From 723549a61b4b4eaa49d4141ab7020e9f34202e2c Mon Sep 17 00:00:00 2001
From: youliang <tan_you_liang@hotmail.com>
Date: Fri, 2 Sep 2022 21:45:27 -0400
Subject: [PATCH] compile cython code when build funmap pkg

---
 stretch_funmap/CMakeLists.txt                            | 8 ++++++++
 stretch_funmap/package.xml                               | 1 +
 stretch_funmap/src/stretch_funmap/compile_cython_code.sh | 5 ++++-
 3 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/stretch_funmap/CMakeLists.txt b/stretch_funmap/CMakeLists.txt
index 22ee6b2..c8c4bfa 100644
--- a/stretch_funmap/CMakeLists.txt
+++ b/stretch_funmap/CMakeLists.txt
@@ -11,6 +11,14 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
 )
 
+set(cython_code_dir ${CMAKE_CURRENT_SOURCE_DIR}/src/stretch_funmap)
+
+message("Compile cython code within cmake build")
+execute_process(
+  WORKING_DIRECTORY ${cython_code_dir}
+  COMMAND bash ${cython_code_dir}/compile_cython_code.sh
+)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
diff --git a/stretch_funmap/package.xml b/stretch_funmap/package.xml
index ac5a0ae..f3d53af 100644
--- a/stretch_funmap/package.xml
+++ b/stretch_funmap/package.xml
@@ -49,6 +49,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
   <build_export_depend>rospy</build_export_depend>
+  <build_depend>cython</build_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>ros_numpy</exec_depend>
 
diff --git a/stretch_funmap/src/stretch_funmap/compile_cython_code.sh b/stretch_funmap/src/stretch_funmap/compile_cython_code.sh
index af33f98..faa0484 100755
--- a/stretch_funmap/src/stretch_funmap/compile_cython_code.sh
+++ b/stretch_funmap/src/stretch_funmap/compile_cython_code.sh
@@ -2,7 +2,10 @@
 
 echo "Building cython_min_cost_path.pyx..."
 cython ./cython_min_cost_path.pyx 
-gcc -shared -pthread -fPIC -fwrapv -ffast-math -O3 -Wall -fno-strict-aliasing -I/usr/include/python2.7 -o cython_min_cost_path.so cython_min_cost_path.c
+
+PY_INCLUDE_PATH=$(python -c 'from sysconfig import get_paths as gp; print(gp()["include"])')
+echo "Using python lib: $PY_INCLUDE_PATH"
+gcc -shared -pthread -fPIC -fwrapv -ffast-math -O3 -Wall -fno-strict-aliasing -I$PY_INCLUDE_PATH -o cython_min_cost_path.so cython_min_cost_path.c
 echo "Done."
 echo ""