From 36ed120f43daeaab31fd9ba2bf8dfb58db05091d Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@openrobotics.org>
Date: Wed, 11 Aug 2021 11:56:30 -0700
Subject: [PATCH] Make rosidl packages use FindPython3 instead of
 FindPythonInterp (#612)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
---
 rosidl_adapter/CMakeLists.txt                            | 2 +-
 rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake       | 9 ++++-----
 rosidl_adapter/package.xml                               | 3 +++
 rosidl_generator_c/CMakeLists.txt                        | 2 +-
 .../cmake/rosidl_generator_c_generate_interfaces.cmake   | 5 ++++-
 rosidl_generator_c/package.xml                           | 1 +
 rosidl_generator_cpp/CMakeLists.txt                      | 2 +-
 .../cmake/rosidl_generator_cpp_generate_interfaces.cmake | 5 ++++-
 rosidl_generator_cpp/package.xml                         | 1 +
 rosidl_typesupport_introspection_c/CMakeLists.txt        | 2 +-
 ...typesupport_introspection_c_generate_interfaces.cmake | 5 ++++-
 rosidl_typesupport_introspection_c/package.xml           | 1 +
 rosidl_typesupport_introspection_cpp/CMakeLists.txt      | 2 +-
 ...pesupport_introspection_cpp_generate_interfaces.cmake | 5 ++++-
 rosidl_typesupport_introspection_cpp/package.xml         | 1 +
 15 files changed, 32 insertions(+), 14 deletions(-)

diff --git a/rosidl_adapter/CMakeLists.txt b/rosidl_adapter/CMakeLists.txt
index b14b5518b..2bea2759d 100644
--- a/rosidl_adapter/CMakeLists.txt
+++ b/rosidl_adapter/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(rosidl_adapter NONE)
 
diff --git a/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake b/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake
index 7d2e444ef..0d703c99e 100644
--- a/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake
+++ b/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake
@@ -37,14 +37,13 @@ function(rosidl_adapt_interfaces idl_var arguments_file)
       "arguments: ${ARG_UNPARSED_ARGUMENTS}")
   endif()
 
-  find_package(PythonInterp REQUIRED)
-  if(NOT PYTHON_EXECUTABLE)
-    message(FATAL_ERROR "Variable 'PYTHON_EXECUTABLE' must not be empty")
-  endif()
+  find_package(ament_cmake_core REQUIRED)  # for get_executable_path
+  find_package(Python3 REQUIRED COMPONENTS Interpreter)
+  get_executable_path(python_interpreter Python3::Interpreter CONFIGURE)
 
   set(idl_output "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter/${ARG_TARGET}.idls")
   set(cmd
-    "${PYTHON_EXECUTABLE}" -m rosidl_adapter
+    "${python_interpreter}" -m rosidl_adapter
     --package-name ${PROJECT_NAME}
     --arguments-file "${arguments_file}"
     --output-dir "${CMAKE_CURRENT_BINARY_DIR}/rosidl_adapter/${PROJECT_NAME}"
diff --git a/rosidl_adapter/package.xml b/rosidl_adapter/package.xml
index 8a9219031..e8a7cd607 100644
--- a/rosidl_adapter/package.xml
+++ b/rosidl_adapter/package.xml
@@ -11,6 +11,9 @@
   <license>Apache License 2.0</license>
   <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
 
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>python3</buildtool_export_depend>
+
   <build_depend>ament_cmake</build_depend>
 
   <exec_depend>python3-empy</exec_depend>
diff --git a/rosidl_generator_c/CMakeLists.txt b/rosidl_generator_c/CMakeLists.txt
index 3d61cd87b..7b9b93be1 100644
--- a/rosidl_generator_c/CMakeLists.txt
+++ b/rosidl_generator_c/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(rosidl_generator_c C)
 
diff --git a/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake b/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake
index 3e9b630e8..8dcadc5d3 100644
--- a/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake
+++ b/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake
@@ -79,9 +79,12 @@ rosidl_write_generator_arguments(
   TARGET_DEPENDENCIES ${target_dependencies}
 )
 
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
 add_custom_command(
   OUTPUT ${_generated_headers} ${_generated_sources}
-  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_c_BIN}
+  COMMAND Python3::Interpreter
+  ARGS ${rosidl_generator_c_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   DEPENDS ${target_dependencies}
   COMMENT "Generating C code for ROS interfaces"
diff --git a/rosidl_generator_c/package.xml b/rosidl_generator_c/package.xml
index 00d3fa003..9a66332bb 100644
--- a/rosidl_generator_c/package.xml
+++ b/rosidl_generator_c/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>python3</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <build_export_depend>rosidl_typesupport_interface</build_export_depend>
diff --git a/rosidl_generator_cpp/CMakeLists.txt b/rosidl_generator_cpp/CMakeLists.txt
index 654d4c0f9..e99c75cc5 100644
--- a/rosidl_generator_cpp/CMakeLists.txt
+++ b/rosidl_generator_cpp/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(rosidl_generator_cpp)
 
diff --git a/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake b/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake
index c944ee340..e5f6e4e27 100644
--- a/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake
+++ b/rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake
@@ -74,9 +74,12 @@ rosidl_write_generator_arguments(
   TARGET_DEPENDENCIES ${target_dependencies}
 )
 
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
 add_custom_command(
   OUTPUT ${_generated_headers}
-  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_cpp_BIN}
+  COMMAND Python3::Interpreter
+  ARGS ${rosidl_generator_cpp_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   DEPENDS ${target_dependencies}
   COMMENT "Generating C++ code for ROS interfaces"
diff --git a/rosidl_generator_cpp/package.xml b/rosidl_generator_cpp/package.xml
index 3dadba363..7bc4c9f74 100644
--- a/rosidl_generator_cpp/package.xml
+++ b/rosidl_generator_cpp/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>python3</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <!-- This is needed for the rosidl_message_type_support_t struct and visibility macros -->
diff --git a/rosidl_typesupport_introspection_c/CMakeLists.txt b/rosidl_typesupport_introspection_c/CMakeLists.txt
index 5b581ec97..0172ecfac 100644
--- a/rosidl_typesupport_introspection_c/CMakeLists.txt
+++ b/rosidl_typesupport_introspection_c/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(rosidl_typesupport_introspection_c C)
 
diff --git a/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake b/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
index bdd89184e..0d5fd4bf7 100644
--- a/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_c_generate_interfaces.cmake
@@ -72,9 +72,12 @@ rosidl_write_generator_arguments(
   TARGET_DEPENDENCIES ${target_dependencies}
 )
 
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
 add_custom_command(
   OUTPUT ${_generated_header_files} ${_generated_source_files}
-  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_introspection_c_BIN}
+  COMMAND Python3::Interpreter
+  ARGS ${rosidl_typesupport_introspection_c_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   DEPENDS ${target_dependencies}
   COMMENT "Generating C introspection for ROS interfaces"
diff --git a/rosidl_typesupport_introspection_c/package.xml b/rosidl_typesupport_introspection_c/package.xml
index cb1f4f3a2..c5f61b6b2 100644
--- a/rosidl_typesupport_introspection_c/package.xml
+++ b/rosidl_typesupport_introspection_c/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>python3</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <build_export_depend>rosidl_runtime_c</build_export_depend>
diff --git a/rosidl_typesupport_introspection_cpp/CMakeLists.txt b/rosidl_typesupport_introspection_cpp/CMakeLists.txt
index c1d8b83cd..bb76b8922 100644
--- a/rosidl_typesupport_introspection_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_introspection_cpp/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(rosidl_typesupport_introspection_cpp)
 
diff --git a/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake b/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
index daeb16f77..e553becf5 100644
--- a/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake
@@ -72,9 +72,12 @@ rosidl_write_generator_arguments(
   TARGET_DEPENDENCIES ${target_dependencies}
 )
 
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
 add_custom_command(
   OUTPUT ${_generated_header_files} ${_generated_source_files}
-  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_introspection_cpp_BIN}
+  COMMAND Python3::Interpreter
+  ARGS ${rosidl_typesupport_introspection_cpp_BIN}
   --generator-arguments-file "${generator_arguments_file}"
   DEPENDS ${target_dependencies}
   COMMENT "Generating C++ introspection for ROS interfaces"
diff --git a/rosidl_typesupport_introspection_cpp/package.xml b/rosidl_typesupport_introspection_cpp/package.xml
index 44b7aa01c..791c4cdf2 100644
--- a/rosidl_typesupport_introspection_cpp/package.xml
+++ b/rosidl_typesupport_introspection_cpp/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>python3</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <build_export_depend>rosidl_runtime_c</build_export_depend>