[r2r] More advanced binding generation
- Add "save-bindgen" feature to store generated bindings in source directory. - Add "doc-only" to disable bindgen and linking, and use saved bindings in source directory instead. - Bindings are cached to speed on bindgen process.
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aeon
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@ -34,3 +34,10 @@ rand = "0.8.5"
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[build-dependencies]
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r2r_common = { path = "../r2r_common", version = "0.3.2" }
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r2r_msg_gen = { path = "../r2r_msg_gen", version = "0.3.3" }
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[features]
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save-bindgen = ["r2r_rcl/save-bindgen", "r2r_msg_gen/save-bindgen", "r2r_actions/save-bindgen"]
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doc-only = ["r2r_rcl/doc-only", "r2r_msg_gen/doc-only", "r2r_actions/doc-only"]
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[package.metadata.docs.rs]
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features = ["doc-only"]
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277
r2r/build.rs
277
r2r/build.rs
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@ -1,121 +1,216 @@
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use std::env;
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use std::fs::File;
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use std::fs::{File, OpenOptions};
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use std::io::Write;
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use std::path::PathBuf;
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use std::path::{Path, PathBuf};
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use std::{env, fs};
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const LIST_FILENAME: &str = "files.txt";
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const MSGS_FILENAME: &str = "_r2r_generated_msgs.rs";
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const UNTYPED_FILENAME: &str = "_r2r_generated_untyped_helper.rs";
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const UNTYPED_SERVICE_FILENAME: &str = "_r2r_generated_service_helper.rs";
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const UNTYPED_ACTION_FILENAME: &str = "_r2r_generated_action_helper.rs";
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const GENERATED_FILES: &[&str] = &[
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MSGS_FILENAME,
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UNTYPED_FILENAME,
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UNTYPED_SERVICE_FILENAME,
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UNTYPED_ACTION_FILENAME,
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];
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fn main() {
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r2r_common::print_cargo_watches();
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let msg_list = r2r_common::get_wanted_messages();
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let env_hash = r2r_common::get_env_hash();
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let out_dir = PathBuf::from(env::var_os("OUT_DIR").unwrap());
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let manifest_dir = Path::new(env!("CARGO_MANIFEST_DIR"));
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let bindgen_dir = out_dir.join(env_hash);
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let save_dir = manifest_dir.join("bindings");
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let mark_file = bindgen_dir.join("done");
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if cfg!(feature = "doc-only") {
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// If "doc-only" feature is present, copy from $crate/bindings/* to OUT_DIR
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copy_files(&save_dir, &out_dir);
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} else {
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// If bindgen was done before, use cached files.
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if !mark_file.exists() {
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eprintln!("Generate bindings in '{}'", bindgen_dir.display());
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generate_bindings(&bindgen_dir);
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touch(&mark_file);
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} else {
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eprintln!("Used cached files in '{}'", bindgen_dir.display());
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}
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copy_files(&bindgen_dir, &out_dir);
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#[cfg(feature = "save-bindgen")]
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{
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fs::create_dir_all(&save_dir).unwrap();
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copy_files(&bindgen_dir, &save_dir);
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}
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}
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}
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fn generate_bindings(bindgen_dir: &Path) {
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fs::create_dir_all(&bindgen_dir).unwrap();
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let msg_list = r2r_common::get_wanted_messages();
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let msgs = r2r_common::as_map(&msg_list);
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let mut modules = String::new();
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let mod_files: Vec<_> = msgs
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.iter()
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.map(|(module, prefixes)| {
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let mod_text = format!(
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r#"pub mod {module}{{include!(concat!(env!("OUT_DIR"), "/{module}.rs"));}}{lf}"#,
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module = module,
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lf = "\n"
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);
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modules.push_str(&mod_text);
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for (module, prefixes) in &msgs {
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modules.push_str(&format!(
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r#"pub mod {module}{{include!(concat!(env!("OUT_DIR"), "/{module}.rs"));}}{lf}"#,
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module = module,
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lf = "\n"
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));
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let mut codegen = String::new();
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let mut codegen = String::new();
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for (prefix, msgs) in prefixes {
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codegen.push_str(&format!(" pub mod {} {{\n", prefix));
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prefixes.into_iter().for_each(|(prefix, msgs)| {
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codegen.push_str(&format!(" pub mod {} {{\n", prefix));
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if prefix == &"action" {
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for msg in msgs {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", msg));
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codegen.push_str(" use super::super::super::*;\n");
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codegen.push_str(&r2r_msg_gen::generate_rust_action(module, prefix, msg));
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for s in &["Goal", "Result", "Feedback"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, &msgname));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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// "internal" services that implements the action type
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for srv in &["SendGoal", "GetResult"] {
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if prefix == &"action" {
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for msg in msgs {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", srv));
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codegen.push_str(" use super::super::super::super::*;\n");
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codegen.push_str(&format!(" pub mod {} {{\n", msg));
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codegen.push_str(" use super::super::super::*;\n");
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let srvname = format!("{}_{}", msg, srv);
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codegen.push_str(&r2r_msg_gen::generate_rust_service(
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module, prefix, &srvname,
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));
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codegen.push_str(&r2r_msg_gen::generate_rust_action(module, prefix, msg));
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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}_{}", msg, srv, s);
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for s in &["Goal", "Result", "Feedback"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module, prefix, &msgname,
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));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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// "internal" services that implements the action type
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for srv in &["SendGoal", "GetResult"] {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", srv));
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codegen.push_str(" use super::super::super::super::*;\n");
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let srvname = format!("{}_{}", msg, srv);
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codegen.push_str(&r2r_msg_gen::generate_rust_service(
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module, prefix, &srvname,
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));
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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}_{}", msg, srv, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module, prefix, &msgname,
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));
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}
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codegen.push_str(" }\n");
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}
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// also "internal" feedback message type that wraps the feedback type with a uuid
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let feedback_msgname = format!("{}_FeedbackMessage", msg);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module,
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prefix,
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&feedback_msgname,
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));
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codegen.push_str(" }\n");
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}
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} else if prefix == &"srv" {
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for msg in msgs {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", msg));
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codegen.push_str(" use super::super::super::*;\n");
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codegen.push_str(&r2r_msg_gen::generate_rust_service(module, prefix, msg));
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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module, prefix, &msgname,
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));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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codegen.push_str(" }\n");
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}
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// also "internal" feedback message type that wraps the feedback type with a uuid
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let feedback_msgname = format!("{}_FeedbackMessage", msg);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module,
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prefix,
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&feedback_msgname,
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));
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codegen.push_str(" }\n");
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}
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} else if prefix == &"srv" {
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for msg in msgs {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", msg));
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codegen.push_str(" use super::super::super::*;\n");
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codegen.push_str(&r2r_msg_gen::generate_rust_service(module, prefix, msg));
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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, &msgname));
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} else if prefix == &"msg" {
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codegen.push_str(" use super::super::*;\n");
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for msg in msgs {
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, msg));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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codegen.push_str(" }\n");
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} else {
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panic!("unknown prefix type: {}", prefix);
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}
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} else if prefix == &"msg" {
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codegen.push_str(" use super::super::*;\n");
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for msg in msgs {
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, msg));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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} else {
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panic!("unknown prefix type: {}", prefix);
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}
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codegen.push_str(" }\n");
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}
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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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let mod_fn = out_path.join(&format!("{}.rs", module));
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let mut f = File::create(mod_fn).unwrap();
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write!(f, "{}", codegen).unwrap();
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codegen.push_str(" }\n");
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});
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let file_name = format!("{}.rs", module);
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let mod_file = bindgen_dir.join(&file_name);
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fs::write(&mod_file, codegen).unwrap();
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file_name
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})
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.collect();
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// Write helper files
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{
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let untyped_helper = r2r_msg_gen::generate_untyped_helper(&msg_list);
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let untyped_service_helper = r2r_msg_gen::generate_untyped_service_helper(&msg_list);
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let untyped_action_helper = r2r_msg_gen::generate_untyped_action_helper(&msg_list);
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let msgs_file = bindgen_dir.join(MSGS_FILENAME);
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let untyped_file = bindgen_dir.join(UNTYPED_FILENAME);
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let untyped_service_file = bindgen_dir.join(UNTYPED_SERVICE_FILENAME);
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let untyped_action_file = bindgen_dir.join(UNTYPED_ACTION_FILENAME);
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fs::write(&msgs_file, &modules).unwrap();
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fs::write(&untyped_file, &untyped_helper).unwrap();
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fs::write(&untyped_service_file, &untyped_service_helper).unwrap();
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fs::write(&untyped_action_file, &untyped_action_helper).unwrap();
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}
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let untyped_helper = r2r_msg_gen::generate_untyped_helper(&msg_list);
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let untyped_service_helper = r2r_msg_gen::generate_untyped_service_helper(&msg_list);
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let untyped_action_helper = r2r_msg_gen::generate_untyped_action_helper(&msg_list);
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// Save file list
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{
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let list_file = bindgen_dir.join(LIST_FILENAME);
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let mut writer = File::create(list_file).unwrap();
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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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let msgs_fn = out_path.join("_r2r_generated_msgs.rs");
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let untyped_fn = out_path.join("_r2r_generated_untyped_helper.rs");
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let untyped_service_fn = out_path.join("_r2r_generated_service_helper.rs");
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let untyped_action_fn = out_path.join("_r2r_generated_action_helper.rs");
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for file_name in mod_files {
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writeln!(writer, "{}", file_name).unwrap();
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}
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let mut f = File::create(msgs_fn).unwrap();
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write!(f, "{}", modules).unwrap();
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let mut f = File::create(untyped_fn).unwrap();
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write!(f, "{}", untyped_helper).unwrap();
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let mut f = File::create(untyped_service_fn).unwrap();
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write!(f, "{}", untyped_service_helper).unwrap();
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let mut f = File::create(untyped_action_fn).unwrap();
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write!(f, "{}", untyped_action_helper).unwrap();
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for file_name in GENERATED_FILES {
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writeln!(writer, "{}", file_name).unwrap();
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}
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}
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}
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fn copy_files(src_dir: &Path, tgt_dir: &Path) {
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eprintln!(
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"Copy files from '{}' to '{}'",
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src_dir.display(),
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tgt_dir.display()
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);
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let src_list_file = src_dir.join(LIST_FILENAME);
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let tgt_list_file = tgt_dir.join(LIST_FILENAME);
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fs::read_to_string(&src_list_file)
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.unwrap()
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.lines()
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.for_each(|file_name| {
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let src_file = src_dir.join(file_name);
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let tgt_file = tgt_dir.join(file_name);
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fs::copy(&src_file, &tgt_file).unwrap();
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});
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fs::copy(&src_list_file, &tgt_list_file).unwrap();
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}
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fn touch(path: &Path) {
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OpenOptions::new()
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.create(true)
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.write(true)
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.open(path)
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.unwrap_or_else(|_| panic!("Unable to create file '{}'", path.display()));
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}
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