122 lines
5.2 KiB
Rust
122 lines
5.2 KiB
Rust
use std::env;
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use std::fs::File;
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use std::io::Write;
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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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let msg_list = r2r_common::get_wanted_messages();
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let msgs = r2r_common::as_map(&msg_list);
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let mut modules = String::new();
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for (module, prefixes) in &msgs {
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modules.push_str(&format!(
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r#"pub mod {module}{{include!(concat!(env!("OUT_DIR"), "/{module}.rs"));}}{lf}"#,
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module = module,
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lf = "\n"
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));
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let mut codegen = String::new();
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for (prefix, msgs) in prefixes {
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codegen.push_str(&format!(" pub mod {} {{\n", prefix));
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if prefix == &"action" {
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for msg in msgs {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", msg));
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codegen.push_str(" use super::super::super::*;\n");
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codegen.push_str(&r2r_msg_gen::generate_rust_action(module, prefix, msg));
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for s in &["Goal", "Result", "Feedback"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, &msgname));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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// "internal" services that implements the action type
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for srv in &["SendGoal", "GetResult"] {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", srv));
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codegen.push_str(" use super::super::super::super::*;\n");
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let srvname = format!("{}_{}", msg, srv);
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codegen.push_str(&r2r_msg_gen::generate_rust_service(
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module, prefix, &srvname,
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));
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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}_{}", msg, srv, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module, prefix, &msgname,
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));
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}
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codegen.push_str(" }\n");
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}
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// also "internal" feedback message type that wraps the feedback type with a uuid
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let feedback_msgname = format!("{}_FeedbackMessage", msg);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(
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module,
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prefix,
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&feedback_msgname,
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));
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codegen.push_str(" }\n");
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}
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} else if prefix == &"srv" {
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for msg in msgs {
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codegen.push_str("#[allow(non_snake_case)]\n");
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codegen.push_str(&format!(" pub mod {} {{\n", msg));
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codegen.push_str(" use super::super::super::*;\n");
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codegen.push_str(&r2r_msg_gen::generate_rust_service(module, prefix, msg));
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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, &msgname));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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codegen.push_str(" }\n");
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}
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} else if prefix == &"msg" {
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codegen.push_str(" use super::super::*;\n");
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for msg in msgs {
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codegen.push_str(&r2r_msg_gen::generate_rust_msg(module, prefix, msg));
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println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
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}
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} else {
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panic!("unknown prefix type: {}", prefix);
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}
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codegen.push_str(" }\n");
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}
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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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let mod_fn = out_path.join(&format!("{}.rs", module));
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let mut f = File::create(mod_fn).unwrap();
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write!(f, "{}", codegen).unwrap();
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}
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let untyped_helper = r2r_msg_gen::generate_untyped_helper(&msg_list);
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let untyped_service_helper = r2r_msg_gen::generate_untyped_service_helper(&msg_list);
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let untyped_action_helper = r2r_msg_gen::generate_untyped_action_helper(&msg_list);
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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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let msgs_fn = out_path.join("_r2r_generated_msgs.rs");
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let untyped_fn = out_path.join("_r2r_generated_untyped_helper.rs");
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let untyped_service_fn = out_path.join("_r2r_generated_service_helper.rs");
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let untyped_action_fn = out_path.join("_r2r_generated_action_helper.rs");
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let mut f = File::create(msgs_fn).unwrap();
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write!(f, "{}", modules).unwrap();
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let mut f = File::create(untyped_fn).unwrap();
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write!(f, "{}", untyped_helper).unwrap();
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let mut f = File::create(untyped_service_fn).unwrap();
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write!(f, "{}", untyped_service_helper).unwrap();
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let mut f = File::create(untyped_action_fn).unwrap();
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write!(f, "{}", untyped_action_helper).unwrap();
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}
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