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initial attempt at improving colcon integration by relying on cmake

This commit is contained in:
Martin Dahl 2021-05-06 13:01:08 +02:00
parent 71c743f9b2
commit 9457f44871
5 changed files with 150 additions and 77 deletions
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34
build.rs
View File

@ -1,17 +1,27 @@
use common::*;
use msg_gen::*;
use common;
use msg_gen;
use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
use std::path::{Path,PathBuf};
fn main() {
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
common::print_cargo_watches();
let msgs = get_all_ros_msgs();
let msgs_list = parse_msgs(&msgs);
let msgs = as_map(&msgs_list);
let msg_list = if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
let packages = cmake_includes.split(":").flat_map(|i| Path::new(i).parent()).collect::<Vec<_>>();
let deps = env::var("CMAKE_RECURSIVE_DEPENDENCIES").unwrap_or(String::default());
let deps = deps.split(":").collect::<Vec<_>>();
let msgs = common::get_ros_msgs(&packages);
common::parse_msgs(&msgs).into_iter()
.filter(|msg| deps.contains(&msg.module.as_str())).collect::<Vec<_>>()
} else {
let ament_prefix_var = env::var("AMENT_PREFIX_PATH").expect("Source your ROS!");
let paths = ament_prefix_var.split(":").map(|i| Path::new(i)).collect::<Vec<_>>();
let msgs = common::get_ros_msgs(&paths);
common::parse_msgs(&msgs)
};
let msgs = common::as_map(&msg_list);
let mut modules = String::new();
@ -38,11 +48,11 @@ fn main() {
codegen.push_str(&format!(" pub mod {} {{\n", msg));
codegen.push_str(" use super::super::super::*;\n");
codegen.push_str(&generate_rust_service(module, prefix, msg));
codegen.push_str(&msg_gen::generate_rust_service(module, prefix, msg));
for s in &["Request", "Response"] {
let msgname = format!("{}_{}", msg, s);
codegen.push_str(&generate_rust_msg(module, prefix, &msgname));
codegen.push_str(&msg_gen::generate_rust_msg(module, prefix, &msgname));
println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
}
codegen.push_str(" }\n");
@ -50,7 +60,7 @@ fn main() {
} else {
codegen.push_str(" use super::super::*;\n");
for msg in msgs {
codegen.push_str(&generate_rust_msg(module, prefix, msg));
codegen.push_str(&msg_gen::generate_rust_msg(module, prefix, msg));
println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
}
}
@ -63,7 +73,7 @@ fn main() {
write!(f, "{}", codegen).unwrap();
}
let untyped_helper = generate_untyped_helper(&msgs_list);
let untyped_helper = msg_gen::generate_untyped_helper(&msg_list);
let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
let msgs_fn = out_path.join("_r2r_generated_msgs.rs");

93
common/src/lib.rs
View File

@ -1,8 +1,14 @@
use std::collections::HashMap;
use std::env;
use std::fs::{self, File};
use std::io::Read;
use std::path::PathBuf;
use std::path::Path;
pub fn print_cargo_watches() {
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
println!("cargo:rerun-if-env-changed=CMAKE_INCLUDE_DIRS");
println!("cargo:rerun-if-env-changed=CMAKE_LIBRARIES");
println!("cargo:rerun-if-env-changed=CMAKE_RECURSIVE_DEPENDENCIES");
}
#[derive(Debug)]
pub struct RosMsg {
@ -11,62 +17,67 @@ pub struct RosMsg {
pub name: String, // e.g. "String"
}
// TODO: actions and srv are similiar
pub fn get_all_ros_msgs() -> Vec<String> {
fn get_msgs_from_package(package: &Path) -> Vec<String> {
let resource_index_subfolder = "share/ament_index/resource_index";
let resource_type = "rosidl_interfaces";
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
let mut msgs: Vec<String> = Vec::new();
let path = package.to_owned();
let path = path.join(resource_index_subfolder);
let path = path.join(resource_type);
for ament_prefix_path in ament_prefix_var.split(":") {
// println!("prefix: {}", ament_prefix_path);
let mut msgs = vec![];
let path = PathBuf::from(ament_prefix_path);
let path = path.join(resource_index_subfolder);
let path = path.join(resource_type);
if let Ok(paths) = fs::read_dir(path) {
if let Ok(paths) = fs::read_dir(path) {
for path in paths {
// println!("PATH Name: {}", path.unwrap().path().display());
for path in paths {
// println!("PATH Name: {}", path.unwrap().path().display());
let path = path.unwrap().path();
let path2 = path.clone();
let file_name = path2.file_name().unwrap();
let path = path.unwrap().path();
let path2 = path.clone();
let file_name = path2.file_name().unwrap();
// println!("Messages for: {:?}", file_name);
if let Ok(mut file) = File::open(path) {
let mut s = String::new();
file.read_to_string(&mut s).unwrap();
let lines = s.lines();
// println!("Messages for: {:?}", file_name);
if let Ok(mut file) = File::open(path) {
let mut s = String::new();
file.read_to_string(&mut s).unwrap();
let lines = s.lines();
lines.for_each(|l| {
if l.starts_with("msg/") && (l.ends_with(".idl") || l.ends_with(".msg")) {
if let Some(file_name_str) = file_name.to_str() {
let substr = &l[4..l.len()-4];
let msg_name = format!("{}/msg/{}", file_name_str, substr);
msgs.push(msg_name);
}
lines.for_each(|l| {
if l.starts_with("msg/") && (l.ends_with(".idl") || l.ends_with(".msg")) {
if let Some(file_name_str) = file_name.to_str() {
let substr = &l[4..l.len()-4];
let msg_name = format!("{}/msg/{}", file_name_str, substr);
msgs.push(msg_name);
}
if l.starts_with("srv/") && (l.ends_with(".idl") || l.ends_with(".srv")) {
if let Some(file_name_str) = file_name.to_str() {
let substr = &l[4..l.len()-4];
let srv_name = format!("{}/srv/{}", file_name_str, substr);
msgs.push(srv_name);
}
}
if l.starts_with("srv/") && (l.ends_with(".idl") || l.ends_with(".srv")) {
if let Some(file_name_str) = file_name.to_str() {
let substr = &l[4..l.len()-4];
let srv_name = format!("{}/srv/{}", file_name_str, substr);
msgs.push(srv_name);
}
});
}
}
});
}
}
}
msgs.sort();
msgs.dedup();
msgs
}
return msgs;
pub fn get_ros_msgs(paths: &[&Path]) -> Vec<String> {
let mut msgs: Vec<String> = Vec::new();
for p in paths {
println!("looking at prefix: {:?}", p);
let package_msgs = get_msgs_from_package(p);
println!("... found {:?}", package_msgs);
msgs.extend(package_msgs)
}
msgs.sort();
msgs.dedup();
msgs
}
#[test]

49
msg_gen/build.rs
View File

@ -1,18 +1,39 @@
extern crate bindgen;
use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
use common::*;
use std::path::{Path,PathBuf};
use bindgen;
use common;
fn main() {
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
common::print_cargo_watches();
let msgs = get_all_ros_msgs();
let msg_list = parse_msgs(&msgs);
let msg_map = as_map(&msg_list);
let mut builder = bindgen::Builder::default();
let msg_list = if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
let packages = cmake_includes.split(":").flat_map(|i| Path::new(i).parent()).collect::<Vec<_>>();
for p in cmake_includes.split(":") {
builder = builder.clang_arg(format!("-I{}", p));
println!("adding include path: {}", p);
}
let deps = env::var("CMAKE_RECURSIVE_DEPENDENCIES").unwrap_or(String::default());
let deps = deps.split(":").collect::<Vec<_>>();
let msgs = common::get_ros_msgs(&packages);
common::parse_msgs(&msgs).into_iter()
.filter(|msg| deps.contains(&msg.module.as_str())).collect::<Vec<_>>()
} else {
let ament_prefix_var = env::var("AMENT_PREFIX_PATH").expect("Source your ROS!");
for p in ament_prefix_var.split(":") {
builder = builder.clang_arg(format!("-I{}/include", p));
println!("cargo:rustc-link-search=native={}/lib", p);
}
let paths = ament_prefix_var.split(":").map(|i| Path::new(i)).collect::<Vec<_>>();
let msgs = common::get_ros_msgs(&paths);
common::parse_msgs(&msgs)
};
let msg_map = common::as_map(&msg_list);
for module in msg_map.keys() {
println!(
@ -72,7 +93,7 @@ fn main() {
let mut f = File::create(introspection_fn).unwrap();
write!(f, "{}", introspecion_map).unwrap();
let mut builder = bindgen::Builder::default()
builder = builder
.header(msg_includes_fn.to_str().unwrap())
.derive_copy(false)
// blacklist types that are handled by rcl bindings
@ -105,14 +126,6 @@ fn main() {
non_exhaustive: false,
});
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
for ament_prefix_path in ament_prefix_var.split(":") {
builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
}
let bindings = builder.generate().expect("Unable to generate bindings");
bindings

2
rcl/Cargo.toml
View File

@ -10,3 +10,5 @@ widestring = "0.4.3"
[build-dependencies]
bindgen = "0.57.0"
itertools = "0.10.0"
common = { path = "../common", version = "0.0.2" }

49
rcl/build.rs
View File

@ -2,9 +2,11 @@ extern crate bindgen;
use std::env;
use std::path::PathBuf;
use itertools::Itertools;
use common;
fn main() {
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
common::print_cargo_watches();
let mut builder = bindgen::Builder::default()
.header("src/rcl_wrapper.h")
@ -14,12 +16,47 @@ fn main() {
non_exhaustive: false,
});
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
// we are running from cmake, do special thing.
let cmake_libs = env::var("CMAKE_LIBRARIES").unwrap_or(String::new());
let mut includes = cmake_includes.split(":").collect::<Vec<_>>();
includes.sort();
includes.dedup();
includes.iter().for_each(|l| println!("CMAKE_INCLUDE: {}", l));
for x in &includes {
let clang_arg = format!("-I{}", x);
println!("adding clang arg: {}", clang_arg);
builder = builder.clang_arg(clang_arg);
}
let libs = cmake_libs.split(":")
.into_iter()
.filter(|s| s.contains(".so"))
.unique()
.collect::<Vec<_>>();
libs.iter().for_each(|l| {
let path = PathBuf::from(l);
let pp = path.parent().and_then(|p| p.to_str()).unwrap();
println!("cargo:rustc-link-search=native={}", pp);
// we could potentially do the below instead of hardcoding which libs we rely on.
// let filename = path.file_stem().and_then(|f| f.to_str()).unwrap();
// let without_lib = filename.strip_prefix("lib").unwrap();
// println!("cargo:rustc-link-lib=dylib={}", without_lib);
}
);
} else {
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
for ament_prefix_path in ament_prefix_var.split(":") {
builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
println!("added include search dir: {}" , format!("-I{}/include", ament_prefix_path));
println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
}
for ament_prefix_path in ament_prefix_var.split(":") {
builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
}
println!("cargo:rustc-link-lib=dylib=rcl");