From b5cbea1a209c188467562accbbec530eda2dbb33 Mon Sep 17 00:00:00 2001
From: Philipp Oppermann <dev@phil-opp.com>
Date: Fri, 5 Jan 2024 17:23:02 +0100
Subject: [PATCH] Include ros2-bridge header files in `dora-node-api-cxx`

---
 Cargo.lock                                  |  1 +
 apis/c++/node/Cargo.toml                    |  2 +
 apis/c++/node/build.rs                      | 58 +++++++++++++++++++++
 libraries/extensions/ros2-bridge/Cargo.toml |  1 +
 libraries/extensions/ros2-bridge/build.rs   |  4 +-
 libraries/extensions/ros2-bridge/src/lib.rs |  2 +-
 6 files changed, 65 insertions(+), 3 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 3dada54f..20942d39 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1604,6 +1604,7 @@ dependencies = [
  "cxx",
  "cxx-build",
  "dora-node-api",
+ "dora-ros2-bridge",
  "eyre",
 ]
 
diff --git a/apis/c++/node/Cargo.toml b/apis/c++/node/Cargo.toml
index 77e58c25..347f07e4 100644
--- a/apis/c++/node/Cargo.toml
+++ b/apis/c++/node/Cargo.toml
@@ -14,11 +14,13 @@ crate-type = ["staticlib"]
 [features]
 default = ["tracing"]
 tracing = ["dora-node-api/tracing"]
+ros2-bridge = []
 
 [dependencies]
 cxx = "1.0.73"
 dora-node-api = { workspace = true }
 eyre = "0.6.8"
+dora-ros2-bridge = { workspace = true, features = ["cxx-bridge"] }
 
 [build-dependencies]
 cxx-build = "1.0.73"
diff --git a/apis/c++/node/build.rs b/apis/c++/node/build.rs
index dba00707..f51d2af0 100644
--- a/apis/c++/node/build.rs
+++ b/apis/c++/node/build.rs
@@ -1,4 +1,62 @@
+use std::path::{Component, Path, PathBuf};
+
 fn main() {
     let _build = cxx_build::bridge("src/lib.rs");
     println!("cargo:rerun-if-changed=src/lib.rs");
+
+    if cfg!(feature = "ros2-bridge") {
+        generate_ros2_message_header();
+    }
+}
+
+fn generate_ros2_message_header() {
+    let prefix = std::env::var("DEP_DORA_ROS2_BRIDGE_CXXBRIDGE_PREFIX").unwrap();
+    let include_dir = PathBuf::from(std::env::var("DEP_DORA_ROS2_BRIDGE_CXXBRIDGE_DIR0").unwrap());
+    let _crate_dir = std::env::var("DEP_DORA_ROS2_BRIDGE_CXXBRIDGE_DIR1").unwrap();
+
+    let header_path = include_dir
+        .join(&prefix)
+        .join(local_relative_path(&include_dir))
+        .ancestors()
+        .nth(2)
+        .unwrap()
+        .join("messages.rs.h");
+    let code_path = include_dir
+        .parent()
+        .unwrap()
+        .join("sources")
+        .join(&prefix)
+        .join(local_relative_path(&include_dir))
+        .ancestors()
+        .nth(2)
+        .unwrap()
+        .join("messages.rs.cc");
+
+    // copy message files to target directory
+    let root = Path::new(env!("CARGO_MANIFEST_DIR"))
+        .ancestors()
+        .nth(3)
+        .unwrap();
+    let target_path = root
+        .join("target")
+        .join("cxxbridge")
+        .join("dora-node-api-cxx")
+        .join("src")
+        .join("messages.rs.h");
+
+    std::fs::copy(header_path, &target_path).unwrap();
+    std::fs::copy(code_path, target_path.with_file_name("messages.rs.cc")).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
 }
diff --git a/libraries/extensions/ros2-bridge/Cargo.toml b/libraries/extensions/ros2-bridge/Cargo.toml
index 6b3b916b..2da5a5d3 100644
--- a/libraries/extensions/ros2-bridge/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/Cargo.toml
@@ -2,6 +2,7 @@
 name = "dora-ros2-bridge"
 version = "0.1.0"
 edition = "2021"
+links = "dora-ros2-bridge"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/libraries/extensions/ros2-bridge/build.rs b/libraries/extensions/ros2-bridge/build.rs
index a8ec4c98..44a94895 100644
--- a/libraries/extensions/ros2-bridge/build.rs
+++ b/libraries/extensions/ros2-bridge/build.rs
@@ -9,9 +9,9 @@ fn main() {
         .format_tokens(generated)
         .unwrap();
     let out_dir = PathBuf::from(std::env::var("OUT_DIR").unwrap());
-    let target_file = out_dir.join("generated.rs");
+    let target_file = out_dir.join("messages.rs");
     std::fs::write(&target_file, generated_string).unwrap();
-    println!("cargo:rustc-env=GENERATED_PATH={}", target_file.display());
+    println!("cargo:rustc-env=MESSAGES_PATH={}", target_file.display());
 
     #[cfg(feature = "cxx-bridge")]
     let _build = cxx_build::bridge(&target_file);
diff --git a/libraries/extensions/ros2-bridge/src/lib.rs b/libraries/extensions/ros2-bridge/src/lib.rs
index 7d29c7b1..85fcf116 100644
--- a/libraries/extensions/ros2-bridge/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/src/lib.rs
@@ -2,7 +2,7 @@ pub use ros2_client;
 pub use rustdds;
 
 pub mod messages {
-    include!(env!("GENERATED_PATH"));
+    include!(env!("MESSAGES_PATH"));
 }
 
 pub mod _core;