51 lines
1.9 KiB
Rust
51 lines
1.9 KiB
Rust
use std::env;
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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 mut builder = r2r_common::setup_bindgen_builder();
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builder = builder.header("src/action_wrapper.h");
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println!("cargo:rustc-link-lib=dylib=rcl_action");
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let bindings = builder
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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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// allowlist a few specific things that we need.
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.allowlist_recursively(false)
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.allowlist_type("rcl_action_client_t")
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.opaque_type("rcl_action_client_t")
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.allowlist_type("rcl_action_server_t")
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.opaque_type("rcl_action_server_t")
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.allowlist_type("rcl_action_goal_info_t")
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.allowlist_type("rcl_action_goal_handle_t")
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.opaque_type("rcl_action_goal_handle_t")
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.allowlist_type("rcl_action_cancel_request_t")
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.allowlist_type("rcl_action_cancel_request_s")
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.opaque_type("rcl_action_cancel_request_s")
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.allowlist_type("rcl_action_cancel_response_t")
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.allowlist_type("rcl_action_cancel_response_s")
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.allowlist_type("rcl_action_goal_event_t")
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.allowlist_type("rcl_action_goal_event_e")
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.allowlist_type("rcl_action_goal_state_t")
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.opaque_type("rcl_action_goal_state_t")
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.allowlist_type("rcl_action_goal_status_array_t")
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.opaque_type("rcl_action_goal_status_array_t")
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.allowlist_function("rcl_action_.*")
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.allowlist_type("rcl_action_client_options_t")
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.opaque_type("rcl_action_client_options_t")
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.allowlist_type("rcl_action_server_options_t")
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.opaque_type("rcl_action_server_options_t")
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.allowlist_var("RCL_RET_ACTION_.*")
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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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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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bindings
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.write_to_file(out_path.join("action_bindings.rs"))
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.expect("Couldn't write bindings!");
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}
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