setup.py

import os
import sys
import subprocess

from setuptools import find_packages
from setuptools import setup 
from setuptools import Extension

from setuptools.command.build_ext import build_ext as BaseBuildExtCommand


def buildBindings( sourceDir, buildDir, cmakeArgs, buildArgs, env ):
    if not os.path.exists( buildDir ) :
        os.makedirs( buildDir )

    subprocess.call( ['cmake', sourceDir] + cmakeArgs, cwd=buildDir, env=env )
    subprocess.call( ['cmake', '--build', '.'] + buildArgs, cwd=buildDir )

class CMakeExtension( Extension ) :

    def __init__( self, name, sourceDir, sources=[] ) :
        super( CMakeExtension, self ).__init__( name, sources=sources )
        self.sourceDir = os.path.abspath( sourceDir )

class BuildCommand( BaseBuildExtCommand ) :

    def run( self ) :
        try:
            _ = subprocess.check_output( ['cmake', '--version'] )
        except OSError:
            raise RuntimeError( 'CMake must be installed to build the following extensions: ' +
                                ', '.join( e.name for e in self.extensions ) )

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

    def build_extension( self, extension ) :
        _extensionFullPath = self.get_ext_fullpath( extension.name )
        _extensionDirName = os.path.dirname( _extensionFullPath )
        _extensionDirPath = os.path.abspath( _extensionDirName )

        _cfg = 'Debug' if self.debug else 'Release'
        _buildArgs = ['--config', _cfg, '--', '-j4']
        _cmakeArgs = ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + _extensionDirPath,
                      '-DPYTHON_EXECUTABLE=' + sys.executable,
                      '-DCMAKE_BUILD_TYPE=' + _cfg]

        _env = os.environ.copy()
        _env['CXXFLAGS'] = '{} -DVERSION_INFO=\\"{}\\"'.format( _env.get( 'CXXFLAGS', '' ),
                                                                self.distribution.get_version() )

        _sourceDir = extension.sourceDir
        _buildDir = self.build_temp

        buildBindings( _sourceDir, _buildDir, _cmakeArgs, _buildArgs, _env )

def grabAllContents( folderPath ) :
    _elements = os.listdir( folderPath )
    _files = []

    for _element in _elements :
        _elementPath = os.path.join( folderPath, _element )

        if os.path.isdir( _elementPath ) :
            if ( ( '_imgs' in _element ) or
                 ( 'build' == _element ) or
                 ( 'egg-info' in _element ) ) :
                continue

            _files.extend( grabAllContents( _elementPath ) )

        elif ( ( '.cpp' in _element ) or ( '.cc' in _element ) or
               ( '.h' in _element ) or ( '.hh' in _element ) or
               ( '.png' in _element ) or ( '.jpg' in _element ) or 
               ( '.glsl' in _element ) or ( '.cmake' in _element ) or
               ( 'CMakeLists.txt' == _element ) ) :
            _files.append( _elementPath )

    return _files

# grab all packages inside that are only related to the loco repo
loco_packages = [ package for package in find_packages( '.' ) if package.startswith( 'loco' ) ]
# grab the data related to the loco repo
loco_packages_data = []

# grab all packages inside core repo (tysoc)
tysoc_packages = [ package for package in find_packages( 'core' ) if package.startswith( 'pytysoc' ) ]
# create the dirs where each package in core points to
tysoc_packages_dirs = { package: 'core/' + package.replace( '.', '/' ) for package in tysoc_packages }
# grab the data related to the core repo (tysoc)
tysoc_packages_data = [ '../res/templates/mjcf/*.xml',
                        '../res/templates/urdf/*.urdf',
                        '../res/templates/rlsim/*.json',
                        '../res/xml/*.xml',
                        '../res/xml/baxter_meshes/*.stl',
                        '../res/xml/baxter_meshes/*.obj',
                        '../res/xml/laikago_meshes/*.stl',
                        '../res/xml/laikago_meshes/*.obj',
                        '../res/xml/nao_meshes/*.stl',
                        '../res/xml/nao_meshes/*.obj',
                        '../res/xml/r2d2_meshes/*.stl',
                        '../res/xml/r2d2_meshes/*.obj',
                        '../res/xml/sawyer_meshes/*.stl',
                        '../res/xml/sawyer_meshes/*.obj' ]

packages = loco_packages + tysoc_packages
packages_dirs = tysoc_packages_dirs

print( 'packages: ', packages )
print( 'dirs: ', packages_dirs )

setup(
    name                    = 'loco-rl',
    version                 = '0.0.1',
    description             = 'A locomotion framework with multi-backend support',
    author                  = 'Wilbert Santos Pumacay Huallpa',
    license                 = 'MIT License',
    author_email            = 'wpumacay@gmail.com',
    url                     = 'https://github.com/wpumacay/loco',
    keywords                = 'locomotion control simulation',
    packages                = packages,
    zip_safe                = False,
    install_requires        = [
                                'numpy',
                                'setuptools',
                                'scipy'
                              ],
    package_dir             = packages_dirs,
    package_data            = {
                                'loco' : loco_packages_data,
                                'pytysoc' : tysoc_packages_data
                              },
    ext_modules             = [
                                CMakeExtension( 'tysoc_bindings', '.', 
                                                sources = grabAllContents( '.' ) )
                              ],
    cmdclass                = {
                                'build_ext': BuildCommand
                              }
)