119 lines
4.9 KiB
Rust
119 lines
4.9 KiB
Rust
extern crate bindgen;
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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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use common::*;
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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 msg_list = parse_msgs(&msgs);
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let msg_map = as_map(&msg_list);
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for module in msg_map.keys() {
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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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}
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let mut includes = String::new();
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let mut introspecion_map = String::from(
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"\
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lazy_static! { \n
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static ref INTROSPECTION_FNS: HashMap<&'static str, usize> = {\n
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let mut m = HashMap::new();\n",
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);
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for msg in msg_list {
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// filename is certainly CamelCase -> snake_case. convert
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use heck::SnakeCase;
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let include_filename = msg.name.to_snake_case();
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includes.push_str(&format!(
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"#include <{}/{}/{}.h>\n",
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&msg.module, &msg.prefix, &include_filename
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));
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includes.push_str(&format!(
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"#include <{}/{}/{}__rosidl_typesupport_introspection_c.h>\n",
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&msg.module, &msg.prefix, &include_filename
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));
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if msg.prefix == "srv" {
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for s in &["Request", "Response"] {
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let key = &format!("{}__{}__{}_{}", &msg.module, &msg.prefix, &msg.name, s);
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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);
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introspecion_map.push_str(&format!("m.insert(\"{}\", {});\n", key, val));
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}
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} else {
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let key = &format!("{}__{}__{}", &msg.module, &msg.prefix, &msg.name);
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let val = &format!("unsafe {{ rosidl_typesupport_introspection_c__get_message_type_support_handle__{}__{}__{}() }} as *const i32 as usize", &msg.module, &msg.prefix, &msg.name);
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introspecion_map.push_str(&format!("m.insert(\"{}\", {});\n", key, val));
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}
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}
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introspecion_map.push_str("m \n }; }\n\n");
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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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let msg_includes_fn = out_path.join("msg_includes.h");
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let introspection_fn = out_path.join("introspection_functions.rs");
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let mut f = File::create(msg_includes_fn.clone()).unwrap();
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write!(f, "{}", includes).unwrap();
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let mut f = File::create(introspection_fn).unwrap();
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write!(f, "{}", introspecion_map).unwrap();
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let mut builder = bindgen::Builder::default()
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.header(msg_includes_fn.to_str().unwrap())
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.derive_copy(false)
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// blacklist types that are handled by rcl bindings
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.blacklist_type("rosidl_message_type_support_t")
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.blacklist_type("rosidl_generator_c__String")
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.blacklist_type("rosidl_generator_c__String__Sequence")
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.blacklist_type("rosidl_generator_c__U16String")
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.blacklist_type("rosidl_generator_c__U16String__Sequence")
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.blacklist_type("rosidl_generator_c__float32__Sequence")
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.blacklist_type("rosidl_generator_c__float__Sequence")
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.blacklist_type("rosidl_generator_c__float64__Sequence")
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.blacklist_type("rosidl_generator_c__double__Sequence")
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.blacklist_type("rosidl_generator_c__long_double__Sequence")
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.blacklist_type("rosidl_generator_c__char__Sequence")
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.blacklist_type("rosidl_generator_c__wchar__Sequence")
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.blacklist_type("rosidl_generator_c__boolean__Sequence")
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.blacklist_type("rosidl_generator_c__octet__Sequence")
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.blacklist_type("rosidl_generator_c__uint8__Sequence")
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.blacklist_type("rosidl_generator_c__int8__Sequence")
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.blacklist_type("rosidl_generator_c__uint16__Sequence")
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.blacklist_type("rosidl_generator_c__int16__Sequence")
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.blacklist_type("rosidl_generator_c__uint32__Sequence")
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.blacklist_type("rosidl_generator_c__int32__Sequence")
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.blacklist_type("rosidl_generator_c__uint64__Sequence")
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.blacklist_type("rosidl_generator_c__int64__Sequence")
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.default_enum_style(bindgen::EnumVariation::Rust {
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non_exhaustive: false,
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});
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let ament_prefix_var_name = "AMENT_PREFIX_PATH";
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let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
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for ament_prefix_path in ament_prefix_var.split(":") {
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builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
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println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
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}
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let bindings = builder.generate().expect("Unable to generate bindings");
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bindings
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.write_to_file(out_path.join("msg_bindings.rs"))
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.expect("Couldn't write bindings!");
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}
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