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Remove special cases from bindgen path management

This commit is contained in:
Martin Dahl 2023-10-04 08:09:55 +02:00
parent 00d7a3db0b
commit e33a57c6eb
3 changed files with 61 additions and 136 deletions
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40
r2r_cargo.cmake
View File

@ -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)
if(DEFINED fancy_lib_location)
list(APPEND CMAKE_LIBRARIES "${fancy_lib_location}")
get_filename_component(_parent "${fancy_lib_location}" DIRECTORY)
if(IS_DIRECTORY ${_parent})
list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_parent}")
get_property(_LIBLOC TARGET "${p}" PROPERTY LOCATION)
if(DEFINED _LIBLOC)
list(APPEND CMAKE_LIBRARIES "${_LIBLOC}")
get_filename_component(_PARENT "${_LIBLOC}" DIRECTORY)
if(IS_DIRECTORY ${_PARENT})
list(APPEND RUSTFLAGS "-C link-arg=-Wl,-rpath,${_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()

1
r2r_common/Cargo.toml
View File

@ -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"

82
r2r_common/src/lib.rs
View File

@ -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") {
// 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") {
if !cfg!(feature = "doc-only") {
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = if !cfg!(target_os = "windows") {
RawOsString::new(env::var_os(ament_prefix_var_name).expect("Source your ROS!"))
} else {
let ament_prefix_var = {
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);