From b623bb06187b81c8c6d2575facd0ed5027ef9592 Mon Sep 17 00:00:00 2001
From: "Jeongseok (JS) Lee" <jslee02@users.noreply.github.com>
Date: Fri, 30 Dec 2022 16:34:54 -0800
Subject: [PATCH] Fix CI for macOS (#1689)

---
 .ci/build.sh                 |  9 +++++----
 Brewfile                     |  1 +
 python/CMakeLists.txt        |  6 ++++++
 python/dartpy/CMakeLists.txt |  5 +++--
 python/tests/CMakeLists.txt  | 26 ++++++++++++++++----------
 5 files changed, 31 insertions(+), 16 deletions(-)

diff --git a/.ci/build.sh b/.ci/build.sh
index c7aaeef4ba486..d1c02194ed19d 100755
--- a/.ci/build.sh
+++ b/.ci/build.sh
@@ -93,11 +93,11 @@ fi
 # Ref: https://unix.stackexchange.com/a/129401
 if [ "$OSTYPE" = "linux-gnu" ]; then
   num_available_threads=$(nproc)
-elif [ "$OSTYPE" = "darwin" ]; then
+elif [[ $OSTYPE = darwin* ]]; then
   num_available_threads=$(sysctl -n hw.logicalcpu)
 else
   num_available_threads=1
-  echo "$OSTYPE is not supported to detect the number of logical CPU cores."
+  echo "[WARN] $OSTYPE is not supported to detect the number of logical CPU cores."
 fi
 
 if [ "$NUM_CORES" = "MAX" ]; then
@@ -128,6 +128,7 @@ echo ""
 echo " [ SYSTEM INFO ]"
 echo ""
 echo " OS      : $OS $VER ($(uname -m))"
+echo " OSTYPE  : $OSTYPE"
 echo " Cores   : $num_threads / $num_available_threads"
 echo " Compiler: $COMPILER $($CXX --version | perl -pe '($_)=/([0-9]+([.][0-9]+)+)/')"
 echo " CMake   : $(cmake --version | perl -pe '($_)=/([0-9]+([.][0-9]+)+)/')"
@@ -138,8 +139,8 @@ echo "====================================="
 mkdir build && cd build
 if [ "$OSTYPE" = "linux-gnu" ]; then
   install_prefix_option="-DCMAKE_INSTALL_PREFIX=/usr/"
-elif [ "$OSTYPE" = "darwin" ]; then
-  install_prefix_option="-DCMAKE_INSTALL_PREFIX=/usr/local/"
+elif [[ $OSTYPE = darwin* ]]; then
+  install_prefix_option="-DCMAKE_INSTALL_PREFIX=/usr/local/ -DCMAKE_INSTALL_RPATH=/usr/local/lib/"
 fi
 
 cmake .. \
diff --git a/Brewfile b/Brewfile
index 68ff9e0013232..63c740ec8629a 100644
--- a/Brewfile
+++ b/Brewfile
@@ -20,4 +20,5 @@ brew 'tinyxml2'
 brew 'urdfdom'
 
 # dartpy dependencies
+brew 'python3'
 brew 'pybind11'
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 92501341ac708..c578a5229a4ac 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -11,3 +11,9 @@ add_subdirectory(dartpy)
 add_subdirectory(tests)
 add_subdirectory(examples)
 add_subdirectory(tutorials)
+
+message(STATUS "")
+message(STATUS "[ dartpy ]")
+message(STATUS "- PYTHON_EXECUTABLE   : ${PYTHON_EXECUTABLE}")
+message(STATUS "- PYTHON_SITE_PACKAGES: ${PYTHON_SITE_PACKAGES}")
+message(STATUS "- DARTPY_PYTEST_FOUND : ${DARTPY_PYTEST_FOUND}")
diff --git a/python/dartpy/CMakeLists.txt b/python/dartpy/CMakeLists.txt
index 5805ebca6e82f..9a897351a4523 100644
--- a/python/dartpy/CMakeLists.txt
+++ b/python/dartpy/CMakeLists.txt
@@ -24,13 +24,14 @@ endif()
 
 execute_process(COMMAND ${PYTHON_EXECUTABLE} -c
   "from distutils.sysconfig import get_python_lib;\
-  print(get_python_lib(plat_specific=True, prefix=''))"
+  print(get_python_lib(plat_specific=True))"
   OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
   OUTPUT_STRIP_TRAILING_WHITESPACE
 )
-if(NOT IS_ABSOLUTE PYTHON_SITE_PACKAGES)
+if(NOT IS_ABSOLUTE ${PYTHON_SITE_PACKAGES})
   set(PYTHON_SITE_PACKAGES "${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES}")
 endif()
+set(PYTHON_SITE_PACKAGES ${PYTHON_SITE_PACKAGES} PARENT_SCOPE)
 
 file(GLOB_RECURSE dartpy_headers "*.h" "*.hpp")
 file(GLOB_RECURSE dartpy_sources "*.cpp")
diff --git a/python/tests/CMakeLists.txt b/python/tests/CMakeLists.txt
index 4cdd5768ae8ff..967c1c1079464 100644
--- a/python/tests/CMakeLists.txt
+++ b/python/tests/CMakeLists.txt
@@ -9,14 +9,14 @@ if(pytest_not_found)
   message(WARNING "Running the tests requires pytest. Please install it manually"
     " (try: ${PYTHON_EXECUTABLE} -m pip install pytest)"
   )
-  set(DARTPY_PYTEST_FOUND FALSE)
+  set(DARTPY_PYTEST_FOUND FALSE PARENT_SCOPE)
 elseif(pytest_version VERSION_LESS 3.0)
   message(WARNING "Running the tests requires pytest >= 3.0. Found: ${pytest_version}"
     "Please update it (try: ${PYTHON_EXECUTABLE} -m pip install -U pytest)"
   )
-  set(DARTPY_PYTEST_FOUND FALSE)
+  set(DARTPY_PYTEST_FOUND FALSE PARENT_SCOPE)
 else()
-  set(DARTPY_PYTEST_FOUND TRUE)
+  set(DARTPY_PYTEST_FOUND TRUE PARENT_SCOPE)
 endif()
 
 set(dartpy_test_utils
@@ -26,13 +26,19 @@ set(dartpy_test_utils
 file(GLOB_RECURSE dartpy_test_files "test_*.py")
 
 # Add custom target to run the tests
-add_custom_target(pytest
-  COMMAND ${CMAKE_COMMAND} -E echo "Running pytest by: PYTHONPATH=${DART_DARTPY_BUILD_DIR} ${PYTHON_EXECUTABLE} -m pytest [sources]"
-  COMMAND PYTHONPATH=${DART_DARTPY_BUILD_DIR} ${PYTHON_EXECUTABLE} -m pytest ${dartpy_test_files} -v
-  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-  SOURCES ${dartpy_test_files} ${dartpy_test_utils}
-  DEPENDS dartpy
-)
+if(DARTPY_PYTEST_FOUND)
+  add_custom_target(pytest
+    COMMAND ${CMAKE_COMMAND} -E echo "Running pytest by: PYTHONPATH=${DART_DARTPY_BUILD_DIR} ${PYTHON_EXECUTABLE} -m pytest [sources]"
+    COMMAND PYTHONPATH=${DART_DARTPY_BUILD_DIR} ${PYTHON_EXECUTABLE} -m pytest ${dartpy_test_files} -v
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    SOURCES ${dartpy_test_files} ${dartpy_test_utils}
+    DEPENDS dartpy
+  )
+else()
+  add_custom_target(pytest
+    COMMAND ${CMAKE_COMMAND} -E echo "Warning: Failed to run pytest because pytest is not found!"
+  )
+endif()
 
 #===============================================================================
 # Usage: