From 4b6622edd73366add9b9f52a7742b5c74413d6bc Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Thu, 25 Jan 2024 12:01:05 -0800
Subject: [PATCH] More fixes.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 rosidl_generator_py/CMakeLists.txt                    | 11 +++--------
 rosidl_generator_py/cmake/custom_command.cmake        |  4 +++-
 .../rosidl_generator_py_generate_interfaces.cmake     | 11 ++++++-----
 3 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
index a0c5186e..fe6e6c5d 100644
--- a/rosidl_generator_py/CMakeLists.txt
+++ b/rosidl_generator_py/CMakeLists.txt
@@ -25,11 +25,6 @@ if(BUILD_TESTING)
   find_package(python_cmake_module REQUIRED)
   find_package(PythonExtra MODULE REQUIRED)
 
-  set(BUILDTYPE_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
-  if(WIN32 AND "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
-    set(BUILDTYPE_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
-  endif()
-
   include(cmake/register_py.cmake)
   include(cmake/rosidl_generator_py_get_typesupports.cmake)
 
@@ -72,18 +67,18 @@ if(BUILD_TESTING)
       string(REPLACE ";" ":" pythonpath "${pythonpath}")
     endif()
     ament_add_pytest_test(test_interfaces_py "test/test_interfaces.py"
-      PYTHON_EXECUTABLE "${BUILDTYPE_PYTHON_EXECUTABLE}"
+      PYTHON_EXECUTABLE PythonExtra::Interpreter
       APPEND_ENV "PYTHONPATH=${pythonpath}"
       APPEND_LIBRARY_DIRS "${_append_library_dirs}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
     )
 
     ament_add_pytest_test(test_cli_extension test/test_cli_extension.py
-      PYTHON_EXECUTABLE "${BUILDTYPE_PYTHON_EXECUTABLE}"
+      PYTHON_EXECUTABLE PythonExtra::Interpreter
     )
 
     ament_add_pytest_test(test_property_py test/test_property.py
-      PYTHON_EXECUTABLE "${BUILDTYPE_PYTHON_EXECUTABLE}"
+      PYTHON_EXECUTABLE PythonExtra::Interpreter
       APPEND_ENV "PYTHONPATH=${pythonpath}"
       APPEND_LIBRARY_DIRS "${_append_library_dirs}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
diff --git a/rosidl_generator_py/cmake/custom_command.cmake b/rosidl_generator_py/cmake/custom_command.cmake
index db109734..7519a94e 100644
--- a/rosidl_generator_py/cmake/custom_command.cmake
+++ b/rosidl_generator_py/cmake/custom_command.cmake
@@ -20,7 +20,9 @@
 # add_subdirectory() call.
 add_custom_command(
   OUTPUT ${_generated_extension_files} ${_generated_py_files} ${_generated_c_files}
-  COMMAND Python3::Interpreter ${rosidl_generator_py_BIN}
+  # This assumes that python_cmake_module was found, which is always the case since this is only
+  # called from rosidl_generator_py_generate_interfaces.cmake
+  COMMAND PythonExtra::Interpreter ${rosidl_generator_py_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   --typesupport-impls "${_typesupport_impls}"
   DEPENDS ${target_dependencies} ${rosidl_generate_interfaces_TARGET}
diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
index 8f1608c7..800c1b8d 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
@@ -72,10 +72,10 @@ foreach(_generated_py_file ${_generated_py_files})
 endforeach()
 
 if(NOT _generated_c_files STREQUAL "")
-    foreach(_typesupport_impl ${_typesupport_impls})
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/_${PROJECT_NAME}_s.ep.${_typesupport_impl}.c")
-      list(APPEND _generated_extension_files "${_generated_extension_${_typesupport_impl}_files}")
-    endforeach()
+  foreach(_typesupport_impl ${_typesupport_impls})
+    list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/_${PROJECT_NAME}_s.ep.${_typesupport_impl}.c")
+    list(APPEND _generated_extension_files "${_generated_extension_${_typesupport_impl}_files}")
+  endforeach()
 endif()
 set(_dependency_files "")
 set(_dependencies "")
@@ -185,9 +185,10 @@ foreach(_typesupport_impl ${_typesupport_impls})
     ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
   )
 
+  set_target_properties(${_target_name} PROPERTIES DEBUG_POSTFIX "${PythonExtra_POSTFIX}")
   # target_compile_options(${_target_name} PRIVATE ${_extension_compile_flags})
   # TODO(sloretz) use target_compile_options when python extension passes -Wpedantic
-  set_target_properties(${_target_name} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")  # XXX
+  set_target_properties(${_target_name} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")
 
   set_target_properties(${_target_name} PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${_output_path}