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build.rs
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build.rs
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use std::ffi::OsStr;
use std::path::Path;
use std::{env, fs};
fn main() {
let out_dir = env::var("OUT_DIR").unwrap();
rerun_if_env_changed("OUT_DIR");
rerun_if_env_changed("CMAKE_PREFIX_PATH");
rerun_if_env_changed("ROSRUST_MSG_PATH");
let cmake_paths = env::var("CMAKE_PREFIX_PATH")
.unwrap_or_default()
.split(':')
.filter_map(append_share_folder)
.collect::<Vec<String>>();
let cmake_alt_paths = env::var("CMAKE_PREFIX_PATH")
.unwrap_or_default()
.split(':')
.filter_map(append_src_folder)
.collect::<Vec<String>>();
let extra_paths = env::var("ROSRUST_MSG_PATH")
.unwrap_or_default()
.split(':')
.map(String::from)
.collect::<Vec<String>>();
let paths = cmake_paths
.iter()
.chain(cmake_alt_paths.iter())
.chain(extra_paths.iter())
.collect::<Vec<_>>();
for path in &paths {
rerun_if_folder_content_changed(Path::new(path));
}
let messages = paths
.iter()
.flat_map(|path| find_all_messages_and_services(Path::new(path)))
.collect::<Vec<(String, String)>>();
let file_name = format!("{}/{}", out_dir, "messages.rs");
let package_names = messages
.iter()
.map(|(pkg, msg)| format!("{}/{}", pkg, msg))
.collect::<Vec<String>>()
.join(",");
let package_tuples = messages
.iter()
.map(|(pkg, msg)| format!("(\"{}\",\"{}\")", pkg, msg))
.collect::<Vec<String>>()
.join(",");
let file_content = format!(
r#"
rosrust::rosmsg_include!({},IGNORE_BAD);
pub static MESSAGES: &[(&str, &str)]=&[{}];
"#,
package_names, package_tuples
);
fs::write(&file_name, &file_content).unwrap();
}
fn rerun_if_file_changed(key: &str) {
println!("cargo:rerun-if-changed={}", key);
}
fn rerun_if_env_changed(key: &str) {
println!("cargo:rerun-if-env-changed={}", key);
}
pub fn rerun_if_folder_content_changed(folder: &Path) {
if !folder.is_dir() {
if folder.extension() == Some(OsStr::new("msg"))
|| folder.extension() == Some(OsStr::new("srv"))
{
if let Some(name) = folder.to_str() {
rerun_if_file_changed(name);
}
}
return;
}
if let Some(name) = folder.to_str() {
rerun_if_file_changed(name);
}
if let Ok(children) = fs::read_dir(folder) {
for child in children.filter_map(Result::ok) {
rerun_if_folder_content_changed(&child.path());
}
}
}
fn append_share_folder(path: &str) -> Option<String> {
Path::new(path).join("share").to_str().map(String::from)
}
fn append_src_folder(path: &str) -> Option<String> {
Path::new(path)
.join("..")
.join("src")
.to_str()
.map(String::from)
}
fn find_all_messages_and_services(root: &Path) -> Vec<(String, String)> {
if !root.is_dir() {
return identify_message_or_service(root).into_iter().collect();
}
let mut items = vec![];
if let Ok(children) = fs::read_dir(root) {
for child in children.filter_map(|v| v.ok()) {
items.append(&mut find_all_messages_and_services(&child.path()));
}
}
items
}
fn identify_message_or_service(filename: &Path) -> Option<(String, String)> {
let extension = filename.extension()?;
let message = filename.file_stem()?;
let parent = filename.parent()?;
let grandparent = parent.parent()?;
let package = grandparent.file_name()?;
if Some(extension) != parent.file_name() {
return None;
}
match extension.to_str() {
Some("msg") => {}
Some("srv") => {}
_ => return None,
}
Some((package.to_str()?.into(), message.to_str()?.into()))
}