41 lines
1.5 KiB
Rust
41 lines
1.5 KiB
Rust
extern crate bindgen;
|
|
|
|
use std::env;
|
|
use std::path::PathBuf;
|
|
|
|
fn main() {
|
|
println!("cargo:rerun-if-changed=../");
|
|
|
|
let headers_enabled = env::var_os("CARGO_FEATURE_HEADERS").is_some();
|
|
let mut builder = bindgen::Builder::default()
|
|
.header("src/rcl_wrapper.h")
|
|
.derive_copy(false)
|
|
.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);
|
|
}
|
|
|
|
println!("cargo:rustc-link-lib=dylib=rcl");
|
|
println!("cargo:rustc-link-lib=dylib=rcl_logging_noop");
|
|
println!("cargo:rustc-link-lib=dylib=rcutils");
|
|
println!("cargo:rustc-link-lib=dylib=rmw");
|
|
println!("cargo:rustc-link-lib=dylib=rmw_implementation");
|
|
println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_c");
|
|
println!("cargo:rustc-link-lib=dylib=rosidl_generator_c");
|
|
|
|
// bindgen takes time so we dont want to do it always... must be a better way
|
|
if headers_enabled {
|
|
let bindings = builder.generate().expect("Unable to generate bindings");
|
|
|
|
let out_path = PathBuf::from(".");
|
|
bindings
|
|
.write_to_file(out_path.join("src/rcl_bindings.rs"))
|
|
.expect("Couldn't write bindings!");
|
|
}
|
|
}
|