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fix rolling compilation issues

This commit is contained in:
Martin Dahl 2022-02-07 14:39:15 +01:00
parent 174fb233c1
commit ac3a9b0485
6 changed files with 102 additions and 41 deletions
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21
r2r_actions/build.rs
View File

@ -42,12 +42,15 @@ fn main() {
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);
if let Some(include_path) = r2r_common::guess_cmake_include_path(Path::new(ament_prefix_path)) {
if let Some(s) = include_path.to_str() {
builder = builder.clang_arg(format!("-I{}", s));
};
}
let lib_path = Path::new(ament_prefix_path).join("lib");
lib_path.to_str().map(|s| {
println!("cargo:rustc-link-search=native={}", s);
});
}
}
@ -67,15 +70,21 @@ fn main() {
.allowlist_type("rcl_action_goal_handle_t")
.opaque_type("rcl_action_goal_handle_t")
.allowlist_type("rcl_action_cancel_request_t")
.allowlist_type("rcl_action_cancel_request_s")
.opaque_type("rcl_action_cancel_request_s")
.allowlist_type("rcl_action_cancel_response_t")
.allowlist_type("rcl_action_cancel_response_s")
.allowlist_type("rcl_action_goal_event_t")
.allowlist_type("rcl_action_goal_event_e")
.allowlist_type("rcl_action_goal_state_t")
.opaque_type("rcl_action_goal_state_t")
.allowlist_type("rcl_action_goal_status_array_t")
.opaque_type("rcl_action_goal_status_array_t")
.allowlist_function("rcl_action_.*")
.allowlist_type("rcl_action_client_options_t")
.opaque_type("rcl_action_client_options_t")
.allowlist_type("rcl_action_server_options_t")
.opaque_type("rcl_action_server_options_t")
.allowlist_var("RCL_RET_ACTION_.*")
.generate_comments(false)
.generate()

30
r2r_common/src/lib.rs
View File

@ -1,7 +1,35 @@
use std::collections::HashMap;
use std::fs::{self, File};
use std::io::Read;
use std::path::Path;
use std::path::{Path, PathBuf};
// Hack to build rolling after https://github.com/ros2/rcl/pull/959 was merged.
//
// The problem is that now we need to use CMAKE to properly find the
// include paths. But we don't want to do that so we hope that the ros
// developers use the same convention everytime they move the include
// files to a subdirectory.
//
// The convention is to put include files in include/${PROJECT_NAME}
//
// So we check if there is a double directory on the form
// include/${PROJECT_NAME}/${PROJECT_NAME}, and if so append it only once.
//
// Should work mostly, and shouldn't really change often, so manual
// intervention could be applied. But yes it is hacky.
pub fn guess_cmake_include_path(path: &Path) -> Option<PathBuf> {
if let Some(leaf) = path.file_name() {
let double_include_path = Path::new(path).join("include").join(leaf).join(leaf);
if double_include_path.is_dir() {
// double dir detected, append the package name
return Some(path.to_owned().join("include").join(leaf));
} else {
// dont append
return Some(path.to_owned().join("include"));
}
}
return None;
}
pub fn print_cargo_watches() {
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");

5
r2r_msg_gen/build.rs
View File

@ -28,7 +28,10 @@ fn main() {
} 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));
let path = Path::new(p).join("include");
if let Some(s) = path.to_str() {
builder = builder.clang_arg(format!("-I{}", s));
}
}
let paths = ament_prefix_var
.split(':')

67
r2r_msg_gen/src/lib.rs
View File

@ -15,45 +15,66 @@ use std::collections::HashMap;
use std::ffi::CStr;
// because the c enum has been named between galactic and the next release,
// we cannot know its name. therefor we use the constants as is and hope we notice
// when they change.
// rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT = 1,
// rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE = 2,
// rosidl_typesupport_introspection_c__ROS_TYPE_LONG_DOUBLE = 3,
// rosidl_typesupport_introspection_c__ROS_TYPE_CHAR = 4,
// rosidl_typesupport_introspection_c__ROS_TYPE_WCHAR = 5,
// rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN = 6,
// rosidl_typesupport_introspection_c__ROS_TYPE_OCTET = 7,
// rosidl_typesupport_introspection_c__ROS_TYPE_UINT8 = 8,
// rosidl_typesupport_introspection_c__ROS_TYPE_INT8 = 9,
// rosidl_typesupport_introspection_c__ROS_TYPE_UINT16 = 10,
// rosidl_typesupport_introspection_c__ROS_TYPE_INT16 = 11,
// rosidl_typesupport_introspection_c__ROS_TYPE_UINT32 = 12,
// rosidl_typesupport_introspection_c__ROS_TYPE_INT32 = 13,
// rosidl_typesupport_introspection_c__ROS_TYPE_UINT64 = 14,
// rosidl_typesupport_introspection_c__ROS_TYPE_INT64 = 15,
// rosidl_typesupport_introspection_c__ROS_TYPE_STRING = 16,
// rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING = 17,
// rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE = 18,
fn field_type(t: u8) -> String {
// lovely...
// move to common
if t == (rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8) {
if t == 16 {
"std::string::String".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING as u8) {
} else if t == 17 {
"std::string::String".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN as u8) {
} else if t == 6 {
"bool".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_CHAR as u8) {
} else if t == 4 {
"i8".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_WCHAR as u8) {
"u16".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_OCTET as u8) {
"u8".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT8 as u8) {
"u8".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT8 as u8) {
"i8".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT16 as u8) {
"u16".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT16 as u8) {
} else if t == 5 {
"i16".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT32 as u8) {
} else if t == 7 {
"u8".to_owned()
} else if t == 8 {
"u8".to_owned()
} else if t == 9 {
"i8".to_owned()
} else if t == 10 {
"u16".to_owned()
} else if t == 11 {
"i16".to_owned()
} else if t == 12 {
"u32".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT32 as u8) {
} else if t == 13 {
"i32".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT64 as u8) {
} else if t == 14 {
"u64".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT64 as u8) {
} else if t == 15 {
"i64".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT as u8) {
} else if t == 1 {
"f32".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE as u8) {
} else if t == 2 {
"f64".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_LONG_DOUBLE as u8) {
} else if t == 3 {
// f128 does not exist in rust
"u128".to_owned()
} else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE as u8) {
} else if t == 18 {
"message".to_owned()
} else {
panic!("ros native type not implemented: {}", t);

15
r2r_rcl/build.rs
View File

@ -47,12 +47,15 @@ fn main() {
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);
if let Some(include_path) = r2r_common::guess_cmake_include_path(Path::new(ament_prefix_path)) {
if let Some(s) = include_path.to_str() {
builder = builder.clang_arg(format!("-I{}", s));
};
}
let lib_path = Path::new(ament_prefix_path).join("lib");
lib_path.to_str().map(|s| {
println!("cargo:rustc-link-search=native={}", s);
});
}
}

5
src/msg_types.rs
View File

@ -460,10 +460,7 @@ mod tests {
let type_id = (*member).type_id_;
let is_array = (*member).is_array_;
assert_eq!(field_name, "data");
assert_eq!(
type_id,
rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8
);
assert_eq!(type_id, 16u8); // rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8
assert!(!is_array);
}
}