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use std::path::{Path, PathBuf}; |
|
|
|
fn main() { |
|
let mut bridge_files = vec![PathBuf::from("src/lib.rs")]; |
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#[cfg(feature = "ros2-bridge")] |
|
bridge_files.push(ros2::generate()); |
|
|
|
let _build = cxx_build::bridges(&bridge_files); |
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println!("cargo:rerun-if-changed=src/lib.rs"); |
|
|
|
|
|
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()); |
|
|
|
|
|
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"); |
|
|
|
|
|
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(); |
|
|
|
|
|
let mut header_reader = { |
|
let mut reader = BufReader::new(node_header); |
|
|
|
|
|
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(); |
|
} |
|
|
|
|
|
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()), |
|
Component::Normal(name) => rel_path.push(name), |
|
} |
|
} |
|
rel_path |
|
} |
|
} |
|
|