ydy0615
c3dac34dcc
- Add dm_imu_pkg/__init__.py to dynamically load compiled IMU module during development and installation - Update .vscode/settings.json to ignore missing CMakeLists for flexible builds - Generate egg-info metadata and package structure for distribution
57 lines
1.8 KiB
Python
57 lines
1.8 KiB
Python
import pathlib
|
|
import importlib.util
|
|
import sys
|
|
|
|
def _load_imu_module():
|
|
"""
|
|
Load the compiled pybind11 module ``imu_py``.
|
|
When the package is installed via ``pip install .`` the shared object
|
|
will be placed next to this ``__init__.py``. During development it may
|
|
still reside in the build directory under ``src/pybind_imu/build``.
|
|
"""
|
|
# 1. Try to import if the .so is already in the package directory.
|
|
try:
|
|
from . import imu_py # type: ignore # pylint: disable=import-error
|
|
return imu_py
|
|
except Exception:
|
|
pass
|
|
|
|
# 2. Fallback: locate the build output relative to the repository root.
|
|
possible_paths = [
|
|
pathlib.Path(__file__).parent.parent
|
|
/ "src"
|
|
/ "pybind_imu"
|
|
/ "build"
|
|
/ "imu_py.cpython-310-aarch64-linux-gnu.so",
|
|
# Generic pattern for other Python versions / architectures
|
|
pathlib.Path(__file__).parent.parent
|
|
/ "src"
|
|
/ "pybind_imu"
|
|
/ "build"
|
|
/ "imu_py.*.so",
|
|
]
|
|
|
|
for p in possible_paths:
|
|
# glob pattern handling for the generic case
|
|
if "*" in str(p):
|
|
matches = list(p.parent.glob(p.name))
|
|
if matches:
|
|
p = matches[0]
|
|
else:
|
|
continue
|
|
if p.is_file():
|
|
spec = importlib.util.spec_from_file_location("imu_py", p)
|
|
imu_py = importlib.util.module_from_spec(spec)
|
|
spec.loader.exec_module(imu_py) # type: ignore
|
|
return imu_py
|
|
|
|
raise ImportError(
|
|
"Unable to locate the compiled 'imu_py' module. "
|
|
"Make sure the package is installed with the compiled extension "
|
|
"or run the build step before importing."
|
|
)
|
|
|
|
# Expose the DmImu class at package level for convenience
|
|
_imu_mod = _load_imu_module()
|
|
DmImu = _imu_mod.DmImu
|