Merge pull request #380 from dic-iit/conda_forge_ci_python

Enable Python bindings in conda-forge CI and fix Python bindings compilation and tests on MSVC
ami-iit · Jul 29, 2021 · a2cda7d · a2cda7d
2 parents b23cac8 + 99f00c7
commit a2cda7d
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Showing 4 changed files with 46 additions and 14 deletions.
diff --git a/.github/workflows/conda-forge-ci.yml b/.github/workflows/conda-forge-ci.yml
@@ -9,7 +9,6 @@ on:
   - cron:  '0 2 * * *'
 
 env:
-  manif_TAG: 0.0.4
   tomlplusplus_TAG: v2.4.0
 
 jobs:
@@ -37,7 +36,14 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install -c robotology idyntree yarp libmatio matio-cpp lie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog catch2 nlohmann_json manif
+        mamba install -c robotology idyntree yarp libmatio matio-cpp lie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog catch2 nlohmann_json manif manifpy pybind11 numpy pytest scipy
+
+    - name: Windows-only Dependencies [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install vs2019_win-64
 
     - name: Dependencies [tomlplusplus - Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
@@ -74,25 +80,40 @@ jobs:
         mkdir -p build
         cd build
         cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF \
-              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+              -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Test [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}
 
     - name: Configure [Windows]
       if: contains(matrix.os, 'windows')
-      shell: bash -l {0}
+      shell: cmd /C call {0}
       run: |
         mkdir -p build
         cd build
-        cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF \
-              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
-    - name: Build
-      shell: bash -l {0}
+    - name: Build [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C call {0}
       run: |
         cd build
         cmake --build . --config ${{ matrix.build_type }}
 
-    - name: Test
-      shell: bash -l {0}
+    - name: Test [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C call {0}
       run: |
         cd build
         ctest --output-on-failure -C ${{ matrix.build_type }}
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -26,6 +26,7 @@ All notable changes to this project are documented in this file.
 
 ### Fix
 - Fixed the crashing of `YarpSensorBridge` while trying to access unconfigured control board sensors data by adding some checks (https://github.com/dic-iit/bipedal-locomotion-framework/pull/378)
+- Fixed the compilation of Python bindings (enabled by the `FRAMEWORK_COMPILE_PYTHON_BINDINGS` CMake option) when compiling with Visual Studio (https://github.com/dic-iit/bipedal-locomotion-framework/pull/380).
 
 ## [0.2.0] - 2021-06-15
 ### Added

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -43,6 +43,15 @@ set_target_properties(pybind11_blf PROPERTIES
 
 if(FRAMEWORK_TEST_PYTHON_BINDINGS)
     add_subdirectory(tests)
+
+    # For testing on Windows we copy the blf .dll in the same
+    # directory of the bindings
+    if(WIN32)
+        add_custom_command(TARGET pybind11_blf POST_BUILD
+            COMMAND ${CMAKE_COMMAND} -E copy_directory
+            $<TARGET_FILE_DIR:BipedalLocomotion::Math>
+            $<TARGET_FILE_DIR:pybind11_blf>)
+    endif()
 endif()
 
 # Output package is:
@@ -56,3 +65,4 @@ install(TARGETS pybind11_blf DESTINATION ${PYTHON_INSTDIR})
 # Install the __init__.py file
 install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/all.py"
   DESTINATION ${PYTHON_INSTDIR})
+
diff --git a/bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp b/bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp
@@ -58,13 +58,13 @@ void CreateLeggedOdometry(pybind11::module& module)
              py::arg("encoder_speeds"))
         .def("advance", &LeggedOdometry::advance)
         .def("reset_estimator",
-             py::overload_cast<const InternalState&>(&LeggedOdometry::resetEstimator),
+             py::overload_cast<const InternalState&>(&FloatingBaseEstimator::resetEstimator),
              py::arg("new_state"))
         .def("reset_estimator",
              py::overload_cast<const Eigen::Quaterniond&, const Eigen::Vector3d&>(
-                 &LeggedOdometry::resetEstimator),
-             py::arg("new_imu_orientation"),
-             py::arg("new_imu_position"))
+                 &FloatingBaseEstimator::resetEstimator),
+             py::arg("new_base_orientation"),
+             py::arg("new_base_position"))
         .def("reset_estimator", py::overload_cast<>(&LeggedOdometry::resetEstimator))
         .def("reset_estimator",
              py::overload_cast<const std::string&, const Eigen::Quaterniond&, const Eigen::Vector3d&>(