87 lines
3.4 KiB
Rust
87 lines
3.4 KiB
Rust
use common;
|
|
use msg_gen;
|
|
use std::env;
|
|
use std::fs::File;
|
|
use std::io::Write;
|
|
use std::path::{Path,PathBuf};
|
|
|
|
fn main() {
|
|
common::print_cargo_watches();
|
|
|
|
let msg_list = if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
|
|
let packages = cmake_includes.split(":").flat_map(|i| Path::new(i).parent()).collect::<Vec<_>>();
|
|
let deps = env::var("CMAKE_IDL_PACKAGES").unwrap_or(String::default());
|
|
let deps = deps.split(":").collect::<Vec<_>>();
|
|
let msgs = common::get_ros_msgs(&packages);
|
|
common::parse_msgs(&msgs).into_iter()
|
|
.filter(|msg| deps.contains(&msg.module.as_str())).collect::<Vec<_>>()
|
|
} else {
|
|
let ament_prefix_var = env::var("AMENT_PREFIX_PATH").expect("Source your ROS!");
|
|
let paths = ament_prefix_var.split(":").map(|i| Path::new(i)).collect::<Vec<_>>();
|
|
let msgs = common::get_ros_msgs(&paths);
|
|
common::parse_msgs(&msgs)
|
|
};
|
|
let msgs = common::as_map(&msg_list);
|
|
|
|
let mut modules = String::new();
|
|
|
|
for (module, prefixes) in &msgs {
|
|
println!(
|
|
"cargo:rustc-link-lib=dylib={}__rosidl_typesupport_c",
|
|
module
|
|
);
|
|
println!(
|
|
"cargo:rustc-link-lib=dylib={}__rosidl_typesupport_introspection_c",
|
|
module
|
|
);
|
|
println!("cargo:rustc-link-lib=dylib={}__rosidl_generator_c", module);
|
|
|
|
modules.push_str(&format!(r#"pub mod {module}{{include!(concat!(env!("OUT_DIR"), "/{module}.rs"));}}{lf}"#, module=module, lf="\n"));
|
|
|
|
let mut codegen = String::new();
|
|
for (prefix, msgs) in prefixes {
|
|
codegen.push_str(&format!(" pub mod {} {{\n", prefix));
|
|
|
|
if prefix == &"srv" {
|
|
for msg in msgs {
|
|
codegen.push_str("#[allow(non_snake_case)]\n");
|
|
codegen.push_str(&format!(" pub mod {} {{\n", msg));
|
|
codegen.push_str(" use super::super::super::*;\n");
|
|
|
|
codegen.push_str(&msg_gen::generate_rust_service(module, prefix, msg));
|
|
|
|
for s in &["Request", "Response"] {
|
|
let msgname = format!("{}_{}", msg, s);
|
|
codegen.push_str(&msg_gen::generate_rust_msg(module, prefix, &msgname));
|
|
println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
|
|
}
|
|
codegen.push_str(" }\n");
|
|
}
|
|
} else {
|
|
codegen.push_str(" use super::super::*;\n");
|
|
for msg in msgs {
|
|
codegen.push_str(&msg_gen::generate_rust_msg(module, prefix, msg));
|
|
println!("cargo:rustc-cfg=r2r__{}__{}__{}", module, prefix, msg);
|
|
}
|
|
}
|
|
|
|
codegen.push_str(" }\n");
|
|
}
|
|
let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
|
|
let mod_fn = out_path.join(&format!("{}.rs", module));
|
|
let mut f = File::create(mod_fn).unwrap();
|
|
write!(f, "{}", codegen).unwrap();
|
|
}
|
|
|
|
let untyped_helper = msg_gen::generate_untyped_helper(&msg_list);
|
|
|
|
let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
|
|
let msgs_fn = out_path.join("_r2r_generated_msgs.rs");
|
|
let untyped_fn = out_path.join("_r2r_generated_untyped_helper.rs");
|
|
|
|
let mut f = File::create(msgs_fn).unwrap();
|
|
write!(f, "{}", modules).unwrap();
|
|
let mut f = File::create(untyped_fn).unwrap();
|
|
write!(f, "{}", untyped_helper).unwrap();
|
|
}
|