roc/build.rs at develop · bresilla/roc · GitHub

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use std::env;
use std::path::PathBuf;

fn main() {
    // Generate Rust FFI bindings for the ROS2-generated C message structs.
    //
    // This does not generate full message support; we use it as the low-level
    // rmw struct definitions which we can then pair with typesupport symbols.

    let ament_prefix =
        env::var("AMENT_PREFIX_PATH").unwrap_or_else(|_| "/opt/ros/jazzy".to_string());
    let include_root = PathBuf::from(ament_prefix).join("include");

    let out_dir = PathBuf::from(env::var("OUT_DIR").unwrap());
    let bindings_path = out_dir.join("ros_tf_msgs_bindings.rs");

    let mut builder = bindgen::Builder::default()
        .clang_arg(format!("-I{}", include_root.display()))
        // Some packages include headers as <pkg/msg/...> which live under include/<pkg>.
        .clang_arg(format!(
            "-I{}",
            include_root.join("builtin_interfaces").display()
        ))
        .clang_arg(format!("-I{}", include_root.join("std_msgs").display()))
        .clang_arg(format!(
            "-I{}",
            include_root.join("geometry_msgs").display()
        ))
        .clang_arg(format!("-I{}", include_root.join("tf2_msgs").display()))
        // ROS2 installs some headers under include/<pkg>/<pkg>/... but also expects
        // includes like <rosidl_runtime_c/...>, which live under include/rosidl_runtime_c/rosidl_runtime_c.
        .clang_arg(format!(
            "-I{}",
            include_root.join("rosidl_runtime_c").display()
        ))
        .clang_arg(format!("-I{}", include_root.join("rcutils").display()))
        .clang_arg(format!(
            "-I{}",
            include_root.join("rosidl_typesupport_interface").display()
        ))
        .clang_arg("-std=c11")
        // Keep bindgen output stable and minimal.
        .allowlist_type("builtin_interfaces__msg__Time")
        .allowlist_type("std_msgs__msg__Header")
        .allowlist_type("geometry_msgs__msg__Vector3")
        .allowlist_type("geometry_msgs__msg__Quaternion")
        .allowlist_type("geometry_msgs__msg__Transform")
        .allowlist_type("geometry_msgs__msg__TransformStamped")
        .allowlist_type("tf2_msgs__msg__TFMessage")
        // Sequences used by TFMessage.
        .allowlist_type("geometry_msgs__msg__TransformStamped__Sequence")
        // Functions for init/fini.
        .allowlist_function("builtin_interfaces__msg__Time__.*")
        .allowlist_function("std_msgs__msg__Header__.*")
        .allowlist_function("geometry_msgs__msg__Vector3__.*")
        .allowlist_function("geometry_msgs__msg__Quaternion__.*")
        .allowlist_function("geometry_msgs__msg__Transform__.*")
        .allowlist_function("geometry_msgs__msg__TransformStamped__.*")
        .allowlist_function("tf2_msgs__msg__TFMessage__.*")
        // Needed basic C types.
        .allowlist_type("rosidl_runtime_c__String")
        .allowlist_type("rosidl_runtime_c__String__Sequence")
        .allowlist_function("rosidl_runtime_c__String__.*")
        .allowlist_function("rosidl_runtime_c__String__Sequence__.*")
        // Avoid pulling in platform-specific stuff.
        .blocklist_type("max_align_t")
        .derive_default(true)
        .generate_comments(false);

    // The headers we need.
    let headers = [
        "builtin_interfaces/builtin_interfaces/msg/detail/time__struct.h",
        "builtin_interfaces/builtin_interfaces/msg/detail/time__functions.h",
        "std_msgs/std_msgs/msg/detail/header__struct.h",
        "std_msgs/std_msgs/msg/detail/header__functions.h",
        "geometry_msgs/geometry_msgs/msg/detail/vector3__struct.h",
        "geometry_msgs/geometry_msgs/msg/detail/vector3__functions.h",
        "geometry_msgs/geometry_msgs/msg/detail/quaternion__struct.h",
        "geometry_msgs/geometry_msgs/msg/detail/quaternion__functions.h",
        "geometry_msgs/geometry_msgs/msg/detail/transform__struct.h",
        "geometry_msgs/geometry_msgs/msg/detail/transform__functions.h",
        "geometry_msgs/geometry_msgs/msg/detail/transform_stamped__struct.h",
        "geometry_msgs/geometry_msgs/msg/detail/transform_stamped__functions.h",
        "tf2_msgs/tf2_msgs/msg/detail/tf_message__struct.h",
        "tf2_msgs/tf2_msgs/msg/detail/tf_message__functions.h",
        "rosidl_runtime_c/rosidl_runtime_c/string.h",
    ];

    for h in headers {
        builder = builder.header(include_root.join(h).to_string_lossy());
    }

    let bindings = builder
        .generate()
        .expect("Unable to generate ROS TF message bindings");
    bindings
        .write_to_file(&bindings_path)
        .expect("Couldn't write bindings");

    println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
    for h in headers {
        println!("cargo:rerun-if-changed={}", include_root.join(h).display());
    }
}