122 lines
5.0 KiB
Rust
122 lines
5.0 KiB
Rust
extern crate bindgen;
|
|
|
|
use std::env;
|
|
use std::fs::File;
|
|
use std::io::Write;
|
|
use std::path::PathBuf;
|
|
|
|
use common::*;
|
|
|
|
fn main() {
|
|
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
|
|
|
|
let msgs = get_all_ros_msgs();
|
|
let msg_list = parse_msgs(&msgs);
|
|
let msg_map = as_map(&msg_list);
|
|
|
|
for module in msg_map.keys() {
|
|
println!(
|
|
"cargo:rustc-link-lib=dylib={}__rosidl_typesupport_c",
|
|
module
|
|
);
|
|
println!(
|
|
"cargo:rustc-link-lib=dylib={}__rosidl_typesupport_introspection_c",
|
|
module
|
|
);
|
|
println!("cargo:rustc-link-lib=dylib={}__rosidl_generator_c", module);
|
|
}
|
|
|
|
let mut includes = String::new();
|
|
let mut introspecion_map = String::from(
|
|
"\
|
|
lazy_static! { \n
|
|
static ref INTROSPECTION_FNS: HashMap<&'static str, usize> = {\n
|
|
let mut m = HashMap::new();\n",
|
|
);
|
|
|
|
for msg in msg_list {
|
|
// filename is certainly CamelCase -> snake_case. convert
|
|
use heck::SnakeCase;
|
|
let include_filename = msg.name.to_snake_case();
|
|
|
|
includes.push_str(&format!(
|
|
"#include <{}/{}/{}.h>\n",
|
|
&msg.module, &msg.prefix, &include_filename
|
|
));
|
|
includes.push_str(&format!(
|
|
"#include <{}/{}/detail/{}__rosidl_typesupport_introspection_c.h>\n",
|
|
&msg.module, &msg.prefix, &include_filename
|
|
));
|
|
|
|
if msg.prefix == "srv" {
|
|
for s in &["Request", "Response"] {
|
|
let key = &format!("{}__{}__{}_{}", &msg.module, &msg.prefix, &msg.name, s);
|
|
let val = &format!("unsafe {{ rosidl_typesupport_introspection_c__get_message_type_support_handle__{}__{}__{}_{}() }} as *const i32 as usize", &msg.module, &msg.prefix, &msg.name, s);
|
|
introspecion_map.push_str(&format!("m.insert(\"{}\", {});\n", key, val));
|
|
}
|
|
} else {
|
|
let key = &format!("{}__{}__{}", &msg.module, &msg.prefix, &msg.name);
|
|
let val = &format!("unsafe {{ rosidl_typesupport_introspection_c__get_message_type_support_handle__{}__{}__{}() }} as *const i32 as usize", &msg.module, &msg.prefix, &msg.name);
|
|
introspecion_map.push_str(&format!("m.insert(\"{}\", {});\n", key, val));
|
|
}
|
|
}
|
|
introspecion_map.push_str("m \n }; }\n\n");
|
|
|
|
let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
|
|
let msg_includes_fn = out_path.join("msg_includes.h");
|
|
let introspection_fn = out_path.join("introspection_functions.rs");
|
|
|
|
let mut f = File::create(msg_includes_fn.clone()).unwrap();
|
|
write!(f, "{}", includes).unwrap();
|
|
|
|
let mut f = File::create(introspection_fn).unwrap();
|
|
write!(f, "{}", introspecion_map).unwrap();
|
|
|
|
let mut builder = bindgen::Builder::default()
|
|
.header(msg_includes_fn.to_str().unwrap())
|
|
.derive_copy(false)
|
|
// blacklist types that are handled by rcl bindings
|
|
.blacklist_type("rosidl_message_type_support_t")
|
|
.blacklist_type("rosidl_service_type_support_t")
|
|
.blacklist_type("rosidl_runtime_c__String")
|
|
.blacklist_type("rosidl_runtime_c__String__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__U16String")
|
|
.blacklist_type("rosidl_runtime_c__U16String__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__float32__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__float__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__float64__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__double__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__long_double__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__char__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__wchar__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__boolean__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__octet__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__uint8__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__int8__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__uint16__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__int16__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__uint32__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__int32__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__uint64__Sequence")
|
|
.blacklist_type("rosidl_runtime_c__int64__Sequence")
|
|
.size_t_is_usize(true)
|
|
.no_debug("_OSUnaligned.*")
|
|
.default_enum_style(bindgen::EnumVariation::Rust {
|
|
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
|
|
.write_to_file(out_path.join("msg_bindings.rs"))
|
|
.expect("Couldn't write bindings!");
|
|
}
|