Upgrade python bindings to nanobind

.clang-format

@@ -15,7 +15,7 @@ AllowShortIfStatementsOnASingleLine: true
 AllowShortLoopsOnASingleLine: true
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: true
 BinPackArguments: true
 BinPackParameters: false

.github/workflows/build-others.yml

@@ -16,6 +16,12 @@ on:
     branches:
       - '**'
 
+env:
+  # Branch that triggered this workflow
+  GITHUB_BRANCH: ${{ github.head_ref || github.ref_name }}
+  # Repository that triggered this workflow
+  GITHUB_REPO_TRIGGER: ${{ github.actor }}/${{ github.event.repository.name }}
+
 jobs:
   build:
     strategy:
@@ -28,7 +34,6 @@ jobs:
       with:
         submodules: recursive
     - name: Clone superbuild
-      if: matrix.os != 'windows-latest'
       uses: actions/checkout@v4
       with:
         submodules: recursive
@@ -52,8 +57,13 @@ jobs:
         echo "::group::Build base image"
         docker build -t mc-rtc-ci-${{matrix.os}} .
         echo "::endgroup::"
-        echo "::group::Run install"
-        docker run mc-rtc-ci-${{matrix.os}} /bin/bash -c '/source/.github/workflows/docker/build-docker.sh'
+        echo "::group::Build in docker"
+        WITH_ROS_SUPPORT=ON
+        if [ ${{ matrix.os }} == "debian_bullseye" ]; then
+          WITH_ROS_SUPPORT=OFF
+        fi
+        echo "WITH_ROS_SUPPORT=${WITH_ROS_SUPPORT}"
+        docker run mc-rtc-ci-${{matrix.os}} /bin/bash -c "cd /source/mc-rtc-superbuild && ./utils/bootstrap-linux.sh && git config --global user.email '[email protected]' && git config --global user.name 'Arnaud Tanguy (Automated CI update)' && mkdir -p ${TMPDIR-/tmp}/build-mc-rtc && cmake -S /source/mc-rtc-superbuild -B ${TMPDIR-/tmp}/build-mc-rtc -DCMAKE_BUILD_TYPE=RelWithDebInfo -DVERBOSE_TEST_OUTPUT=ON -DWITH_ROS_SUPPORT=${WITH_ROS_SUPPORT} -DMC_RTC_SUPERBUILD_OVERRIDE_mc_rtc_GITHUB=${GITHUB_REPO_TRIGGER} -DMC_RTC_SUPERBUILD_OVERRIDE_mc_rtc_GIT_TAG=origin/${GITHUB_BRANCH} && cmake --build ${TMPDIR-/tmp}/build-mc-rtc --config RelWithDebInfo"
         echo "::endgroup::"
     - name: Slack Notification
       if: failure()

.github/workflows/build.yml

@@ -17,6 +17,12 @@ on:
     branches:
       - '**'
 
+env:
+  # Branch that triggered this workflow
+  GITHUB_BRANCH: ${{ github.head_ref || github.ref_name }}
+  # Repository that triggered this workflow
+  GITHUB_REPO_TRIGGER: ${{ github.actor }}/${{ github.event.repository.name }}
+
 jobs:
   build:
     strategy:
@@ -70,7 +76,12 @@ jobs:
       shell: bash
       run: |
         mkdir -p ${TMPDIR-/tmp}/build-mc-rtc
-        cmake -S ${GITHUB_WORKSPACE}/mc-rtc-superbuild -B ${TMPDIR-/tmp}/build-mc-rtc -DCMAKE_BUILD_TYPE=RelWithDebInfo -DVERBOSE_TEST_OUTPUT=ON
+        cmake -S ${GITHUB_WORKSPACE}/mc-rtc-superbuild \
+              -B ${TMPDIR-/tmp}/build-mc-rtc \
+              -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+              -DINSTALL_DOCUMENTATION=ON \
+              -DMC_RTC_SUPERBUILD_OVERRIDE_mc_rtc_GITHUB=${GITHUB_REPO_TRIGGER} \
+              -DMC_RTC_SUPERBUILD_OVERRIDE_mc_rtc_GIT_TAG="origin/${GITHUB_BRANCH}"
 
     - name: "[superbuild] Install mc_rtc and related projects"
       if: matrix.os != 'windows-latest'
@@ -141,11 +152,11 @@ jobs:
 
     - name: Upload documentation
       # Only run on master branch and for one configuration
-      if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master' && github.repository == 'jrl-umi3218/mc_rtc'
+      if: matrix.os == 'ubuntu-22.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master' && github.repository == 'jrl-umi3218/mc_rtc'
       run: |
         set -x
         pushd .
-        cd doc
+        cd ${TMPDIR-/tmp}/build-mc-rtc/src/mc_rtc/doc
         cp -r /usr/local/share/doc/mc_rtc/doxygen-html .
         find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/SpaceVecAlg/doxygen-html/@https://jrl-umi3218.github.io/SpaceVecAlg/doxygen/HEAD/@g'
         find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/RBDyn/doxygen-html/@https://jrl-umi3218.github.io/RBDyn/doxygen/HEAD/@g'

.gitignore

@@ -12,3 +12,5 @@ compile_commands.json
 .vscode/
 utils/build_and_install_user_config.sh
 .cache/
+binding/nanobind/build/
+binding/nanobind/dist/

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "cmake"]
 	path = cmake
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules
+	url = https://github.com/ahoarau/jrl-cmakemodules.git
 [submodule ".jrl-ci"]
 	path = .jrl-ci
 	url = https://github.com/jrl-umi3218/jrl-travis.git

3rd-party/qhull/CMakeLists.txt

@@ -67,7 +67,7 @@
 # $Id: //main/2019/qhull/CMakeLists.txt#21 $$Change: 3039 $
 # $DateTime: 2020/09/03 21:26:22 $$Author: bbarber $
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.5)
 project(qhull)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_CXX_VISIBILITY_PRESET default)

CMakeLists.txt

@@ -2,7 +2,7 @@
 # Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
-cmake_minimum_required(VERSION 3.15)
+cmake_minimum_required(VERSION 3.24)
 if(POLICY CMP0063)
   cmake_policy(SET CMP0063 NEW)
 endif()
@@ -29,17 +29,18 @@ set(CMAKE_CXX_VISIBILITY_PRESET hidden)
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_CXX_STANDARD 17)
 
+find_package(jrl-cmakemodules 0.2.0 CONFIG QUIET)
+
+include(cmake/get-jrl-cmakemodules.cmake)
 include(cmake/base.cmake)
-include(cmake/cython/cython.cmake)
-include(cmake/msvc-specific.cmake)
-include(cmake/version-script.cmake)
+jrl_configure_defaults()
 
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
 project(${PROJECT_NAME} C CXX)
 set(MC_RTC_SOURCE_DIR "${PROJECT_SOURCE_DIR}")
 
-set_default_cmake_build_type(RelWithDebInfo)
+# set_default_cmake_build_type(RelWithDebInfo)
 
 if(NOT DEFINED MC_RTC_INSTALL_PREFIX)
   set(MC_RTC_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
@@ -51,7 +52,7 @@ else()
   set(MC_RTC_LOADER_DEBUG_SUFFIX "")
 endif()
 
-option(GENERATE_COVERAGE "Generate coverage data" FALSE)
+jrl_option(GENERATE_COVERAGE "Generate coverage data" FALSE)
 if("${CMAKE_CXX_FLAGS}" MATCHES "--coverage")
   set(GENERATE_COVERAGE
       TRUE
@@ -64,25 +65,26 @@ if("${CMAKE_CXX_FLAGS}" MATCHES "--coverage")
   )
 endif()
 
-option(TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+jrl_option(TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 
-option(BUILD_CONTROLLER_SAMPLES "Build sample controllers in the project" ON)
-option(DISABLE_CONTROLLER_TESTS "Disable controller unit tests" OFF)
-option(DISABLE_ROBOT_TESTS "Disable RobotModule unit tests" OFF)
-option(ENABLE_FAST_TESTS "Run controllers tests for a few iterations" OFF)
+jrl_option(BUILD_CONTROLLER_SAMPLES "Build sample controllers in the project" ON)
+jrl_option(DISABLE_CONTROLLER_TESTS "Disable controller unit tests" OFF)
+jrl_option(DISABLE_ROBOT_TESTS "Disable RobotModule unit tests" OFF)
+jrl_option(ENABLE_FAST_TESTS "Run controllers tests for a few iterations" OFF)
+jrl_option(NANOBIND_BINDINGS "Build nanobind Python bindings" ON)
 
-option(BUILD_BENCHMARKS "Build benchmarks" OFF)
+jrl_option(BUILD_BENCHMARKS "Build benchmarks" OFF)
 
-option(MC_RTC_BUILD_STATIC
+jrl_option(MC_RTC_BUILD_STATIC
        "Build a static version of mc_rtc, this has no support for pluggable components"
        OFF
 )
-option(MC_RTC_DISABLE_NETWORK "Build without network support" OFF)
-option(MC_RTC_DEVELOPER_MODE
+jrl_option(MC_RTC_DISABLE_NETWORK "Build without network support" OFF)
+jrl_option(MC_RTC_DEVELOPER_MODE
        "Disable exact version embedding to speed up recompilations" OFF
 )
 
-option(DISABLE_ROS "Build without ROS support (even if ROS was found)" OFF)
+jrl_option(DISABLE_ROS "Build without ROS support (even if ROS was found)" OFF)
 
 set(BOOST_STACKTRACE "")
 set(BOOST_USE_STACKTRACE_DEFINE "")
@@ -115,15 +117,15 @@ if(BOOST_STACKTRACE STREQUAL "")
   )
 endif()
 
-add_project_dependency(Boost REQUIRED COMPONENTS filesystem timer ${BOOST_STACKTRACE})
-add_project_dependency(Tasks REQUIRED)
-add_project_dependency(TVM REQUIRED)
+jrl_find_package(Boost REQUIRED COMPONENTS filesystem timer ${BOOST_STACKTRACE})
+jrl_find_package(Tasks REQUIRED)
+jrl_find_package(TVM REQUIRED)
 if(NOT TARGET RBDyn::Parsers)
   message(FATAL_ERROR "RBDyn must be built with parsers support")
 endif()
-add_project_dependency(eigen-quadprog REQUIRED)
-add_project_dependency(state-observation REQUIRED)
-add_project_dependency(ndcurves REQUIRED)
+jrl_find_package(eigen-quadprog REQUIRED)
+jrl_find_package(state-observation REQUIRED)
+jrl_find_package(ndcurves REQUIRED)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/CMakeModules)
 
@@ -273,8 +275,8 @@ add_subdirectory(src)
 add_subdirectory(plugins)
 add_subdirectory(utils)
 
-if(${PYTHON_BINDING})
-  add_subdirectory(binding/python)
+if(NANOBIND_BINDINGS OR PYTHON_BINDING)
+  add_subdirectory(binding)
 endif()
 
 if(${BUILD_TESTING})

binding/CMakeLists.txt

@@ -0,0 +1,21 @@
+if(NANOBIND_BINDINGS)
+  message(STATUS "[${PROJECT_NAME}] Building Python bindings")
+  jrl_find_python(3.8 REQUIRED COMPONENTS Interpreter Development.Module)
+  jrl_find_nanobind(2.4.0 CONFIG REQUIRED)
+  jrl_find_package(nanoeigenpy CONFIG REQUIRED)
+  add_subdirectory(nanobind)
+
+  # Adds a target to build docs using Sphinx The sphinx mode is any mode supported by
+  # Sphinx, e.g., html, latexpdf, etc.
+  function(add_sphinx_target sphinx_mode)
+    add_custom_target(
+      mc_rtc-nanobind-docs
+      COMMAND make html
+      WORKING_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/nanobind/docs"
+      COMMENT "Build Sphinx ${sphinx_mode} documentation for nanobind"
+    )
+  endfunction()
+  add_sphinx_target(html)
+elseif(PYTHON_BINDING)
+  add_subdirectory(binding/python)
+endif()

binding/nanobind/.gitignore

@@ -0,0 +1,2 @@
+CMakeCache.txt
+CMakeFiles/

binding/nanobind/CMakeLists.txt

@@ -0,0 +1,115 @@
+# We are now ready to compile the actual extension module
+nanobind_add_module(
+  # Name of the extension
+  _mc_rtc
+  # Target the stable ABI for Python 3.12+, which reduces the number of binary wheels
+  # that must be built. This does nothing on older Python versions
+  STABLE_ABI
+  # Build libnanobind statically and merge it into the extension (which itself remains a
+  # shared library)
+  #
+  # If your project builds multiple extensions, you can replace this flag by NB_SHARED
+  # to conserve space by reusing a shared libnanobind across libraries
+  NB_STATIC
+  LTO
+  # Main mc_rtc module
+  src/mc_rtc_module/mc_rtc_module.cpp
+  # mc_rtc.mc_rtc submodule
+  src/mc_rtc_module/mc_rtc/bind_Configuration.cpp
+  src/mc_rtc_module/mc_rtc/bind_Loader.cpp
+  # mc_rtc.mc_rbdyn submodule
+  src/mc_rtc_module/mc_rbdyn/mc_rbdyn_module.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_ForceSensor.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_JointSensor.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_RobotModule.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_Device.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_RobotData.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_RobotFrame.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_Robots.cpp
+  src/mc_rtc_module/mc_rbdyn/bind_Robot.cpp
+  # mc_rtc.mc_control submodule
+  src/mc_rtc_module/mc_control/mc_control_module.cpp
+  src/mc_rtc_module/mc_control/bind_Gripper.cpp
+  # mc_rtc.mc_tasks submodule
+  src/mc_rtc_module/mc_tasks/mc_tasks_module.cpp
+  src/mc_rtc_module/mc_tasks/bind_MetaTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_TrajectoryTaskGeneric.cpp
+  src/mc_rtc_module/mc_tasks/bind_PostureTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_TransformTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_GazeTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_PositionTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_OrientationTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_EndEffectorTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_ImpedanceTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_CoMTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_CoPTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_ComplianceTask.cpp
+  src/mc_rtc_module/mc_tasks/bind_BSplineTrajectoryTask.cpp
+  # mc_rtc.mc_solver submodule
+  src/mc_rtc_module/mc_solver/mc_solver_module.cpp
+  src/mc_rtc_module/mc_solver/bind_QPSolver.cpp
+  src/mc_rtc_module/mc_solver/bind_KinematicsConstraint.cpp
+  src/mc_rtc_module/mc_solver/bind_DynamicsConstraint.cpp
+  src/mc_rtc_module/mc_solver/bind_ContactConstraint.cpp
+  src/mc_rtc_module/mc_solver/bind_CompoundJointConstraint.cpp
+  src/mc_rtc_module/mc_solver/bind_CoMIncPlaneConstr.cpp
+  src/mc_rtc_module/mc_solver/bind_CollisionsConstraint.cpp
+  src/mc_rtc_module/mc_solver/bind_BoundedSpeedConstr.cpp
+)
+
+jrl_check_python_module_name(_mc_rtc)
+target_link_libraries(_mc_rtc PRIVATE mc_rtc::mc_rtc_utils mc_rtc::mc_rbdyn mc_rtc::mc_tasks mc_rtc::mc_solver mc_rtc::mc_control)
+target_include_directories(
+  _mc_rtc PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+)
+jrl_target_set_default_compile_options(_mc_rtc PRIVATE)
+jrl_target_set_output_directory(_mc_rtc OUTPUT_DIRECTORY
+                                ${CMAKE_BINARY_DIR}/lib/site-packages/mc_rtc)
+
+
+set(MC_RTC_MODULES mc_rtc mc_rbdyn mc_control mc_tasks mc_solver)
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/__init__.py
+               ${CMAKE_BINARY_DIR}/lib/site-packages/mc_rtc/__init__.py COPYONLY)
+
+foreach(MODULE IN LISTS MC_RTC_MODULES)
+    set(MOD_DIR "${CMAKE_BINARY_DIR}/lib/site-packages/mc_rtc/${MODULE}")
+    file(MAKE_DIRECTORY "${MOD_DIR}")
+
+    set(MODULE_NAME ${MODULE})
+    configure_file(
+        ${CMAKE_CURRENT_SOURCE_DIR}/__init__stub.conf.py
+        ${MOD_DIR}/__init__.py
+        @ONLY
+    )
+
+    nanobind_add_stub(
+        mc_rtc_${MODULE}_stub
+        MODULE
+        mc_rtc._mc_rtc.${MODULE}
+        OUTPUT
+        ${MOD_DIR}/__init__.pyi
+        MARKER_FILE
+        ${MOD_DIR}/py.typed
+        PYTHON_PATH
+        ${CMAKE_BINARY_DIR}/lib/site-packages
+        DEPENDS
+        _mc_rtc
+        VERBOSE
+    )
+endforeach()
+
+jrl_python_compile_all(DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/mc_rtc
+                       VERBOSE)
+
+jrl_python_compute_install_dir(python_install_dir)
+install(
+  DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/mc_rtc
+  DESTINATION ${python_install_dir}
+  FILES_MATCHING
+  PATTERN "*.py"
+  PATTERN "*.pyc"
+  PATTERN "*.pyi"
+  PATTERN "*.typed"
+  PATTERN "*.so"
+  PATTERN "*.pyd")

binding/nanobind/README.md

@@ -0,0 +1,17 @@
+# nanobind python bindings for mc_rtc
+
+## Build
+
+This is integrated in CMake, the following targets are available:
+- `mc_rtc-nanobind-bindings`
+- `force-mc_rtc-nanobind-bindings`
+
+See https://nanobind.readthedocs.io/en/latest/packaging.html for details
+
+## Doc
+
+```
+cd docs
+pip install sphinx sphinx-autoapi sphinx-book-theme
+make html
+```