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Extend the hack to generate constants for service and action types.

This commit is contained in:
Martin Dahl 2023-05-15 16:50:33 +02:00
parent 16f73aed4b
commit 0ae3c80dcb
3 changed files with 50 additions and 26 deletions
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5
r2r/src/msg_types.rs
View File

@ -779,5 +779,10 @@ mod tests {
let gs = GoalStatus::default();
assert_eq!(gs.status, GoalStatus::STATUS_UNKNOWN as i8);
use action_msgs::srv::CancelGoal;
let cgr = CancelGoal::Response::default();
assert_eq!(cgr.return_code, CancelGoal::Response::ERROR_NONE as i8);
}
}

58
r2r_msg_gen/build.rs
View File

@ -179,30 +179,19 @@ fn generate_bindings(bindgen_dir: &Path, msg_list: &[RosMsg]) {
// find all lines which look suspiciosly like a constant.
let mut constants: HashMap<String, Vec<(String,String)>> = HashMap::new();
for msg in msg_list {
let prefix = &format!("pub const {}__{}__{}__", &msg.module, &msg.prefix, &msg.name);
let mut lines = str_bindings.lines();
while let Some(line) = lines.next() {
if let Some(constant) = line.strip_prefix(prefix) {
if let Some((con, typ)) = constant.split_once(":") {
// These are generated automatically for arrays and strings, we don't need to expose them.
if con.ends_with("__MAX_SIZE") || con.ends_with("__MAX_STRING_SIZE") {
continue;
if msg.prefix == "srv" {
for s in &["Request", "Response"] {
let key = format!("{}__{}__{}_{}", &msg.module, &msg.prefix, &msg.name, s);
add_constants(&key, &str_bindings, &mut constants);
}
let key = format!("{}__{}__{}", msg.module, msg.prefix, msg.name);
if let Some((t, _)) = typ.split_once("=") {
constants.entry(key).or_default().push((con.to_string(), t.trim().to_string()));
} else if let Some(next_line) = lines.next() {
// type has moved down to the next line. (bindgen has a max line width)
if let Some((t, _)) = next_line.split_once("=") {
constants.entry(key).or_default().push((con.to_string(), t.trim().to_string()));
} else {
panic!("Code generation failure. Type not found in line! {}", next_line);
} else if msg.prefix == "action" {
for s in &["Goal", "Result", "Feedback", "FeedbackMessage"] {
let key = format!("{}__{}__{}_{}", &msg.module, &msg.prefix, &msg.name, s);
add_constants(&key, &str_bindings, &mut constants);
}
} else {
panic!("Code generation failure. Type not found in line! {}", line);
}
}
}
let key = format!("{}__{}__{}", &msg.module, &msg.prefix, &msg.name);
add_constants(&key, &str_bindings, &mut constants);
}
}
// generate a constant which holds all constants.
@ -228,6 +217,33 @@ fn generate_bindings(bindgen_dir: &Path, msg_list: &[RosMsg]) {
.expect("Couldn't write bindings!");
}
fn add_constants(key: &str, bindings: &str, constants: &mut HashMap<String, Vec<(String, String)>>) {
let mut lines = bindings.lines();
while let Some(line) = lines.next() {
let prefix = format!("pub const {}__", key);
if let Some(constant) = line.strip_prefix(&prefix) {
if let Some((con, typ)) = constant.split_once(":") {
// These are generated automatically for arrays and strings, we don't need to expose them.
if con.ends_with("__MAX_SIZE") || con.ends_with("__MAX_STRING_SIZE") {
continue;
}
if let Some((t, _)) = typ.split_once("=") {
constants.entry(key.into()).or_default().push((con.to_string(), t.trim().to_string()));
} else if let Some(next_line) = lines.next() {
// type has moved down to the next line. (bindgen has a max line width)
if let Some((t, _)) = next_line.split_once("=") {
constants.entry(key.into()).or_default().push((con.to_string(), t.trim().to_string()));
} else {
panic!("Code generation failure. Type not found in line! {}", next_line);
}
} else {
panic!("Code generation failure. Type not found in line! {}", line);
}
}
}
}
}
fn run_dynlink(#[allow(unused_variables)] msg_list: &[RosMsg]) {
#[cfg(not(feature = "doc-only"))]
{

9
r2r_msg_gen/src/lib.rs
View File

@ -609,15 +609,18 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> String {
for (c, typ) in constants {
constant_strings.push(format!(" pub const {c}: {typ} = {key}__{c};"));
}
let impl_constants = format!("
let impl_constants = if constant_strings.is_empty() {
String::new()
} else {
format!("
#[allow(non_upper_case_globals)]
impl {msgname} {{
{constants}
}}
",
msgname = name,
constants = constant_strings.join("\n")
);
constants = constant_strings.join("\n"))
};
let module_str = format!(