Add pybind11 modules to CMake

NVIDIA-ISAAC-ROS · Jan 24, 2025 · a447086 · a447086
1 parent a6913e3
commit a447086
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Showing 7 changed files with 114 additions and 7 deletions.
diff --git a/com_nvidia_gxf/gxf/core/CMakeLists.txt b/com_nvidia_gxf/gxf/core/CMakeLists.txt
@@ -125,8 +125,16 @@ target_link_libraries(core
 )
 add_library(GXF::core ALIAS core)
 
+#######################################################################################
+# Pybind11 extensions
+#######################################################################################
+
+pybind11_add_module(core_pybind SHARED "bindings/core.cpp")
+target_link_libraries(core_pybind PUBLIC GXF::core)
+
+
 install(
-    TARGETS core_c_api;core_internal;core
+    TARGETS core_c_api;core_internal;core;core_pybind
     EXPORT gxfCoreTargets
     PUBLIC_HEADER
         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gxf/core

diff --git a/com_nvidia_gxf/gxf/cuda/CMakeLists.txt b/com_nvidia_gxf/gxf/cuda/CMakeLists.txt
@@ -42,6 +42,26 @@ gxf_core_add_extension_library(
         CUDA::cudart
 )
 
+#######################################################################################
+# Pybind11 extensions
+#######################################################################################
+
+pybind11_add_module(cuda_pybind SHARED "bindings/cuda.cpp")
+target_link_libraries(cuda_pybind PUBLIC GXF::common GXF::core GXF::std CUDA::cudart)
+
+
+install(
+    TARGETS cuda_pybind
+    EXPORT gxfCoreTargets
+    PUBLIC_HEADER
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gxf/cuda
+    ARCHIVE
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/gxf/cuda
+    LIBRARY
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/gxf/cuda
+    COMPONENT Core
+)
+
 if(BUILD_TESTING)
     add_subdirectory(tests)
-endif()
+endif()
diff --git a/com_nvidia_gxf/gxf/cuda/tests/CMakeLists.txt b/com_nvidia_gxf/gxf/cuda/tests/CMakeLists.txt
@@ -20,9 +20,9 @@ gxf_core_add_extension_library(
     PUBLIC_HEADERS test_cuda_helper.hpp
     PUBLIC_DEPENDS
         CUDA::cublas
+        GXF::cuda
         GXF::common
         GXF::core
-        GXF::cuda
         GXF::std
         GTest::gtest_main
     NO_INSTALL
@@ -35,9 +35,9 @@ gxf_add_gtests(
         test_cuda_stream_dotproduct.yaml
         test_cuda_unit.yaml
     DEPENDS
+        GXF::cuda
         GXF::common
         GXF::core
-        GXF::cuda
         GXF::std
         GTest::gtest_main
 )
diff --git a/com_nvidia_gxf/gxf/multimedia/CMakeLists.txt b/com_nvidia_gxf/gxf/multimedia/CMakeLists.txt
@@ -28,6 +28,29 @@ gxf_core_add_extension_library(
         GXF::std
 )
 
+
+#######################################################################################
+# Pybind11 extensions
+#######################################################################################
+
+pybind11_add_module(video_pybind SHARED "bindings/video.cpp")
+target_link_libraries(video_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(camera_pybind SHARED "bindings/camera.cpp")
+target_link_libraries(camera_pybind PUBLIC GXF::core GXF::std)
+
+install(
+    TARGETS video_pybind;camera_pybind
+    EXPORT gxfCoreTargets
+    PUBLIC_HEADER
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gxf/multimedia
+    ARCHIVE
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/gxf/multimedia
+    LIBRARY
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/gxf/multimedia
+    COMPONENT Core
+)
+
 if(BUILD_TESTING)
     add_subdirectory(tests)
 endif()
diff --git a/com_nvidia_gxf/gxf/python_codelet/CMakeLists.txt b/com_nvidia_gxf/gxf/python_codelet/CMakeLists.txt
@@ -18,12 +18,34 @@ gxf_core_add_extension_library(
     SOURCES
         py_codelet.cpp
         python_codelet.cpp
-        pydata.hpp
     PUBLIC_HEADERS
+        pydata.hpp
         py_codelet.hpp
     PUBLIC_DEPENDS
         GXF::core
         GXF::std
         pybind11::pybind11
         Python3::Python
 )
+
+#######################################################################################
+# Pybind11 extensions
+#######################################################################################
+
+pybind11_add_module(pycodelet SHARED "bindings/pycodelet.cpp")
+target_link_libraries(pycodelet PUBLIC GXF::core GXF::std GXF::python_codelet)
+
+pybind11_add_module(pydata_pybind SHARED "bindings/pydata.cpp")
+target_link_libraries(pydata_pybind PUBLIC GXF::core GXF::std)
+
+install(
+    TARGETS pycodelet;pydata_pybind
+    EXPORT gxfCoreTargets
+    PUBLIC_HEADER
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gxf/multimedia
+    ARCHIVE
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/gxf/multimedia
+    LIBRARY
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/gxf/multimedia
+    COMPONENT Core
+)
diff --git a/com_nvidia_gxf/gxf/python_codelet/py_codelet.hpp b/com_nvidia_gxf/gxf/python_codelet/py_codelet.hpp
@@ -36,7 +36,7 @@ namespace gxf {
 
 /// C++ side bridge of python codelet. This is the type which all python codelets register.
 /// Mandatory params - codelet_name_, codelet_filepath_
-class __attribute__((visibility("hidden"))) PyCodeletV0 : public Codelet {
+class PyCodeletV0 : public Codelet {
  public:
   gxf_result_t registerInterface(Registrar* registrar) override;
   gxf_result_t start() override;

diff --git a/com_nvidia_gxf/gxf/std/CMakeLists.txt b/com_nvidia_gxf/gxf/std/CMakeLists.txt
@@ -224,8 +224,42 @@ target_link_libraries(std
 add_library(GXF::std ALIAS std)
 set(GXF_EXTENSION_LIBRARY_TARGETS "std;${GXF_EXTENSION_LIBRARY_TARGETS}" PARENT_SCOPE)
 
+#######################################################################################
+# Pybind11 extensions
+#######################################################################################
+
+pybind11_add_module(vault_pybind SHARED "bindings/vault.cpp")
+target_link_libraries(vault_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(allocator_pybind SHARED "bindings/allocator.cpp")
+target_link_libraries(allocator_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(clock_pybind SHARED "bindings/clock.cpp")
+target_link_libraries(clock_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(receiver_pybind SHARED "bindings/receiver.cpp")
+target_link_libraries(receiver_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(tensor_pybind SHARED "bindings/tensor.cpp")
+target_link_libraries(tensor_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(scheduling_terms_pybind SHARED "bindings/scheduling_terms.cpp")
+target_link_libraries(scheduling_terms_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(timestamp_pybind SHARED "bindings/timestamp.cpp")
+target_link_libraries(timestamp_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(eos_pybind SHARED "bindings/eos.cpp")
+target_link_libraries(eos_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(transmitter_pybind SHARED "bindings/transmitter.cpp")
+target_link_libraries(transmitter_pybind PUBLIC GXF::core GXF::std)
+
+pybind11_add_module(scheduling_condition_pybind SHARED "bindings/scheduling_condition.cpp")
+target_link_libraries(scheduling_condition_pybind PUBLIC GXF::core GXF::std)
+
 install(
-    TARGETS std_internal;std
+    TARGETS std_internal;std;vault_pybind;allocator_pybind;clock_pybind;receiver_pybind;tensor_pybind;scheduling_terms_pybind;timestamp_pybind;eos_pybind;transmitter_pybind;scheduling_condition_pybind
     EXPORT gxfCoreTargets
     PUBLIC_HEADER
         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gxf/std