Merge remote-tracking branch 'sofa-framework/master' into robosoft2022_integration

Author: guparan

.github/workflows/remove-old-artifacts.yml

@@ -0,0 +1,18 @@
+name: Remove old artifacts
+
+on:
+  workflow_dispatch:
+
+jobs:
+  remove-old-artifacts:
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+
+    steps:
+    - name: Remove old artifacts
+      uses: c-hive/gha-remove-artifacts@v1
+      with:
+        age: '1 day' # '<number> <unit>', e.g. 5 days, 2 years, 90 seconds, parsed by Moment.js
+        # Optional inputs
+        # skip-tags: true
+        # skip-recent: 5

CMake/SofaPython3Tools.cmake

@@ -348,6 +348,13 @@ function(SP3_add_python_module)
             LIBRARY DESTINATION "lib/${SP3_PYTHON_PACKAGES_DIRECTORY}/${DESTINATION}" COMPONENT libraries
             ARCHIVE DESTINATION "lib/${SP3_PYTHON_PACKAGES_DIRECTORY}/${DESTINATION}" COMPONENT libraries
         )
+    elseif (DESTINATION)
+        install(
+            TARGETS ${A_TARGET}
+            RUNTIME DESTINATION "lib/${SP3_PYTHON_PACKAGES_DIRECTORY}/${DESTINATION}" COMPONENT applications
+            LIBRARY DESTINATION "lib/${SP3_PYTHON_PACKAGES_DIRECTORY}/${DESTINATION}" COMPONENT libraries
+            ARCHIVE DESTINATION "lib/${SP3_PYTHON_PACKAGES_DIRECTORY}/${DESTINATION}" COMPONENT libraries
+        )
     endif()
 
     foreach(header ${A_HEADERS})

Plugin/CMakeLists.txt

@@ -1,7 +1,7 @@
 project(Plugin VERSION 1.0)
 
 set(HEADER_FILES
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/config.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/config.h.in
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/initModule.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/PythonEnvironment.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SceneLoaderPY3.h
@@ -81,6 +81,8 @@ set_target_properties(
         CUDA_VISIBILITY_PRESET "hidden"
 )
 
+target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/include>")
+
 sofa_create_component_in_package_with_targets(
     COMPONENT_NAME ${PROJECT_NAME}
     COMPONENT_VERSION ${SofaPython3_VERSION}

Plugin/src/SofaPython3/DataCache.h

@@ -21,7 +21,7 @@
 #pragma once
 
 #include <pybind11/numpy.h>
-#include "config.h"
+#include <SofaPython3/config.h>
 
 ////////////////////////// FORWARD DECLARATION ///////////////////////////
 namespace sofa {

Plugin/src/SofaPython3/DataHelper.cpp

@@ -294,6 +294,8 @@ size_t getSize(BaseData* self)
 
 py::buffer_info toBufferInfo(BaseData& m)
 {
+    scoped_read_access guard(&m);
+
     const AbstractTypeInfo& nfo { *m.getValueTypeInfo() };
     auto itemNfo = nfo.BaseType();
 
@@ -411,7 +413,7 @@ py::array resetArrayFor(BaseData* d)
 py::array getPythonArrayFor(BaseData* d)
 {
     auto& memcache = getObjectCache();
-    if(memcache.find(d) == memcache.end())
+    if(d->isDirty() || memcache.find(d) == memcache.end())
     {
         auto capsule = py::capsule(new Base::SPtr(d->getOwner()));
 

Plugin/src/SofaPython3/PythonEnvironment.cpp

@@ -131,8 +131,10 @@ SOFAPYTHON3_API py::module PythonEnvironment::importFromFile(const std::string&
     if (globals == nullptr)
         globals = &globs;
     py::eval<py::eval_statements>(            // tell eval we're passing multiple statements
-                                              "import imp\n"
-                                              "new_module = imp.load_module(module_name, open(path), path, ('py', 'U', imp.PY_SOURCE))\n",
+                                              "import importlib.util \n"
+                                              "spec = importlib.util.spec_from_file_location(module_name, path) \n"
+                                              "new_module = importlib.util.module_from_spec(spec) \n"
+                                              "spec.loader.exec_module(new_module)",
                                               *globals,
                                               locals);
     py::module m =  py::cast<py::module>(locals["new_module"]);
@@ -233,25 +235,16 @@ void PythonEnvironment::Init()
     // Lastly, we (try to) add modules from the root of SOFA
     addPythonModulePathsFromDirectory( Utils::getSofaPathPrefix() );
 
-    try
-    {
-        py::module::import("SofaRuntime");
-    }
-    catch (pybind11::error_already_set)
-    {
-        msg_error("SofaPython3") << "Could not import SofaRuntime module, initializing python3 for SOFA is not possible";
-        return;
-    }
     getStaticData()->m_sofamodule = py::module::import("Sofa");
-
+    PyRun_SimpleString("import SofaRuntime");
 
     // python livecoding related
     PyRun_SimpleString("from Sofa.livecoding import onReimpAFile");
 
     // general sofa-python stuff
 
     // python modules are automatically reloaded at each scene loading
-    //setAutomaticModuleReload( true );
+    setAutomaticModuleReload( true );
 
     // Initialize pluginLibraryPath by reading PluginManager's map
     std::map<std::string, Plugin>& map = PluginManager::getInstance().getPluginMap();

Plugin/src/SofaPython3/PythonEnvironment.h

@@ -44,7 +44,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/eval.h>
 
-#include "config.h"
+#include <SofaPython3/config.h>
 
 namespace sofapython3
 {

Plugin/src/SofaPython3/PythonFactory.h

@@ -25,7 +25,7 @@
 #include <sofa/core/objectmodel/Base.h>
 #include <sofa/core/objectmodel/Event.h>
 #include <pybind11/pybind11.h>
-#include "config.h"
+#include <SofaPython3/config.h>
 
 /////////////////////////////// DECLARATION //////////////////////////////
 namespace sofapython3

Plugin/src/SofaPython3/SceneLoaderPY3.h

@@ -27,7 +27,7 @@
 #include <sofa/simulation/Visitor.h>
 #include <sofa/simulation/Node.h>
 
-#include "config.h"
+#include <SofaPython3/config.h>
 
 namespace sofapython3
 {

Plugin/src/SofaPython3/config.h Plugin/src/SofaPython3/config.h.inPlugin/src/SofaPython3/config.h renamed to Plugin/src/SofaPython3/config.h.in

@@ -40,9 +40,14 @@
 #endif
 
 // define own pybind version macro, much easier to test/read
-#define PYBIND11_SOFA_VERSION (PYBIND11_VERSION_MAJOR * 10000 \
-    + PYBIND11_VERSION_MINOR * 100 \
-    + PYBIND11_VERSION_PATCH)
+#define PYBIND11_SOFA_VERSION_MAJOR @pybind11_VERSION_MAJOR@
+#define PYBIND11_SOFA_VERSION_MINOR @pybind11_VERSION_MINOR@
+#define PYBIND11_SOFA_VERSION_PATCH @pybind11_VERSION_PATCH@
+#define PYBIND11_SOFA_VERSION ( \
+      PYBIND11_SOFA_VERSION_MAJOR * 10000 \
+    + PYBIND11_SOFA_VERSION_MINOR * 100 \
+    + PYBIND11_SOFA_VERSION_PATCH )
+
 // pybind11 already bind the attributeError starting from 2.8.1 version.
 // so if the version is >= 2.8.1, macro does nothing, otherwise bind attribute_error
 #if PYBIND11_SOFA_VERSION >= 20801