File size: 5,426 Bytes
b98ffbb |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 |
use std::path::{Path, PathBuf};
fn main() {
let mut bridge_files = vec![PathBuf::from("src/lib.rs")];
#[cfg(feature = "ros2-bridge")]
bridge_files.push(ros2::generate());
let _build = cxx_build::bridges(&bridge_files);
println!("cargo:rerun-if-changed=src/lib.rs");
// rename header files
let src_dir = target_dir()
.join("cxxbridge")
.join("dora-node-api-cxx")
.join("src");
let target_dir = src_dir.parent().unwrap();
std::fs::copy(src_dir.join("lib.rs.h"), target_dir.join("dora-node-api.h")).unwrap();
std::fs::copy(
src_dir.join("lib.rs.cc"),
target_dir.join("dora-node-api.cc"),
)
.unwrap();
#[cfg(feature = "ros2-bridge")]
ros2::generate_ros2_message_header(bridge_files.last().unwrap());
// to avoid unnecessary `mut` warning
bridge_files.clear();
}
fn target_dir() -> PathBuf {
std::env::var("CARGO_TARGET_DIR")
.map(PathBuf::from)
.unwrap_or_else(|_| {
let root = Path::new(env!("CARGO_MANIFEST_DIR"))
.ancestors()
.nth(3)
.unwrap();
root.join("target")
})
}
#[cfg(feature = "ros2-bridge")]
mod ros2 {
use super::target_dir;
use std::{
io::{BufRead, BufReader},
path::{Component, Path, PathBuf},
};
pub fn generate() -> PathBuf {
use rust_format::Formatter;
let paths = ament_prefix_paths();
let generated = dora_ros2_bridge_msg_gen::gen(paths.as_slice(), true);
let generated_string = rust_format::PrettyPlease::default()
.format_tokens(generated)
.unwrap();
let out_dir = PathBuf::from(std::env::var("OUT_DIR").unwrap());
let target_file = out_dir.join("ros2_bindings.rs");
std::fs::write(&target_file, generated_string).unwrap();
println!(
"cargo:rustc-env=ROS2_BINDINGS_PATH={}",
target_file.display()
);
target_file
}
fn ament_prefix_paths() -> Vec<PathBuf> {
let ament_prefix_path: String = match std::env::var("AMENT_PREFIX_PATH") {
Ok(path) => path,
Err(std::env::VarError::NotPresent) => {
println!("cargo:warning='AMENT_PREFIX_PATH not set'");
String::new()
}
Err(std::env::VarError::NotUnicode(s)) => {
panic!(
"AMENT_PREFIX_PATH is not valid unicode: `{}`",
s.to_string_lossy()
);
}
};
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
let paths: Vec<_> = ament_prefix_path.split(':').map(PathBuf::from).collect();
for path in &paths {
println!("cargo:rerun-if-changed={}", path.display());
}
paths
}
pub fn generate_ros2_message_header(source_file: &Path) {
use std::io::Write as _;
let out_dir = source_file.parent().unwrap();
let relative_path = local_relative_path(&source_file)
.ancestors()
.nth(2)
.unwrap()
.join("out");
let header_path = out_dir
.join("cxxbridge")
.join("include")
.join("dora-node-api-cxx")
.join(&relative_path)
.join("ros2_bindings.rs.h");
let code_path = out_dir
.join("cxxbridge")
.join("sources")
.join("dora-node-api-cxx")
.join(&relative_path)
.join("ros2_bindings.rs.cc");
// copy message files to target directory
let target_path = target_dir()
.join("cxxbridge")
.join("dora-node-api-cxx")
.join("dora-ros2-bindings.h");
std::fs::copy(&header_path, &target_path).unwrap();
println!("cargo:rerun-if-changed={}", header_path.display());
let node_header =
std::fs::File::open(target_path.with_file_name("dora-node-api.h")).unwrap();
let mut code_file = std::fs::File::open(&code_path).unwrap();
println!("cargo:rerun-if-changed={}", code_path.display());
let mut code_target_file =
std::fs::File::create(target_path.with_file_name("dora-ros2-bindings.cc")).unwrap();
// copy both the node header and the code file to prevent import errors
let mut header_reader = {
let mut reader = BufReader::new(node_header);
// read first line to skip `#pragma once`, which is not allowed in main files
let mut first_line = String::new();
reader.read_line(&mut first_line).unwrap();
assert_eq!(first_line.trim(), "#pragma once");
reader
};
std::io::copy(&mut header_reader, &mut code_target_file).unwrap();
std::io::copy(&mut code_file, &mut code_target_file).unwrap();
code_target_file.flush().unwrap();
}
// copy from cxx-build source
fn local_relative_path(path: &Path) -> PathBuf {
let mut rel_path = PathBuf::new();
for component in path.components() {
match component {
Component::Prefix(_) | Component::RootDir | Component::CurDir => {}
Component::ParentDir => drop(rel_path.pop()), // noop if empty
Component::Normal(name) => rel_path.push(name),
}
}
rel_path
}
}
|