Move code generation to `msg-gen` crate

libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs

@@ -63,63 +63,6 @@ pub fn msg_include_all(input: TokenStream) -> TokenStream {
             .map(Path::new)
             .collect::<Vec<_>>();
 
-        let message_structs = get_packages(&paths)
-            .unwrap()
-            .iter()
-            .map(|v| v.message_structs(config.create_cxx_bridge))
-            .collect::<Vec<_>>();
-        let message_struct_defs = message_structs.iter().map(|(s, _)| s);
-        let message_struct_impls = message_structs.iter().map(|(_, i)| i);
-
-        let aliases = get_packages(&paths)
-            .unwrap()
-            .iter()
-            .map(|v| v.aliases_token_stream())
-            .collect::<Vec<_>>();
-        let packages = get_packages(&paths)
-            .unwrap()
-            .iter()
-            .map(|v| v.token_stream(config.create_cxx_bridge))
-            .collect::<Vec<_>>();
-
-        let (attributes, imports) = if config.create_cxx_bridge {
-            (quote! { #[cxx::bridge] }, quote! {})
-        } else {
-            (
-                quote! {},
-                quote! {
-                    use serde::{Serialize, Deserialize};
-                },
-            )
-        };
-
-        (quote! {
-            #attributes
-            pub mod ffi {
-                #imports
-
-                #[derive(Debug, Default, Clone, PartialEq, Eq, Serialize, Deserialize)]
-                pub struct U16String {
-                    chars: Vec<u16>,
-                }
-
-                #(#message_struct_defs)*
-            }
-
-
-            impl crate::_core::InternalDefault for ffi::U16String {
-                fn _default() -> Self {
-                    Default::default()
-                }
-            }
-
-            #(#message_struct_impls)*
-
-            #(#aliases)*
-
-
-            // #(#packages)*
-        })
-        .into()
+        dora_ros2_bridge_msg_gen::gen(&paths, config.create_cxx_bridge).into()
     }
 }

libraries/extensions/ros2-bridge/msg-gen/src/lib.rs

@@ -7,7 +7,72 @@
     clippy::nursery
 )]
 
+use std::path::Path;
+
+use quote::quote;
+
 pub mod parser;
 pub mod types;
 
 pub use crate::parser::get_packages;
+
+pub fn gen(paths: &[&Path], create_cxx_bridge: bool) -> proc_macro2::TokenStream {
+    let message_structs = get_packages(&paths)
+        .unwrap()
+        .iter()
+        .map(|v| v.message_structs(create_cxx_bridge))
+        .collect::<Vec<_>>();
+    let message_struct_defs = message_structs.iter().map(|(s, _)| s);
+    let message_struct_impls = message_structs.iter().map(|(_, i)| i);
+
+    let aliases = get_packages(&paths)
+        .unwrap()
+        .iter()
+        .map(|v| v.aliases_token_stream())
+        .collect::<Vec<_>>();
+    let packages = get_packages(&paths)
+        .unwrap()
+        .iter()
+        .map(|v| v.token_stream(create_cxx_bridge))
+        .collect::<Vec<_>>();
+
+    let (attributes, imports) = if create_cxx_bridge {
+        (quote! { #[cxx::bridge] }, quote! {})
+    } else {
+        (
+            quote! {},
+            quote! {
+                use serde::{Serialize, Deserialize};
+            },
+        )
+    };
+
+    (quote! {
+        #attributes
+        pub mod ffi {
+            #imports
+
+            #[derive(Debug, Default, Clone, PartialEq, Eq, Serialize, Deserialize)]
+            pub struct U16String {
+                chars: Vec<u16>,
+            }
+
+            #(#message_struct_defs)*
+        }
+
+
+        impl crate::_core::InternalDefault for ffi::U16String {
+            fn _default() -> Self {
+                Default::default()
+            }
+        }
+
+        #(#message_struct_impls)*
+
+        #(#aliases)*
+
+
+        // #(#packages)*
+    })
+    .into()
+}