The closest thing I know of is how catkin from ROS 1 combines CMake and Python:
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https://github.com/ros/catkin/blob/kinetic-devel/cmake/interrogate_setup_dot_py.py
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https://github.com/ros/catkin/blob/5a7f61d594a56ca4b3ae1705e64140e9f29e0bd7/cmake/catkin_python_setup.cmake#L63
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