Remove special cases from bindgen path management

r2r_cargo.cmake

@@ -50,58 +50,46 @@ function(r2r_cargo)
     list(APPEND CMAKE_IDL_PACKAGES "${REC_PKG_DIRS}")
   endforeach()
 
+  list(REMOVE_DUPLICATES CMAKE_IDL_PACKAGES)
+  string (REPLACE ";" ":" CMAKE_IDL_PACKAGES_STR "${CMAKE_IDL_PACKAGES}")
+  set(ENV{CMAKE_IDL_PACKAGES} ${CMAKE_IDL_PACKAGES_STR})
+
   # On OSX colcon eats the DYLD_LIBRARY_PATH... so we need to add the rpaths
   # manually...
   set(RUSTFLAGS "")
 
   # get imported libs
   get_property(importTargets DIRECTORY "${CMAKE_SOURCE_DIR}" PROPERTY IMPORTED_TARGETS)
-  # get include paths
-  get_property(includeDirs DIRECTORY "${CMAKE_SOURCE_DIR}" PROPERTY INCLUDE_DIRECTORIES)
 
-  set(CMAKE_LIBRARIES "")
   foreach(p ${importTargets})
-    get_property(fancy_lib_location TARGET "${p}" PROPERTY LOCATION)
+    get_property(_LIBLOC TARGET "${p}" PROPERTY LOCATION)
-    if(DEFINED fancy_lib_location)
+    if(DEFINED _LIBLOC)
-      list(APPEND CMAKE_LIBRARIES "${fancy_lib_location}")
+      list(APPEND CMAKE_LIBRARIES "${_LIBLOC}")
-      get_filename_component(_parent "${fancy_lib_location}" DIRECTORY)
+      get_filename_component(_PARENT "${_LIBLOC}" DIRECTORY)
-      if(IS_DIRECTORY ${_parent})
+      if(IS_DIRECTORY ${_PARENT})
-          list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_parent}")
+          list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_PARENT}")
       endif()
     endif()
   endforeach()
-  list(REMOVE_DUPLICATES RUSTFLAGS)
-  list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
 
+  list(REMOVE_DUPLICATES RUSTFLAGS)
   string (REPLACE ";" " " RUSTFLAGS_STR "${RUSTFLAGS}")
   set(ENV{RUSTFLAGS} ${RUSTFLAGS_STR})
 
-  string (REPLACE ";" ":" CMAKE_LIBRARIES_STR "${CMAKE_LIBRARIES}")
-  set(ENV{CMAKE_LIBRARIES} "${CMAKE_LIBRARIES_STR}")
-
-  list(REMOVE_DUPLICATES includeDirs)
-  string (REPLACE ";" ":" CMAKE_INCLUDE_DIRS_STR "${includeDirs}")
-  set(ENV{CMAKE_INCLUDE_DIRS} ${CMAKE_INCLUDE_DIRS_STR})
-  list(REMOVE_DUPLICATES CMAKE_LIBRARIES)
-
-  list(REMOVE_DUPLICATES CMAKE_IDL_PACKAGES)
-  string (REPLACE ";" ":" CMAKE_IDL_PACKAGES_STR "${CMAKE_IDL_PACKAGES}")
-  set(ENV{CMAKE_IDL_PACKAGES} ${CMAKE_IDL_PACKAGES_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_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "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}" "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_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "CMAKE_LIBRARIES=$ENV{CMAKE_LIBRARIES}" "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}" "cargo" "build" "--profile" "colcon"
              WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
               )
-  endif(CARGO_CLEAN)
+  endif()
   unset(CARGO_CLEAN CACHE)
 
 endfunction()

r2r_common/Cargo.toml

@@ -12,7 +12,6 @@ documentation = "https://docs.rs/r2r/latest/r2r"
 
 [dependencies]
 bindgen = "0.63.0"
-itertools = "0.10.5"
 sha2 = "0.10.6"
 os_str_bytes = "6.5.1"
 regex = "1.8.4"

r2r_common/src/lib.rs

@@ -1,4 +1,3 @@
-use itertools::Itertools;
 use os_str_bytes::RawOsString;
 use regex::*;
 use sha2::{Digest, Sha256};
@@ -14,8 +13,6 @@ const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "rolling"
 const WATCHED_ENV_VARS: &[&str] = &[
     "AMENT_PREFIX_PATH",
     "CMAKE_PREFIX_PATH",
-    "CMAKE_INCLUDE_DIRS",
-    "CMAKE_LIBRARIES",
     "CMAKE_IDL_PACKAGES",
     "IDL_PACKAGE_FILTER",
     "ROS_DISTRO",
@@ -50,22 +47,9 @@ pub fn setup_bindgen_builder() -> bindgen::Builder {
         .default_enum_style(bindgen::EnumVariation::Rust {
             non_exhaustive: false,
         });
-    if let Ok(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS") {
+    if !cfg!(feature = "doc-only") {
-        // 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);
-        }
-    } else if !cfg!(feature = "doc-only") {
         let ament_prefix_var_name = "AMENT_PREFIX_PATH";
-        let ament_prefix_var = if !cfg!(target_os = "windows") {
+        let ament_prefix_var = {
-            RawOsString::new(env::var_os(ament_prefix_var_name).expect("Source your ROS!"))
-        } else {
             let mut ament_str = env::var_os(ament_prefix_var_name).expect("Source your ROS!");
             if let Some(cmake_prefix_var) = env::var_os("CMAKE_PREFIX_PATH") {
                 ament_str.push(";");
@@ -150,53 +134,21 @@ pub fn print_cargo_ros_distro() {
 }
 
 pub fn print_cargo_link_search() {
-    if env::var_os("CMAKE_INCLUDE_DIRS").is_some() {
-        if let Some(paths) = env::var_os("CMAKE_LIBRARIES") {
-            let paths = RawOsString::new(paths);
-            paths
-                .split(':')
-                .filter(|s| {
-                    s.contains(".so")
-                        || s.contains(".dylib")
-                        || s.contains(".dll")
-                        || s.contains(".lib")
-                })
-                .filter_map(|l| {
-                    let is_dll = l.contains(".dll");
-                    let l = l.to_os_str();
-                    let parent = if is_dll {
-                        // Hack to replace /bin with /lib on windows
-                        // (may not work in all cases)
-                        // Should really be fixed in cmake integration
-                        // but annoying to replace that file in all
-                        // repos that use it.
-                        Path::new(&l).parent()?.parent()?.join("lib").to_str()?.to_string()
-                    } else {
-                        Path::new(&l).parent()?.to_str()?.to_string()
-                    };
-                    Some(parent)
-                })
-                .unique()
-                .for_each(|pp| println!("cargo:rustc-link-search=native={}", pp));
-        }
-    } else {
     let ament_prefix_var_name = "AMENT_PREFIX_PATH";
     if let Some(paths) = env::var_os(ament_prefix_var_name) {
-            let paths = if !cfg!(target_os = "windows") {
-                RawOsString::new(paths)
-            } else if let Some(cmake_prefix_var) = env::var_os("CMAKE_PREFIX_PATH") {
-                let mut cmake_paths = paths;
-                cmake_paths.push(";");
-                cmake_paths.push(cmake_prefix_var);
-                RawOsString::new(cmake_paths)
-            } else {
-                RawOsString::new(paths)
-            };
         let split_char = if cfg!(target_os = "windows") {
             ';'
         } else {
             ':'
         };
+        let paths = if let Some(cmake_prefix_var) = env::var_os("CMAKE_PREFIX_PATH") {
+            let mut cmake_paths = paths;
+            cmake_paths.push(split_char.to_string());
+            cmake_paths.push(cmake_prefix_var);
+            RawOsString::new(cmake_paths)
+        } else {
+            RawOsString::new(paths)
+        };
         for path in paths.split(split_char) {
             if cfg!(target_os = "windows") {
                 let lib_path = Path::new(&path.to_os_str()).join("Lib");
@@ -215,7 +167,6 @@ pub fn print_cargo_link_search() {
         }
     }
 }
-}
 
 pub fn get_wanted_messages() -> Vec<RosMsg> {
     let msgs = if let Ok(cmake_package_dirs) = env::var("CMAKE_IDL_PACKAGES") {
@@ -235,18 +186,6 @@ pub fn get_wanted_messages() -> Vec<RosMsg> {
         } else {
             ':'
         };
-        if !cfg!(target_os = "windows") {
-            if let Ok(ament_prefix_var) = env::var("AMENT_PREFIX_PATH") {
-                let paths = ament_prefix_var
-                    .split(split_char)
-                    .map(Path::new)
-                    .collect::<Vec<_>>();
-
-                get_ros_msgs(&paths)
-            } else {
-                vec![]
-            }
-        } else {
         match (env::var("AMENT_PREFIX_PATH"), env::var("CMAKE_PREFIX_PATH")) {
             (Ok(ament_prefix_var), Ok(cmake_prefix_var)) => {
                 let mut paths = ament_prefix_var
@@ -272,7 +211,6 @@ pub fn get_wanted_messages() -> Vec<RosMsg> {
             }
             _ => vec![],
         }
-        }
     };
 
     let msgs = parse_msgs(&msgs);