113 lines
3.7 KiB
Rust
113 lines
3.7 KiB
Rust
use std::env;
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use std::fs;
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use std::fs::OpenOptions;
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use std::path::Path;
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use std::path::PathBuf;
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fn main() {
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r2r_common::print_cargo_watches();
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r2r_common::print_cargo_ros_distro();
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run_bindgen();
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run_dynlink();
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}
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fn run_bindgen() {
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let env_hash = r2r_common::get_env_hash();
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let out_dir: PathBuf = env::var_os("OUT_DIR").unwrap().into();
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let manifest_dir = Path::new(env!("CARGO_MANIFEST_DIR"));
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let bindgen_dir = out_dir.join(env_hash);
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let cached_file = bindgen_dir.join("rcl_bindings.rs");
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let mark_file = bindgen_dir.join("done");
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let target_file = out_dir.join("rcl_bindings.rs");
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let saved_file = manifest_dir.join("bindings").join("rcl_bindings.rs");
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// Use saved bindings file if "docs-only" feature is enabled.
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let src_file = if cfg!(feature = "doc-only") {
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&saved_file
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} else {
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// Generate bindings if bindings file does not
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// exist. Otherwise, use cached bindings file.
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if !mark_file.exists() {
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eprintln!("Generate bindings file '{}'", cached_file.display());
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gen_bindings(&cached_file);
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touch(&mark_file);
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} else {
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eprintln!("Use cached bindings file '{}'", cached_file.display());
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}
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#[cfg(feature = "save-bindgen")]
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{
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if let Some(dir) = saved_file.parent() {
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fs::create_dir_all(dir)
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.unwrap_or_else(|_| panic!("Unable to create directory '{}'", dir.display()));
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}
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fs::copy(&cached_file, &saved_file).expect("File copy failed");
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}
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&cached_file
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};
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fs::copy(src_file, &target_file).unwrap_or_else(|_| {
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panic!("Unable to copy from '{}' to '{}'", src_file.display(), target_file.display())
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});
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}
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#[cfg(feature = "doc-only")]
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fn run_dynlink() {}
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#[cfg(not(feature = "doc-only"))]
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fn run_dynlink() {
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r2r_common::print_cargo_link_search();
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println!("cargo:rustc-link-lib=dylib=rcl");
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println!("cargo:rustc-link-lib=dylib=rcl_logging_spdlog");
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println!("cargo:rustc-link-lib=dylib=rcl_yaml_param_parser");
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println!("cargo:rustc-link-lib=dylib=rcutils");
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println!("cargo:rustc-link-lib=dylib=rmw");
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println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_c");
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println!("cargo:rustc-link-lib=dylib=rosidl_runtime_c");
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}
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fn gen_bindings(out_file: &Path) {
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if let Some(dir) = out_file.parent() {
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fs::create_dir_all(dir)
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.unwrap_or_else(|_| panic!("Unable to create directory '{}'", dir.display()));
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}
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let bindings = r2r_common::setup_bindgen_builder()
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.header("src/rcl_wrapper.h")
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.allowlist_type("rcl_.*")
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.allowlist_type("rcutils_.*")
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.allowlist_type("rmw_.*")
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.allowlist_type("rosidl_.*")
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.allowlist_type("RCUTILS_.*")
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.allowlist_var("RCL_.*")
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.allowlist_var("RCUTILS_.*")
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.allowlist_var("RMW_.*")
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.allowlist_var("rosidl_.*")
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.allowlist_var("g_rcutils_.*")
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.allowlist_function("rcl_.*")
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.allowlist_function("rcutils_.*")
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.allowlist_function("rmw_.*")
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.allowlist_function("rosidl_.*")
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.allowlist_function(".*_typesupport_.*")
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.allowlist_function(".*_sequence_bound_.*")
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.no_debug("_OSUnaligned.*")
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.derive_partialeq(true)
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.derive_copy(true)
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.generate_comments(false)
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.generate()
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.expect("Unable to generate bindings");
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bindings
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.write_to_file(out_file)
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.expect("Couldn't write bindings!");
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}
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fn touch(path: &Path) {
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OpenOptions::new()
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.create(true)
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.write(true)
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.open(path)
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.unwrap_or_else(|_| panic!("Unable to create file '{}'", path.display()));
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}
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