory(${PROJECT_NAME})
 target_include_directories(
   ${PROJECT_NAME} SYSTEM
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -67,7 +67,7 @@ if(GENERATE_PYTHON_STUBS)
 endif(GENERATE_PYTHON_STUBS)
 
 # --- INSTALL SCRIPTS
-set(PYTHON_FILES __init__.py)
+set(PYTHON_FILES __init__.py windows_dll_manager.py)
 
 foreach(python ${PYTHON_FILES})
   python_build(${PROJECT_NAME} ${python})

diff --git a/python/eigenpy/__init__.py b/python/eigenpy/__init__.py
@@ -2,5 +2,29 @@
 # Copyright (c) 2017-2021 CNRS INRIA
 #
 
-from .eigenpy_pywrap import *  # noqa
-from .eigenpy_pywrap import __raw_version__, __version__  # noqa
+# On Windows, if eigenpy.dll is not in the same directory than
+# the .pyd, it will not be loaded.
+# We first try to load eigenpy, then, if it fail and we are on Windows:
+#  1. We add all paths inside eigenpy_WINDOWS_DLL_PATH to DllDirectory
+#  2. If EIGENPY_WINDOWS_DLL_PATH we add the relative path from the
+#     package directory to the bin directory to DllDirectory
+# This solution is inspired from:
+#  - https://github.com/PixarAnimationStudios/OpenUSD/pull/1511/files
+#  - https://stackoverflow.com/questions/65334494/python-c-extension-packaging-dll-along-with-pyd
+# More resources on https://github.com/diffpy/pyobjcryst/issues/33
+try:
+    from .eigenpy_pywrap import *  # noqa
+    from .eigenpy_pywrap import __raw_version__, __version__
+except ImportError:
+    import platform
+
+    if platform.system() == "Windows":
+        from .windows_dll_manager import build_directory_manager, get_dll_paths
+
+        with build_directory_manager() as dll_dir_manager:
+            for p in get_dll_paths():
+                dll_dir_manager.add_dll_directory(p)
+            from .eigenpy_pywrap import *  # noqa
+            from .eigenpy_pywrap import __raw_version__, __version__  # noqa
+    else:
+        raise