Merge commit 'refs/integration/team/yoshi/dev-75'

Author: opennao

cmake/install_runtime_dependencies.cmake

@@ -58,6 +58,21 @@ if(_unresolved_runtime_dependencies)
   message(STATUS "Some dependencies of qi_python and qi are unresolved: ${_unresolved_runtime_dependencies}")
 endif()
 
+if(UNIX OR APPLE)
+  find_program(_patchelf "patchelf")
+  if(_patchelf)
+    if(APPLE)
+      set(_patchelf_runtime_path "@loader_path")
+    elseif(UNIX)
+      set(_patchelf_runtime_path "$ORIGIN")
+    endif()
+  else()
+    message(WARNING "The target system seems to be using ELF binaries, but the `patchelf` \
+tool could not be found. The installed runtime dependencies might not have their runtime path \
+set correctly to run. You might want to install `patchelf` on your system.")
+  endif()
+endif()
+
 foreach(_needed_dep IN LISTS _runtime_dependencies)
   set(_dep "${_needed_dep}")
 
@@ -80,11 +95,19 @@ foreach(_needed_dep IN LISTS _runtime_dependencies)
   endwhile()
 
   file(INSTALL "${_dep}" DESTINATION "${_module_install_dir}")
+  get_filename_component(_dep_filename "${_dep}" NAME)
+  set(_installed_dep "${_module_install_dir}/${_dep_filename}")
+
+  if(_patchelf)
+    message(STATUS "Set runtime path of runtime dependency \"${_installed_dep}\" to \"${_patchelf_runtime_path}\"")
+    file(TO_NATIVE_PATH "${_installed_dep}" _native_installed_dep)
+    execute_process(COMMAND "${_patchelf}"
+      # Sets the RPATH/RUNPATH or may replace the RPATH by a RUNPATH, depending on the platform.
+      --set-rpath "${_patchelf_runtime_path}" "${_native_installed_dep}")
+  endif()
 
   if(NOT "${_dep}" STREQUAL "${_needed_dep}")
-    get_filename_component(_dep_filename "${_dep}" NAME)
     get_filename_component(_needed_dep_filename "${_needed_dep}" NAME)
-    set(_installed_dep "${_module_install_dir}/${_dep_filename}")
     set(_installed_needed_dep "${_module_install_dir}/${_needed_dep_filename}")
     message(STATUS "Renaming ${_installed_dep} into ${_installed_needed_dep}")
     file(RENAME "${_installed_dep}" "${_installed_needed_dep}")

cmake/set_dependencies.cmake

@@ -45,10 +45,10 @@
 include_guard(GLOBAL)
 
 # Version of Boost to use. It will be used as the argument to the `find_package(Boost)` call.
-overridable_variable(BOOST_VERSION 1.64)
+overridable_variable(BOOST_VERSION 1.77)
 
 # Version of pybind11 to use.
-overridable_variable(PYBIND11_VERSION 2.5.0)
+overridable_variable(PYBIND11_VERSION 2.9.0)
 
 # URL of the git repository from which to download pybind11. For more details, see CMake
 # `ExternalProject` module documentation of the `GIT_REPOSITORY` argument.
@@ -58,16 +58,13 @@ overridable_variable(PYBIND11_GIT_REPOSITORY https://github.com/pybind/pybind11)
 # `ExternalProject` module documentation of the `GIT_TAG` argument.
 overridable_variable(PYBIND11_GIT_TAG v${PYBIND11_VERSION})
 
-# Version of googletest to use.
-overridable_variable(GOOGLETEST_VERSION 1.10.0)
-
 # URL of the git repository from which to download googletest. For more details, see CMake
 # `ExternalProject` module documentation of the `GIT_REPOSITORY` argument.
 overridable_variable(GOOGLETEST_GIT_REPOSITORY https://github.com/google/googletest.git)
 
 # Git branch name, tag or commit hash to checkout for googletest. For more details, see CMake
 # `ExternalProject` module documentation of the `GIT_TAG` argument.
-overridable_variable(GOOGLETEST_GIT_TAG release-${GOOGLETEST_VERSION})
+overridable_variable(GOOGLETEST_GIT_TAG main)
 
 set(PYTHON_VERSION_STRING "" CACHE STRING "Version of Python to look for. This \
 variable can be specified by tools run directly from Python to enforce the \

cmake/set_libqi_dependency.cmake

@@ -1,4 +1,4 @@
-overridable_variable(LIBQI_VERSION 2.0.0)
+overridable_variable(LIBQI_VERSION 2.1.0)
 
 # Our github clone is sometimes late or is missing tags, so we enable
 # customisation of the URL at configuration time, so users can use another clone.

examples/authentication_with_application.py

@@ -28,35 +28,60 @@ def newAuthenticator(self):
 
 
 # Reads a file containing the username on the first line and the password on
-# the second line.
+# the second line. This is the format used by qilaunch.
 def read_auth_file(path):
     with open(path) as f:
         username = f.readline().strip()
         password = f.readline().strip()
         return (username, password)
 
 
-def make_application():
-    app = qi.Application(sys.argv)
-    parser = argparse.ArgumentParser()
+def make_application(argv=sys.argv):
+    """
+    Create and return the qi.Application, with authentication set up
+    according to the command line options.
+    """
+    # create the app and edit `argv` in place to remove the consumed
+    # arguments.
+    # As a side effect, if "-h" is in the list, it is replaced with "--help".
+    app = qi.Application(argv)
+
+    # Setup a non-intrusive parser, behaving like `qi.Application`'s own
+    # parser:
+    # * don't complain about unknown arguments
+    # * consume known arguments
+    # * if the "--help" option is present:
+    #   * print its own options help
+    #   * do not print the main app usage
+    #   * do not call `sys.exit()`
+    parser = argparse.ArgumentParser(add_help=False, usage=argparse.SUPPRESS)
     parser.add_argument(
         "-a", "--authfile",
         help="Path to the authentication config file. This file must "
         "contain the username on the first line and the password on the "
         "second line.")
-    args = parser.parse_args(sys.argv[1:])
+    if "--help" in argv:
+        parser.print_help()
+        return app
+    args, unparsed_args = parser.parse_known_args(argv[1:])
     logins = read_auth_file(args.authfile) if args.authfile else ("nao", "nao")
     factory = AuthenticatorFactory(*logins)
     app.session.setClientAuthenticatorFactory(factory)
+    # edit argv in place.
+    # Note: this might modify sys.argv, like qi.Application does.
+    argv[1:] = unparsed_args
     return app
 
 
 if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--msg", default="Hello python")
     app = make_application()
+    args = parser.parse_args()
     logger = qi.Logger("authentication_with_application")
     logger.info("connecting session")
     app.start()
     logger.info("fetching ALTextToSpeech service")
     tts = app.session.service("ALTextToSpeech")
     logger.info("Saying something")
-    tts.call("say", "Hello python")
+    tts.call("say", args.msg)

pyproject.toml

@@ -1,3 +1,17 @@
+[project]
+dependencies = [
+  "packaging"
+]
+
+# PEP 518
 [build-system]
-requires = ["setuptools>=47.1", "wheel>=0.34", "scikit-build>=0.10.1",
-            "cmake>=3.17", "ninja>=1.5"]
+# Minimum requirements for the build system to execute.
+requires = [
+  "setuptools >= 47, < 51", # setuptools 51 dropped support for Python 3.5.
+  "wheel >= 0.34", # tested with 0.34.
+  "scikit-build >= 0.10", # tested with 0.10.
+  "cmake ~= 3.16", # CMake >= 3.16, CMake < 4.
+  "ninja ~= 1", # ninja >= 1, ninja < 2.
+  "toml ~= 10",
+  "packaging ~= 21",
+]

qi/__init__.py

@@ -6,9 +6,12 @@
 """LibQi Python bindings."""
 
 import platform
-py_version = platform.python_version_tuple()
-if py_version < ('3', '5'):
-    raise RuntimeError('Python version 3.5+ is required.')
+from packaging import version
+
+py_version = version.parse(platform.python_version())
+min_version = version.parse('3.5')
+if py_version < min_version:
+    raise RuntimeError('Python 3.5+ is required.')
 
 import sys  # noqa: E402
 import atexit  # noqa: E402

qi/_version.py

@@ -1 +1 @@
-__version__ = '3.0.0'
+__version__ = '3.1.0'

qi/test/test_module.py

@@ -41,3 +41,34 @@ def test_module_service():
 
     cat = session.service("Cat")
     assert cat.meow(3) == 'meow'
+
+
+def test_module_service_object_lifetime():
+    session = qi.Session()
+    session.listenStandalone("tcp://localhost:0")
+    session.loadServiceRename("moduletest.Cat", "", "truc")
+    cat = session.service("Cat")
+
+    # We use `del` to release the reference to an object, but there is no
+    # guarantee that the interpreter will finalize the object right away.
+    # In CPython, this is "mostly" guaranteed as long as it is the last
+    # reference to the object and that there is no cyclic dependency of
+    # reference anywhere that might hold the reference.
+    # As there is no practical alternative, we consider that assuming the
+    # object is finalized immediately is an acceptable hypothesis.
+
+    # Purr has a property, Play has a signal, Sleep has none.
+    sleep = cat.makeSleep()
+    assert cat.nbSleep() == 1
+    del sleep
+    assert cat.nbSleep() == 0
+
+    purr = cat.makePurr()
+    assert cat.nbPurr() == 1
+    del purr
+    assert cat.nbPurr() == 0
+
+    play = cat.makePlay()
+    assert cat.nbPlay() == 1
+    del play
+    assert cat.nbPlay() == 0

qipython/common.hpp

@@ -19,6 +19,23 @@
 #include <future>
 #include <thread>
 
+
+// MAJOR, MINOR and PATCH must be in [0, 255].
+#define QI_PYBIND11_VERSION(MAJOR, MINOR, PATCH) \
+  (((MAJOR) << 16) | \
+   ((MINOR) <<  8) | \
+   ((PATCH) <<  0))
+
+#ifdef PYBIND11_VERSION_HEX
+// Remove the lowest 8 bits which represent the serial and level version components.
+# define QI_CURRENT_PYBIND11_VERSION (PYBIND11_VERSION_HEX >> 8)
+#else
+# define QI_CURRENT_PYBIND11_VERSION \
+  QI_PYBIND11_VERSION(PYBIND11_VERSION_MAJOR, \
+                      PYBIND11_VERSION_MINOR, \
+                      PYBIND11_VERSION_PATCH)
+#endif
+
 namespace qi
 {
 namespace py
@@ -93,32 +110,20 @@ boost::optional<T> extractKeywordArg(pybind11::dict kwargs,
   return pyArg.cast<T>();
 }
 
-/// A deleter that deletes the pointer outside of the GIL.
-///
-/// Useful for types that might deadlock on destruction if they keep the GIL
-/// locked.
-struct DeleteOutsideGIL
-{
-  template<typename T>
-  void operator()(T* ptr) const
-  {
-    pybind11::gil_scoped_release unlock;
-    delete ptr;
-  }
-};
-
-/// Delay the destruction of an object to a thread.
-struct DeleteInOtherThread
+/// Returns whether or not the interpreter is finalizing. If the information
+/// could not be fetched, the function returns an empty optional. Otherwise, it
+/// returns an optional set with a boolean stating if the interpreter is indeed
+/// finalizing or not.
+inline boost::optional<bool> interpreterIsFinalizing()
 {
-  template<typename T>
-  void operator()(T* ptr) const
-  {
-    pybind11::gil_scoped_release unlock;
-    auto fut = std::async(std::launch::async, [](std::unique_ptr<T>) {},
-                          std::unique_ptr<T>(ptr));
-    QI_IGNORE_UNUSED(fut);
-  }
-};
+// `_Py_IsFinalizing` is only available on CPython 3.7+
+#if PY_VERSION_HEX >= 0x03070000
+  return boost::make_optional(_Py_IsFinalizing() != 0);
+#else
+  // There is no way of knowing on older versions.
+  return {};
+#endif
+}
 
 } // namespace py
 } // namespace qi

qipython/pyfuture.hpp

@@ -25,12 +25,12 @@ using Promise = qi::Promise<AnyValue>;
 // future or its value.
 inline pybind11::object resultObject(const Future& fut, bool async)
 {
-  pybind11::gil_scoped_acquire lock;
+  GILAcquire lock;
   if (async)
     return castToPyObject(fut);
 
   // Wait for the future outside of the GIL.
-  auto res = invokeGuarded<pybind11::gil_scoped_release>(qi::SrcFuture{}, fut);
+  auto res = invokeGuarded<GILRelease>(qi::SrcFuture{}, fut);
   return castToPyObject(res);
 }