75 lines
2.8 KiB
Rust
75 lines
2.8 KiB
Rust
use common::*;
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use msg_gen::*;
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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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println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
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let msgs = get_all_ros_msgs();
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let msgs_list = parse_msgs(&msgs);
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let msgs = as_map(&msgs_list);
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let mut modules = String::new();
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for (module, prefixes) in &msgs {
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println!(
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"cargo:rustc-link-lib=dylib={}__rosidl_typesupport_c",
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module
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);
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println!(
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"cargo:rustc-link-lib=dylib={}__rosidl_typesupport_introspection_c",
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module
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);
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println!("cargo:rustc-link-lib=dylib={}__rosidl_generator_c", module);
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modules.push_str(&format!(r#"pub mod {module}{{include!(concat!(env!("OUT_DIR"), "/{module}.rs"));}}{lf}"#, module=module, lf="\n"));
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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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for msg in msgs {
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if prefix == &"srv" {
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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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for s in &["Request", "Response"] {
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let msgname = format!("{}_{}", msg, s);
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codegen.push_str("#[allow(unused_imports)]\n");
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codegen.push_str(" use super::super::super::*;\n");
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codegen.push_str(&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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} else {
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// the need to allow unused seems to be a compiler bug...
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codegen.push_str("#[allow(unused_imports)]\n");
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codegen.push_str(" use super::super::*;\n");
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codegen.push_str(&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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}
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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 = generate_untyped_helper(&msgs_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 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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}
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