From 7fc96e3eb2fd9f7f272258e07204041aeecfba76 Mon Sep 17 00:00:00 2001
From: Martin Dahl <martin.dahl@gmail.com>
Date: Thu, 30 Nov 2023 12:11:56 +0100
Subject: [PATCH] Revert cmake include dirs behaviour

---
 r2r_cargo.cmake       | 10 ++++++++--
 r2r_common/src/lib.rs | 13 +++++++++++++
 2 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/r2r_cargo.cmake b/r2r_cargo.cmake
index 184bfaf..a3f40e9 100644
--- a/r2r_cargo.cmake
+++ b/r2r_cargo.cmake
@@ -76,17 +76,23 @@ function(r2r_cargo)
   string (REPLACE ";" " " RUSTFLAGS_STR "${RUSTFLAGS}")
   set(ENV{RUSTFLAGS} ${RUSTFLAGS_STR})
 
+  # get include paths
+  get_property(includeDirs DIRECTORY "${CMAKE_SOURCE_DIR}" PROPERTY INCLUDE_DIRECTORIES)
+  list(REMOVE_DUPLICATES includeDirs)
+  string (REPLACE ";" ":" CMAKE_INCLUDE_DIRS_STR "${includeDirs}")
+  set(ENV{CMAKE_INCLUDE_DIRS} ${CMAKE_INCLUDE_DIRS_STR})
+
   # custom target for building using cargo
   option(CARGO_CLEAN "Invoke cargo clean before building" OFF)
   if(CARGO_CLEAN)
         add_custom_target(cargo_target ALL
               COMMAND ${CMAKE_COMMAND} "-E" "env" "cargo" "clean" "--profile" "colcon"
-              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--profile" "colcon"
+              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS_PACKAGES}" "cargo" "build" "--profile" "colcon"
               WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
               )
   else()
           add_custom_target(cargo_target ALL
-              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "cargo" "build" "--profile" "colcon"
+              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "cargo" "build" "--profile" "colcon"
              WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
               )
   endif()
diff --git a/r2r_common/src/lib.rs b/r2r_common/src/lib.rs
index f2fb892..ebd3d01 100644
--- a/r2r_common/src/lib.rs
+++ b/r2r_common/src/lib.rs
@@ -49,6 +49,19 @@ pub fn setup_bindgen_builder() -> bindgen::Builder {
             non_exhaustive: false,
         });
     if !cfg!(feature = "doc-only") {
+        if let Ok(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS") {
+            // we are running from cmake, do special thing.
+            let mut includes = cmake_includes.split(':').collect::<Vec<_>>();
+            includes.sort_unstable();
+            includes.dedup();
+
+            for x in &includes {
+                let clang_arg = format!("-I{}", x);
+                println!("adding clang arg: {}", clang_arg);
+                builder = builder.clang_arg(clang_arg);
+            }
+        }
+
         let ament_prefix_var_name = "AMENT_PREFIX_PATH";
         let ament_prefix_var = {
             let mut ament_str = env::var_os(ament_prefix_var_name).expect("Source your ROS!");