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use dora_tracing::set_up_tracing;
use eyre::{bail, Context};
use std::{env::consts::EXE_SUFFIX, path::Path};
#[tokio::main]
async fn main() -> eyre::Result<()> {
set_up_tracing("c++-ros2-dataflow-example").wrap_err("failed to set up tracing")?;
if cfg!(windows) {
tracing::error!(
"The c++ example does not work on Windows currently because of a linker error"
);
return Ok(());
}
let root = Path::new(env!("CARGO_MANIFEST_DIR"));
let target = root.join("target");
std::env::set_current_dir(root.join(file!()).parent().unwrap())
.wrap_err("failed to set working dir")?;
tokio::fs::create_dir_all("build").await?;
let build_dir = Path::new("build");
build_package("dora-node-api-cxx", &["ros2-bridge"]).await?;
let node_cxxbridge = target.join("cxxbridge").join("dora-node-api-cxx");
tokio::fs::copy(
node_cxxbridge.join("dora-node-api.cc"),
build_dir.join("dora-node-api.cc"),
)
.await?;
tokio::fs::copy(
node_cxxbridge.join("dora-node-api.h"),
build_dir.join("dora-node-api.h"),
)
.await?;
tokio::fs::copy(
node_cxxbridge.join("dora-ros2-bindings.cc"),
build_dir.join("dora-ros2-bindings.cc"),
)
.await?;
tokio::fs::copy(
node_cxxbridge.join("dora-ros2-bindings.h"),
build_dir.join("dora-ros2-bindings.h"),
)
.await?;
build_cxx_node(
root,
&[
&dunce::canonicalize(Path::new("node-rust-api").join("main.cc"))?,
&dunce::canonicalize(build_dir.join("dora-ros2-bindings.cc"))?,
&dunce::canonicalize(build_dir.join("dora-node-api.cc"))?,
],
"node_rust_api",
&["-l", "dora_node_api_cxx"],
)
.await?;
let dataflow = Path::new("dataflow.yml").to_owned();
run_dataflow(&dataflow).await?;
Ok(())
}
async fn build_package(package: &str, features: &[&str]) -> eyre::Result<()> {
let cargo = std::env::var("CARGO").unwrap();
let mut cmd = tokio::process::Command::new(&cargo);
cmd.arg("build");
cmd.arg("--package").arg(package);
if !features.is_empty() {
cmd.arg("--features").arg(features.join(","));
}
if !cmd.status().await?.success() {
bail!("failed to compile {package}");
};
Ok(())
}
async fn build_cxx_node(
root: &Path,
paths: &[&Path],
out_name: &str,
args: &[&str],
) -> eyre::Result<()> {
let mut clang = tokio::process::Command::new("clang++");
clang.args(paths);
clang.arg("-std=c++17");
#[cfg(target_os = "linux")]
{
clang.arg("-l").arg("m");
clang.arg("-l").arg("rt");
clang.arg("-l").arg("dl");
clang.arg("-pthread");
}
#[cfg(target_os = "windows")]
{
clang.arg("-ladvapi32");
clang.arg("-luserenv");
clang.arg("-lkernel32");
clang.arg("-lws2_32");
clang.arg("-lbcrypt");
clang.arg("-lncrypt");
clang.arg("-lschannel");
clang.arg("-lntdll");
clang.arg("-liphlpapi");
clang.arg("-lcfgmgr32");
clang.arg("-lcredui");
clang.arg("-lcrypt32");
clang.arg("-lcryptnet");
clang.arg("-lfwpuclnt");
clang.arg("-lgdi32");
clang.arg("-lmsimg32");
clang.arg("-lmswsock");
clang.arg("-lole32");
clang.arg("-lopengl32");
clang.arg("-lsecur32");
clang.arg("-lshell32");
clang.arg("-lsynchronization");
clang.arg("-luser32");
clang.arg("-lwinspool");
clang.arg("-Wl,-nodefaultlib:libcmt");
clang.arg("-D_DLL");
clang.arg("-lmsvcrt");
}
#[cfg(target_os = "macos")]
{
clang.arg("-framework").arg("CoreServices");
clang.arg("-framework").arg("Security");
clang.arg("-l").arg("System");
clang.arg("-l").arg("resolv");
clang.arg("-l").arg("pthread");
clang.arg("-l").arg("c");
clang.arg("-l").arg("m");
}
clang.args(args);
clang.arg("-L").arg(root.join("target").join("debug"));
clang
.arg("--output")
.arg(Path::new("../build").join(format!("{out_name}{EXE_SUFFIX}")));
if let Some(parent) = paths[0].parent() {
clang.current_dir(parent);
}
if !clang.status().await?.success() {
bail!("failed to compile c++ node");
};
Ok(())
}
async fn run_dataflow(dataflow: &Path) -> eyre::Result<()> {
let cargo = std::env::var("CARGO").unwrap();
let mut cmd = tokio::process::Command::new(&cargo);
cmd.arg("run");
cmd.arg("--package").arg("dora-cli");
cmd.arg("--")
.arg("daemon")
.arg("--run-dataflow")
.arg(dataflow);
if !cmd.status().await?.success() {
bail!("failed to run dataflow");
};
Ok(())
}
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