83 lines
3.6 KiB
Rust
83 lines
3.6 KiB
Rust
use bindgen;
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use itertools::Itertools;
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use std::env;
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use std::path::{Path, PathBuf};
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fn main() {
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let mut builder = bindgen::Builder::default()
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.header("src/action_wrapper.h")
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.derive_copy(false)
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.size_t_is_usize(true)
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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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if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
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// we are running from cmake, do special thing.
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let mut includes = cmake_includes.split(":").collect::<Vec<_>>();
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includes.sort();
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includes.dedup();
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for x in &includes {
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let clang_arg = format!("-I{}", x);
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println!("adding clang arg: {}", clang_arg);
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builder = builder.clang_arg(clang_arg);
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}
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env::var("CMAKE_LIBRARIES")
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.unwrap_or(String::new())
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.split(":")
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.into_iter()
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.filter(|s| s.contains(".so") || s.contains(".dylib"))
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.flat_map(|l| Path::new(l).parent().and_then(|p| p.to_str()))
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.unique()
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.for_each(|pp| {
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println!("cargo:rustc-link-search=native={}", pp)
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// we could potentially do the below instead of hardcoding which libs we rely on.
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// let filename = path.file_stem().and_then(|f| f.to_str()).unwrap();
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// let without_lib = filename.strip_prefix("lib").unwrap();
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// println!("cargo:rustc-link-lib=dylib={}", without_lib);
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});
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} else {
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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!(
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"added include search dir: {}",
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format!("-I{}/include", ament_prefix_path)
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);
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println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
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}
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}
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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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// whitelist a few specific things that we need.
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.whitelist_recursively(false)
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.whitelist_type("rcl_action_client_t").opaque_type("rcl_action_client_t")
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.whitelist_type("rcl_action_server_t").opaque_type("rcl_action_server_t")
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.whitelist_type("rcl_action_goal_info_t").opaque_type("rcl_action_goal_info_t")
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.whitelist_type("rcl_action_goal_handle_t").opaque_type("rcl_action_goal_handle_t")
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.whitelist_type("rcl_action_cancel_request_t").opaque_type("rcl_action_cancel_request_t")
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.whitelist_type("rcl_action_cancel_response_t").opaque_type("rcl_action_cancel_response_t")
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.whitelist_type("rcl_action_goal_info_t").opaque_type("rcl_action_goal_info_t")
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.whitelist_type("rcl_action_goal_event_t").opaque_type("rcl_action_goal_event_t")
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.whitelist_type("rcl_action_goal_state_t").opaque_type("rcl_action_goal_state_t")
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.whitelist_type("rcl_action_goal_status_array_t").opaque_type("rcl_action_goal_status_array_t")
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.whitelist_function("rcl_action_.*")
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// .whitelist_type("rosidl_action_type_support_t").opaque_type("rosidl_action_type_support_t")
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.whitelist_type("rcl_action_client_options_t")
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.whitelist_type("rcl_action_server_options_t")
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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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