111 lines
3.8 KiB
Rust
111 lines
3.8 KiB
Rust
use std::fs::OpenOptions;
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use std::path::{Path, PathBuf};
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use std::{env, fs};
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const BINDINGS_FILENAME: &str = "action_bindings.rs";
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fn main() {
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r2r_common::print_cargo_watches();
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r2r_common::print_cargo_ros_distro();
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run_bindgen();
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run_dynlink();
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}
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fn run_bindgen() {
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let env_hash = r2r_common::get_env_hash();
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let out_dir = PathBuf::from(env::var("OUT_DIR").unwrap());
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let manifest_dir = Path::new(env!("CARGO_MANIFEST_DIR"));
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let bindgen_dir = out_dir.join(env_hash);
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let save_dir = manifest_dir.join("bindings");
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let cache_file = bindgen_dir.join(BINDINGS_FILENAME);
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let target_file = out_dir.join(BINDINGS_FILENAME);
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let mark_file = bindgen_dir.join("done");
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let saved_file = save_dir.join(BINDINGS_FILENAME);
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if cfg!(feature = "doc-only") {
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// If "doc-only" feature is present, copy from $crate/bindings/* to OUT_DIR
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eprintln!(
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"Copy from '{}' to '{}'",
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saved_file.display(),
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target_file.display()
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);
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fs::copy(&saved_file, &target_file).unwrap();
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} else {
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// If bindgen was done before, use cached files.
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if !mark_file.exists() {
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eprintln!("Generate bindings file '{}'", cache_file.display());
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fs::create_dir_all(&bindgen_dir).unwrap();
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generate_bindings(&cache_file);
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touch(&mark_file);
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} else {
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eprintln!("Used cached file '{}'", cache_file.display());
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}
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fs::copy(&cache_file, &target_file).unwrap();
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#[cfg(feature = "save-bindgen")]
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{
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fs::create_dir_all(&save_dir).unwrap();
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fs::copy(&cache_file, &saved_file).unwrap();
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}
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}
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}
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fn run_dynlink() {
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#[cfg(not(feature = "doc-only"))]
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{
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r2r_common::print_cargo_link_search();
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println!("cargo:rustc-link-lib=dylib=rcl_action");
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}
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}
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fn generate_bindings(out_file: &Path) {
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let bindings = r2r_common::setup_bindgen_builder()
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.header("src/action_wrapper.h")
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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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bindings
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.write_to_file(out_file)
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.expect("Couldn't write bindings!");
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}
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fn touch(path: &Path) {
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OpenOptions::new()
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.create(true)
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.write(true)
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.open(path)
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.unwrap_or_else(|_| panic!("Unable to create file '{}'", path.display()));
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}
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