Use pkg-config to check for dependencies (#328)

* Use pkg config to check for dependencies

* Make python Dockerfile more consistent with source and protocol

* Use the python pkgconfig package instead of cmake CLI

* 6.3.3 -> 6.3.4

* Update CHANGELOG

CHANGELOG.md

@@ -20,6 +20,7 @@ Release Versions:
 
 - Add pkg-config files for control libraries (#326)
 - Add pkg-config files for clproto (#327)
+- Use pkg-config to check for dependencies (#328)
 
 ## 6.3.1
 

VERSION

@@ -1 +1 @@
-6.3.3
+6.3.4

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 6.3.3 CONFIG REQUIRED)
+find_package(control_libraries 6.3.4 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 6.3.3
+PROJECT_NUMBER = 6.3.4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 6.3.3)
+project(clproto VERSION 6.3.4)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

protocol/install.sh

@@ -155,13 +155,18 @@ if [ "${BINDINGS_ONLY}" == true ]; then
 fi
 
 PROTOBUF_INSTALL=$(ldconfig -p | grep libprotobuf)
-if [ -z "${PROTOBUF_INSTALL}" ] ]; then
+if [ -z "${PROTOBUF_INSTALL}" ]; then
   echo ">>> LIBPROTOBUF NOT FOUND"
   install_protobuf || exit 1
 fi
 
-STATE_REPRESENTATION_INSTALL=$(ldconfig -p | grep libstate_representation)
-if [ -z "${STATE_REPRESENTATION_INSTALL}" ]; then
+if [ -z $(which pkg-config) ]; then
+  echo ">>> INSTALLING pkg-config tool"
+  apt-get update && apt-get install "${AUTO_INSTALL}" pkg-config || exit 1
+fi
+
+pkg-config state_representation --atleast-version=$(cat "$(dirname "${SCRIPT_DIR}")"/VERSION)
+if [ "$?" != 0 ]; then
   echo ">>> STATE REPRESENTATION LIBRARY NOT FOUND!"
   install_state_representation
 fi

python/.gitignore

@@ -1 +1,5 @@
 __pycache__
+.cache
+.local
+build
+control_libraries.egg-info

python/Dockerfile.python

@@ -6,24 +6,23 @@ WORKDIR /source
 RUN git clone --depth 1 --branch ${BRANCH} https://github.com/epfl-lasa/control-libraries
 RUN bash control-libraries/source/install.sh --auto
 RUN bash control-libraries/protocol/install.sh --auto
-
+RUN rm -rf control-libraries
 
 FROM source as build
 
-RUN rm -rf control-libraries/python/include control-libraries/python/source
-COPY include control-libraries/python/include
-COPY source control-libraries/python/source
-COPY pyproject.toml setup.py control-libraries/python/
+USER developer
+WORKDIR ${HOME}/python
+# copy these files separately because otherwise any changes in the test directory would trigger the install again
+COPY include include
+COPY source source
+COPY pyproject.toml setup.py .
 ENV OSQP_INCLUDE_DIR /usr/local/include/osqp
-RUN pip3 install control-libraries/python
+RUN pip3 install .
 
 
 FROM build as testing
 
-USER developer
-WORKDIR ${HOME}
-
-COPY test ./test
+COPY test test
 RUN python3 -m unittest
 
 CMD ["/bin/bash"]

python/README.md

@@ -105,7 +105,7 @@ A Dockerfile and run script are provided to test the installation of the binding
 
 The docker image installs the core control libraries and subsequently installs the python bindings.
 
-The [`run.sh`](./run.sh) script will build the docker image and launch an interactive container
+The [`build-test.sh`](./build-test.sh) script will build the docker image and launch an interactive container
 with the test files in the [`test`](./test) directory copied to the local path.
 
 The run script tries to the clone the current local git branch when installing the control libraries

python/run.sh → python/build-test.sh

@@ -4,7 +4,7 @@ BASE_TAG="latest"
 
 BRANCH=$(git branch --show-current)
 
-HELP_MESSAGE="Usage: run.sh [-b <branch>] [--base-tag <base-tag>] [-r] [-v]
+HELP_MESSAGE="Usage: build-test.sh [-b <branch>] [--base-tag <base-tag>] [-r] [-v]
 Options:
   -b, --branch <branch>    Specify the branch of control libraries
                            that should be used to build the image.
@@ -21,11 +21,11 @@ BUILD_FLAGS=()
 while [[ $# -gt 0 ]]; do
   opt="$1"
   case $opt in
-    -b|--branch) BRANCH=$2;shift 2;;
+    -b|--branch) BRANCH=$2; shift 2;;
     --base-tag) BASE_TAG=$2; shift 2;;
     -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
-    -h|--help) echo "${HELP_MESSAGE}" ; exit 0 ;;
+    -h|--help) echo "${HELP_MESSAGE}"; exit 0 ;;
     *) echo 'Error in command line parsing' >&2
        echo -e "\n${HELP_MESSAGE}"
        exit 1
@@ -43,6 +43,6 @@ docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE
 DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.python "${BUILD_FLAGS[@]}" || exit 1
 
 docker run -it --rm \
-  --volume "$(pwd)"/test:/home/developer/test:rw \
+  --volume "$(pwd)":/home/developer/python:rw \
   --name "${IMAGE_NAME//[\/.:]/-}" \
   "${IMAGE_NAME}"

python/pyproject.toml

@@ -3,6 +3,7 @@ requires = [
     "setuptools>=42",
     "wheel",
     "pybind11>=2.7.0",
+    "pkgconfig>=1.5.5"
 ]
 
 build-backend = "setuptools.build_meta"

python/setup.py

@@ -1,15 +1,17 @@
 import os
+import sys
 import warnings
 from glob import glob
 
+import pkgconfig
 from pybind11.setup_helpers import ParallelCompile, naive_recompile
 from pybind11.setup_helpers import Pybind11Extension
 from setuptools import setup
 
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "6.3.3"
+__version__ = "6.3.4"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 
@@ -20,16 +22,15 @@
 
 # check that necessary libraries can be found
 try:
-    eigen_dir = os.popen(
-        'cmake --find-package -DNAME=Eigen3 -DCOMPILER_ID=GNU -DLANGUAGE=C -DMODE=COMPILE').read().strip()
+    eigen_dir = pkgconfig.cflags('eigen3')
     if eigen_dir.startswith('-I'):
         __include_dirs__.append(eigen_dir.lstrip('-I'))
     else:
         raise Exception('Could not find Eigen3 package!')
 
     for lib in __libraries__:
-        status = os.popen(f'ldconfig -p | grep {lib}').read().strip()
-        if len(status) == 0:
+        status = pkgconfig.installed(lib, f'>= {__version__}')
+        if not status:
             msg = f'Could not find library {lib}!'
             if lib == 'clproto':
                 warnings.warn(f'{msg} The clproto module will not be installed.')
@@ -59,6 +60,7 @@
 except Exception as e:
     msg = f'Error with control library dependencies: {e.args[0]} Ensure the control libraries are properly installed.'
     warnings.warn(msg)
+    sys.exit(1)
 
 ParallelCompile('NPY_NUM_BUILD_JOBS', needs_recompile=naive_recompile).install()
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 6.3.3)
+project(control_libraries VERSION 6.3.4)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)

source/install.sh

@@ -91,8 +91,8 @@ if [ -z $(which pkg-config) ]; then
   apt-get update && apt-get install "${AUTO_INSTALL}" pkg-config || exit 1
 fi
 
-INSTALLED_EIGEN=$(pkg-config --modversion eigen3) || exit 0
-if [ "${INSTALLED_EIGEN::4}" != "${EIGEN_VERSION::4}" ]; then
+pkg-config eigen3 --atleast-version="${EIGEN_VERSION}"
+if [ "$?" != 0 ]; then
   echo ">>> INSTALLING EIGEN"
   mkdir -p "${SOURCE_PATH}"/tmp/lib && cd "${SOURCE_PATH}"/tmp/lib || exit 1
   wget -c "https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_VERSION}/eigen-${EIGEN_VERSION}.tar.gz" -O - | tar -xz || exit 1
@@ -108,8 +108,8 @@ if [ "${BUILD_ROBOT_MODEL}" == "ON" ]; then
   echo ">>> INSTALLING ROBOT MODEL DEPENDENCIES"
   apt-get update && apt-get install "${AUTO_INSTALL}" libboost-all-dev liburdfdom-dev || exit 1
 
-  INSTALLED_PINOCCHIO=$(pkg-config --modversion pinocchio)
-  if [ "${INSTALLED_PINOCCHIO}" != "${PINOCCHIO_TAG}" ]; then
+  pkg-config pinocchio --atleast-version=${PINOCCHIO_TAG}
+  if [ "$?" != 0 ]; then
     mkdir -p "${SOURCE_PATH}"/tmp/lib && cd "${SOURCE_PATH}"/tmp/lib || exit 1
 
     echo ">>> INSTALLING OSQP [1/3]"