setup.py

import os
import re
import sys
import shlex
import shutil
import subprocess
import json

from setuptools import setup, find_namespace_packages, Extension
from setuptools.command.build_ext import build_ext
from setuptools.command.sdist import sdist
from wheel.bdist_wheel import bdist_wheel

SRC_PATH = os.path.dirname(os.path.abspath(__file__))
if __name__ == "__main__":
    # use SDK source location from environment or try to guess
    OUSTER_SDK_PATH = os.getenv('OUSTER_SDK_PATH')
    if OUSTER_SDK_PATH is None:
        OUSTER_SDK_PATH = os.path.join(SRC_PATH, "sdk")
    if not os.path.exists(OUSTER_SDK_PATH):
        OUSTER_SDK_PATH = os.path.dirname(SRC_PATH)
    if not os.path.exists(os.path.join(OUSTER_SDK_PATH, "cmake")):
        raise RuntimeError("Could not guess OUSTER_SDK_PATH")


# https://packaging.python.org/en/latest/guides/single-sourcing-package-version/
def parse_version():
    with open(os.path.join(OUSTER_SDK_PATH, 'CMakeLists.txt')) as listfile:
        content = listfile.read()
        groups = re.search(r"set\(OusterSDK_VERSION_STRING ([^-\)]+)(.(.*))?\)", content)
        return groups.group(1) + (groups.group(3) or "")


class CMakeExtension(Extension):
    def __init__(self, name, sourcedir=''):
        Extension.__init__(self, name, sources=[])
        self.sourcedir = os.path.abspath(sourcedir)


class CMakeBuild(build_ext):
    def run(self):
        import shutil

        if shutil.which('cmake') is None:
            raise RuntimeError("No cmake executable found on path")

        for ext in self.extensions:
            self.build_extension(ext)

    def build_extension(self, ext):
        extdir = os.path.abspath(
            os.path.dirname(self.get_ext_fullpath(ext.name)))
        # required for auto-detection of auxiliary "native" libs
        if not extdir.endswith(os.path.sep):
            extdir += os.path.sep

        cmake_args = [
            '-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + extdir,
            '-DPYTHON_EXECUTABLE=' + sys.executable
        ]

        # Bug in pybind11 cmake strips symbols with RelWithDebInfo
        # https://github.com/pybind/pybind11/issues/1891
        # Fixed in https://github.com/pybind/pybind11/issues/1892
        build_type = os.getenv("BUILD_TYPE", "Release")
        print(f"build_type: {build_type}")

        cmake_args += ['-DCMAKE_BUILD_TYPE=' + build_type]

        env = os.environ.copy()
        jobs = os.getenv('OUSTER_SDK_BUILD_JOBS', os.cpu_count())

        # pass OUSTER_SDK_PATH to cmake
        cmake_args += ['-DOUSTER_SDK_PATH=' + OUSTER_SDK_PATH]

        # specify additional cmake args
        extra_args = env.get('OUSTER_SDK_CMAKE_ARGS')
        if extra_args:
            cmake_args += shlex.split(extra_args)
        if not os.path.exists(self.build_temp):
            os.makedirs(self.build_temp)

        def cmake_log(message):
            env = os.environ.copy()
            log_file = env.get('OUSTER_SDK_CMAKE_LOG_FILE')
            if log_file:
                if os.path.exists(os.path.dirname(log_file)):
                    with open(log_file, 'a') as f:
                        f.write(str(message))
            print(message)

        cmake_log("Running: ")
        run = ['cmake', ext.sourcedir] + cmake_args
        cmake_log(run)
        output1 = subprocess.run(run,
                                 cwd=self.build_temp,
                                 stdout=subprocess.PIPE,
                                 stderr=subprocess.STDOUT,
                                 env=env, text=True)
        cmake_log("CMAKE CONFIG OUTPUT")
        cmake_log(output1.stdout)
        if output1.returncode != 0:
            print("Error running cmake")
            sys.exit(1)

        output2 = subprocess.run(['cmake', '--build', '.', '--parallel', str(jobs), '--config', build_type],
                                 cwd=self.build_temp,
                                 stdout=subprocess.PIPE,
                                 stderr=subprocess.STDOUT,
                                 env=env, text=True)
        cmake_log("CMAKE BUILD OUTPUT")
        cmake_log(output2.stdout)
        if output2.returncode != 0:
            print("Error running cmake --build")
            sys.exit(1)


class sdk_sdist(sdist):
    """Allow including files from parent directory via symlink."""
    def run(self):
        created = False
        try:
            if not os.path.exists("sdk"):
                os.symlink("..", "sdk")
                created = True
            super().run()
        finally:
            if created:
                os.remove("sdk")


class sdk_bdist_wheel(bdist_wheel):
    """Copy files needed by wheel from SDK dir."""

    FILES = ["LICENSE", "LICENSE-bin"]

    def run(self):
        try:
            for file in self.FILES:
                shutil.copy(os.path.join(OUSTER_SDK_PATH, file), ".")
            super().run()
        finally:
            for file in self.FILES:
                if os.path.exists(file):
                    os.remove(file)


def install_requires():
    install_requires = [
        'psutil >=5.9.5, <6',
        'zeroconf >=0.131.0',
        'click >=8.1.3, <9',
        'importlib_metadata ==6.6.0',
        'prettytable >= 2.1.0',
        'requests >=2.0, <3',
        'more-itertools >=8.6',
        'numpy >=1.19, <2, !=1.19.4',
        'laspy >=2.5.0, <3',
        'typing-extensions >=3.7.4.3',
        'threadpoolctl >=3.5.0',
        'Pillow >=9.2',
        'packaging',
        'rosbags == 0.9.23',
        'setuptools; python_version >= "3.12"'
    ]

    # PUT ALL MAPPING REQUIREMENTS INSIDE OF THE requirements.json file
    with open(os.path.join(SRC_PATH,
                           "src",
                           "ouster",
                           "sdk",
                           "mapping",
                           "requirements.json")) as f:
        mapping_reqs = json.loads(f.read())
    for item in mapping_reqs:
        temp = f"{item} {mapping_reqs[item]['version']}; {mapping_reqs[item]['marker']}"
        install_requires.append(temp)
    return install_requires


if __name__ == "__main__":
    setup(
        name='ouster-sdk',
        url='https://github.com/ouster-lidar/ouster-sdk',
        # read from top-level sdk CMakeLists.txt
        version=parse_version(),
        package_dir={'': 'src'},
        packages=find_namespace_packages(where='src', include='ouster.*'),
        package_data={
            'ouster.sdk.client': ['py.typed', '_client.pyi'],
            'ouster.sdk.pcap': ['py.typed', '_pcap.pyi'],
            'ouster.sdk.osf': ['py.typed', '_osf.pyi'],
            'ouster.sdk.viz': ['py.typed', '_viz.pyi'],
            'ouster.sdk.mapping': ['py.typed', 'requirements.json'],
            'ouster.sdk.bag': ['py.typed']
        },
        author='Ouster Sensor SDK Developers',
        author_email='oss@ouster.io',
        description='Ouster Sensor SDK',
        license='BSD 3-Clause License',
        ext_modules=[
            CMakeExtension('ouster.*'),
        ],
        cmdclass={
            'build_ext': CMakeBuild,
            'sdist': sdk_sdist,
            'bdist_wheel': sdk_bdist_wheel,
        },
        zip_safe=False,
        python_requires='>=3.8, <4',
        install_requires=install_requires(),
        extras_require={
            'test': [
                'pytest >=7.0, <8',
                'pytest-asyncio',
            ],
            'dev': ['flake8', 'mypy', 'pylsp-mypy', 'python-lsp-server', 'yapf'],
            'docs': [
                'Sphinx >=3.5',
                'sphinx-autodoc-typehints ==1.17.0',
                'sphinx-rtd-theme ==1.0.0',
                'sphinx-copybutton ==0.5.0',
                'docutils <0.18',
                'sphinx-tabs ==3.3.1',
                'breathe ==4.33.1',
                'sphinx-rtd-size'
            ],
            'examples': [
                'matplotlib',
                'opencv-python',
                'laspy',
                'PyQt5; platform_system=="Windows"',
            ],
        },
        entry_points={'console_scripts':
            [
                'simple-viz=ouster.sdk.simple_viz:main',                     # TODO[UN]: do we need to keep?
                'ouster-cli=ouster.cli.core:run'
            ]
        }
    )