FEATURE: Additional rework of package structure

Implementation of Python packaging workflow using the CPack function and Python installer external executable.

Implementation BeagleBone/Texas Instruments PRU package structure.

CMakeLists.txt

@@ -48,6 +48,8 @@ string(TOLOWER ${MACHINEKIT_HAL_PACKAGE_PREFIX_NORMALIZED}
                MACHINEKIT_HAL_PACKAGE_PREFIX)
 string(REGEX REPLACE "_" "/" MACHINEKIT_HAL_PACKAGE_PREFIX_PATH
                      ${MACHINEKIT_HAL_PACKAGE_PREFIX})
+string(REGEX REPLACE "[-~ .]" "" MACHINEKIT_HAL_PACKAGE_NAME
+                     ${CMAKE_PROJECT_NAME})
 
 include(GNUInstallDirs)
 include(CPackComponent)
@@ -70,6 +72,8 @@ set(MACHINEKIT_HAL_LOCAL_STATE_DIRECTORY "${CMAKE_INSTALL_LOCALSTATEDIR}")
 set(MACHINEKIT_HAL_TEST_DIRECTORY
     "${CMAKE_INSTALL_DATAROOTDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}/testsuite"
 )
+set(MACHINEKIT_HAL_CMAKE_PACKAGE_DIRECTORY
+    "${CMAKE_INSTALL_LIBDIR}/cmake/${CMAKE_PROJECT_NAME}")
 
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/support/cmake/tools"
      "${PROJECT_SOURCE_DIR}/support/cmake/languages")

debian/.gitignore

@@ -8,6 +8,11 @@
 # directory artifacts
 /tmp
 /machinekit-hal*/
+/libmachinekit-hal*/
+/modmachinekit-hal*/
+/python3*/
+
+/.cpack/
 
 # file artifacts
 /*substvars
@@ -16,4 +21,6 @@
 /files
 /__pycache__
 
+/debhelper-build-stamp
+
 !/changelog.in

debian/control.in

@@ -150,6 +150,34 @@ Description: Universal framework for machine control based on Hardware Abstracti
     motion and other control for atomation, robot and CNC machine tool
     applications.
 
+Package: python3-machinekit-hal
+Architecture: any
+Multi-Arch: foreign
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}, ${python3:Depends}
+Description: Machinekit-HAL's Python exacutables
+ This package contains the executables written in Python for the Machinekit-HAL project
+
+Package: python3-libmachinekit-hal
+Architecture: any
+Multi-Arch: foreign
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}, ${python3:Depends}
+Description: Machinekit-HAL's Python libraries
+ This package contains the libraries written in Python for the Machinekit-HAL project
+
+Package: python3-modmachinekit-hal-unmanaged-components
+Architecture: any
+Multi-Arch: foreign
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}, ${python3:Depends}
+Description: Machinekit-HAL's Python unmanaged modules - components
+ This package contains the unmanaged modules - components written in Python3 for the Machinekit-HAL project.
+
+Package: python3-modmachinekit-hal-unmanaged-drivers
+Architecture: any
+Multi-Arch: foreign
+Depends: ${shlibs:Depends}, ${misc:Depends}, ${cpack:Depends}, ${python3:Depends}
+Description: Machinekit-HAL's Python unmanaged modules - drivers
+ This package contains the unmanaged modules - drivers written in Python3 for the Machinekit-HAL project.
+
 #Package: machinekit-hal-dev
 #Architecture: any
 #Depends: 

debian/python3-libmachinekit-hal.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Python_Libraries

debian/python3-machinekit-hal.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Python_Executables

debian/python3-modmachinekit-hal-unmanaged-components.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Python_Unmanaged_Modules_Components

debian/python3-modmachinekit-hal-unmanaged-drivers.cpack-component-groups

@@ -0,0 +1 @@
+MachinekitHAL_Package_Base_Python_Unmanaged_Modules_Drivers

debian/rules

@@ -81,4 +81,4 @@ else
 endif
 
 %:
-	dh $@ --buildsystem=cmake
+	dh $@ --buildsystem=cmake --with=python3

src/CMakeLists.txt

@@ -31,15 +31,6 @@ set(THREADS_PREFER_PTHREAD_FLAG TRUE)
 
 option(BUILD_PYTHON_DISTRIBUTIONS "Build Python3 distribution packages" TRUE)
 
-if(BUILD_PYTHON_DISTRIBUTIONS)
-  include(PEP503PythonIndex)
-  # Create a simple PEP503 conforming local Python index
-  if(NOT MACHINEKIT_HAL_PYTHON_INDEX)
-    set(MACHINEKIT_HAL_PYTHON_INDEX
-        "${CMAKE_BINARY_DIR}/$<CONFIG>/python_index")
-  endif()
-endif()
-
 # Define the outer rules for output directories for build artifacts
 set(MACHINEKIT_HAL_ARTIFACTS_MOUNTPOINT_DIRECTORY
     "${CMAKE_BINARY_DIR}/$<CONFIG>")
@@ -89,6 +80,15 @@ if(NOT MACHINEKIT_HAL_TEST_OUTPUT_DIRECTORY)
       "${MACHINEKIT_HAL_ARTIFACTS_MOUNTPOINT_DIRECTORY}/${MACHINEKIT_HAL_TEST_DIRECTORY}"
   )
 endif()
+# The export contains versions for all configuration, so there is no need for the configuration
+# specific ${MACHINEKIT_HAL_ARTIFACTS_MOUNTPOINT_DIRECTORY} (and it even cannot be used for generator
+# expression in it), but to have direct similarity to install TREE, use the './lib/<GNU-triplet>/cmake'
+# format even for BUILD tree (even though it may seem odd)
+# TODO: Investigate if this is really the best solution (as the relative path change does not matter much)
+if(NOT MACHINEKIT_HAL_CMAKE_PACKAGE_OUTPUT_DIRECTORY)
+  set(MACHINEKIT_HAL_CMAKE_PACKAGE_OUTPUT_DIRECTORY
+      "${CMAKE_BINARY_DIR}/${MACHINEKIT_HAL_CMAKE_PACKAGE_DIRECTORY}")
+endif()
 
 # Full install paths for Machinekit-HAL specific directories
 GNUInstallDirs_get_absolute_install_dir(
@@ -118,14 +118,116 @@ GNUInstallDirs_get_absolute_install_dir(
 GNUInstallDirs_get_absolute_install_dir(
   MACHINEKIT_HAL_TEST_FULL_INSTALL_DIRECTORY MACHINEKIT_HAL_TEST_DIRECTORY
   "DATAROOTDIR")
-
-add_subdirectory(libraries)
-add_subdirectory(executables)
-add_subdirectory(modules)
+GNUInstallDirs_get_absolute_install_dir(
+  MACHINEKIT_HAL_CMAKE_PACKAGE_FULL_INSTALL_DIRECTORY
+  MACHINEKIT_HAL_CMAKE_PACKAGE_DIRECTORY "LIBDIR")
 
 if(BUILD_PYTHON_DISTRIBUTIONS)
+  #[[
+  Installation of Python modules requires a higher logic for determining where
+  to put the files on the filesystem. Depending on the exact way how the Machinekit-HAL
+  installation will be used (Debian [and other linux distributions's] packaging,
+  local, /opt, user's HOME installation schemas or virtual environments), the paths
+  will be different and DOES NOT need to be in any way depending on what GNUInstallDirs
+  CMake module is defining for C and C++ language targets
+
+  TODO: Write smarter logic for default paths
+
+  This SIMPLE setting of defaults for full installation folders to the current active
+  "Python" using the FindPython CMake module
+
+  What FindPython reports is superior to what 'sysconfig.get_paths()' reports, at leas
+  on Debian system (some reported paths do NOT exist):
+
+  Python_STDLIB: '/usr/lib/python3.9'
+  Python_STDARCH:'/usr/lib/python3.9'
+  Python_SITELIB:'/usr/lib/python3/dist-packages'
+  Python_SITEARCH:'/usr/lib/python3/dist-packages'
+  Python_INCLUDE_DIRS:'/usr/include/python3.9'
+  Python_LIBRARY_DIRS:'/usr/lib/x86_64-linux-gnu'
+  Python_RUNTIME_LIBRARY_DIRS:'/usr/lib/x86_64-linux-gnu'
+
+  vs
+
+  {'data': '/usr',
+  'include': '/usr/include/python3.9',
+  'platinclude': '/usr/include/python3.9',
+  'platlib': '/usr/lib/python3.9/site-packages',
+  'platstdlib': '/usr/lib/python3.9',
+  'purelib': '/usr/lib/python3.9/site-packages',
+  'scripts': '/usr/bin',
+  'stdlib': '/usr/lib/python3.9'}
+
+  or for VENV virtual environment:
+
+  Python_STDLIB: '/usr/lib/python3.9'
+  Python_STDARCH: '/usr/lib/python3.9'
+  Python_SITELIB: '/tmp/venv/lib/python3.9/site-packages'
+  Python_SITEARCH: '/tmp/venv/lib/python3.9/site-packages'
+  Python_INCLUDE_DIRS: '/usr/include/python3.9'
+  Python_LIBRARY_DIRS: '/usr/lib/x86_64-linux-gnu'
+  Python_RUNTIME_LIBRARY_DIRS: '/usr/lib/x86_64-linux-gnu'
 
+  vs
+
+  {'data': '/tmp/venv',
+  include': '/usr/include/python3.9',
+  platinclude': '/usr/include/python3.9',
+  platlib': '/tmp/venv/lib/python3.9/site-packages',
+  platstdlib': '/tmp/venv/lib/python3.9',
+  purelib': '/tmp/venv/lib/python3.9/site-packages',
+  scripts': '/tmp/venv/bin',
+  stdlib': '/usr/lib/python3.9'}
+  ]]
+
+  find_package(
+    Python
+    COMPONENTS Interpreter Development
+    REQUIRED)
+
+  if(NOT MACHINEKIT_HAL_PYTHON_STDLIB_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_STDLIB_FULL_INSTALL_DIRECTORY "${Python_STDLIB}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_PURELIB_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_PURELIB_FULL_INSTALL_DIRECTORY
+        "${Python_SITELIB}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_PLATSTDLIB_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_PLATSTDLIB_FULL_INSTALL_DIRECTORY
+        "${Python_STDARCH}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_PLATLIB_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_PLATLIB_FULL_INSTALL_DIRECTORY
+        "${Python_SITEARCH}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_INCLUDE_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_INCLUDE_FULL_INSTALL_DIRECTORY
+        "${Python_INCLUDE_DIRS}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_PLATINCLUDE_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_PLATINCLUDE_FULL_INSTALL_DIRECTORY
+        "${Python_INCLUDE_DIRS}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_SCRIPTS_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_SCRIPTS_FULL_INSTALL_DIRECTORY
+        "${MACHINEKIT_HAL_EXECUTABLE_FULL_INSTALL_DIRECTORY}")
+  endif()
+  if(NOT MACHINEKIT_HAL_PYTHON_DATA_FULL_INSTALL_DIRECTORY)
+    set(MACHINEKIT_HAL_PYTHON_DATA_FULL_INSTALL_DIRECTORY
+        "${CMAKE_INSTALL_PREFIX}")
+  endif()
+
+  # Create a simple PEP503 conforming local Python index
+  if(NOT MACHINEKIT_HAL_PYTHON_INDEX)
+    set(MACHINEKIT_HAL_PYTHON_INDEX
+        "${CMAKE_BINARY_DIR}/$<CONFIG>/python_index")
+  endif()
+  include(PEP503PythonIndex)
 endif()
 
+add_subdirectory(libraries)
+add_subdirectory(executables)
+add_subdirectory(modules)
+
 # Terrible, ugly and hopefully temporary hack
 add_subdirectory(${CMAKE_SOURCE_DIR}/tests ${CMAKE_BINARY_DIR}/tests)

src/executables/bitfile/CMakeLists.txt

@@ -30,6 +30,7 @@ if(BUILD_PYTHON_DISTRIBUTIONS)
 
   if(BUILD_BITFILE_EXECUTABLE)
     find_program(PYPROJECT_BUILD "pyproject-build" REQUIRED)
+    include(PEP427Installer)
 
     set(PACKAGE_NAME "bitfile")
 
@@ -72,5 +73,16 @@ if(BUILD_PYTHON_DISTRIBUTIONS)
       COMMAND ${PYPROJECT_BUILD} -s -w -o ${OUTPUT_INDEX}
               ${CMAKE_CURRENT_BINARY_DIR}/${PACKAGE_NAME}
       COMMENT "Building Python package ${DISTRIBUTION_NAME} via external tool")
+
+    install_wheel(WHEEL "${OUTPUT_INDEX}" COMPONENT
+                  MachinekitHAL_Executable_Bitfile_Python_Packages)
+
+    cpack_add_component(MachinekitHAL_Executable_Bitfile_Python_Packages
+                        GROUP MachinekitHAL_Executable_Bitfile)
+
+    # Specification of artifacts placement in package tree
+    cpack_add_component_group(
+      MachinekitHAL_Executable_Bitfile
+      PARENT_GROUP MachinekitHAL_Package_Base_Python_Executables)
   endif()
 endif()

src/executables/bitfile/src/pyproject.toml.in

@@ -44,7 +44,7 @@ documentation = "https://machinekit.io"
 repository = "https://github.com/machinekit/machinekit-hal"
 
 [project.scripts]
-comp = "machinekit.hal.bitfile:cli"
+bitfile = "machinekit.hal.bitfile:cli"
 
 [tool]
 [tool.pdm]

src/executables/comp/CMakeLists.txt

@@ -31,6 +31,7 @@ if(BUILD_PYTHON_DISTRIBUTIONS)
   if(BUILD_COMP_EXECUTABLE)
     find_program(YAPPS2 "yapps2" REQUIRED)
     find_program(PYPROJECT_BUILD "pyproject-build" REQUIRED)
+    include(PEP427Installer)
 
     set(PACKAGE_NAME "comp")
 
@@ -77,5 +78,16 @@ if(BUILD_PYTHON_DISTRIBUTIONS)
       COMMAND ${PYPROJECT_BUILD} -s -w -o ${OUTPUT_INDEX}
               ${CMAKE_CURRENT_BINARY_DIR}/${PACKAGE_NAME}
       COMMENT "Building Python package ${DISTRIBUTION_NAME} via external tool")
+
+    install_wheel(WHEEL "${OUTPUT_INDEX}" COMPONENT
+                  MachinekitHAL_Executable_Comp_Python_Packages)
+
+    cpack_add_component(MachinekitHAL_Executable_Comp_Python_Packages
+                        GROUP MachinekitHAL_Executable_Comp)
+
+    # Specification of artifacts placement in package tree
+    cpack_add_component_group(
+      MachinekitHAL_Executable_Comp
+      PARENT_GROUP MachinekitHAL_Package_Base_Python_Executables)
   endif()
 endif()

src/executables/fix_uuid/CMakeLists.txt

@@ -23,3 +23,41 @@
 #
 # #####################################################################
 # ~~~
+
+option(BUILD_FIX_UUID_EXECUTABLE "Build the Fix UUID executable." TRUE)
+
+if(BUILD_FIX_UUID_EXECUTABLE)
+  configure_file(
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/fix-uuid
+    ${CMAKE_CURRENT_BINARY_DIR}/src/fix-uuid
+    FILE_PERMISSIONS
+    OWNER_READ
+    OWNER_EXECUTE
+    GROUP_READ
+    GROUP_EXECUTE
+    WORLD_READ
+    WORLD_EXECUTE
+    @ONLY
+    NEWLINE_STYLE UNIX)
+
+  add_custom_target(
+    fix_uuid ALL
+    COMMENT "Creating the Fix UUID executable"
+    COMMAND
+      ${CMAKE_COMMAND} "-E" "copy_if_different"
+      "${CMAKE_CURRENT_BINARY_DIR}/src/fix-uuid"
+      "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}"
+    DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/src/fix-uuid")
+
+  install(
+    PROGRAMS "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/fix-uuid"
+    DESTINATION "${MACHINEKIT_HAL_EXECUTABLE_DIRECTORY}"
+    COMPONENT MachinekitHAL_Executable_Fix_UUID_Binaries)
+
+  cpack_add_component(MachinekitHAL_Executable_Fix_UUID_Binaries
+                      GROUP MachinekitHAL_Executable_Fix_UUID)
+
+  # Specification of artifacts placement in package tree
+  cpack_add_component_group(MachinekitHAL_Executable_Fix_UUID
+                            PARENT_GROUP MachinekitHAL_Package_Base_Executables)
+endif()

src/executables/instcomp/CMakeLists.txt

@@ -25,13 +25,17 @@
 # ~~~
 
 if(BUILD_PYTHON_DISTRIBUTIONS)
-  find_package(Python COMPONENTS Interpreter)
+  find_package(
+    Python
+    COMPONENTS Interpreter
+    REQUIRED)
   option(BUILD_INSTCOMP_EXECUTABLE
          "Built the Instcomp executable Python distribution." TRUE)
 
   if(BUILD_INSTCOMP_EXECUTABLE)
     find_program(YAPPS2 "yapps2" REQUIRED)
     find_program(PYPROJECT_BUILD "pyproject-build" REQUIRED)
+    include(PEP427Installer)
 
     set(PACKAGE_NAME "instcomp")
 
@@ -111,5 +115,16 @@ if(BUILD_PYTHON_DISTRIBUTIONS)
       GLOBAL APPEND PROPERTY MACHINEKIT_HAL_MODULE_PATH
                              "${CMAKE_CURRENT_BINARY_DIR}/cmake_module")
 
+    install_wheel(WHEEL "${OUTPUT_INDEX}" COMPONENT
+                  MachinekitHAL_Executable_Instcomp_Python_Packages)
+
+    cpack_add_component(MachinekitHAL_Executable_Instcomp_Python_Packages
+                        GROUP MachinekitHAL_Executable_Instcomp)
+
+    # Specification of artifacts placement in package tree
+    cpack_add_component_group(
+      MachinekitHAL_Executable_Instcomp
+      PARENT_GROUP MachinekitHAL_Package_Base_Python_Executables)
+
   endif()
 endif()