diff --git a/build.rs b/build.rs index 0c2d33d..071c7ba 100644 --- a/build.rs +++ b/build.rs @@ -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::>(); + let deps = env::var("CMAKE_RECURSIVE_DEPENDENCIES").unwrap_or(String::default()); + let deps = deps.split(":").collect::>(); + let msgs = common::get_ros_msgs(&packages); + common::parse_msgs(&msgs).into_iter() + .filter(|msg| deps.contains(&msg.module.as_str())).collect::>() + } 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::>(); + 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"); diff --git a/common/src/lib.rs b/common/src/lib.rs index 3dc601e..60697c7 100644 --- a/common/src/lib.rs +++ b/common/src/lib.rs @@ -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 { +fn get_msgs_from_package(package: &Path) -> Vec { 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 = 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 { + let mut msgs: Vec = 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] diff --git a/msg_gen/build.rs b/msg_gen/build.rs index 7813151..ea1f387 100644 --- a/msg_gen/build.rs +++ b/msg_gen/build.rs @@ -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::>(); + 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::>(); + let msgs = common::get_ros_msgs(&packages); + common::parse_msgs(&msgs).into_iter() + .filter(|msg| deps.contains(&msg.module.as_str())).collect::>() + } 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::>(); + 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 diff --git a/rcl/Cargo.toml b/rcl/Cargo.toml index e7049f5..c88719b 100644 --- a/rcl/Cargo.toml +++ b/rcl/Cargo.toml @@ -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" } diff --git a/rcl/build.rs b/rcl/build.rs index 2020cfd..e1faaf7 100644 --- a/rcl/build.rs +++ b/rcl/build.rs @@ -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::>(); + 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::>(); + + 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");