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Merged
merged 1 commit into from
Feb 18, 2025
Merged

Remove invalid escape sequence #1033

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102 changes: 25 additions & 77 deletions binding.gyp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@
'variables': {
'ros_version': '<!(node scripts/ros_distro.js)',
'runtime%': 'node',
'ros_lib_dir': "<!(node -p \"require('./scripts/config.js').getROSLibPath()\")",
'ros_include_root': "<!(node -p \"require('./scripts/config.js').getROSIncludeRootPath()\")",
},
'targets': [
{
Expand All @@ -28,6 +30,7 @@
'include_dirs': [
'.',
"<!(node -e \"require('nan')\")",
'<(ros_include_root)',
],
'cflags!': [
'-fno-exceptions'
Expand Down Expand Up @@ -61,45 +64,11 @@
],
'cflags_cc': [
'-std=c++20'
],
'include_dirs':
[
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
],
'library_dirs': [
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
],
'conditions': [
[
'ros_version > 2105', # Humble, Rolling, ...
{
'include_dirs':
[
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl/ ') + '/include/rcl')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcutils/ ') + '/include/rcutils/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rmw/ ') + '/include/rmw/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_yaml_param_parser/ ') + '/include/rcl_yaml_param_parser/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_typesupport_interface/ ') + '/include/rosidl_typesupport_interface/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_action/ ') + '/include/rcl_action/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/action_msgs/ ') + '/include/action_msgs/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/service_msgs/ ') + '/include/service_msgs/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/unique_identifier_msgs/ ') + '/include/unique_identifier_msgs/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/builtin_interfaces/ ') + '/include/builtin_interfaces/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_lifecycle/ ') + '/include/rcl_lifecycle/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/lifecycle_msgs/ ') + '/include/lifecycle_msgs/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_runtime_c/ ') + '/include/rosidl_runtime_c/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_dynamic_typesupport/ ') + '/include/rosidl_dynamic_typesupport/')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/type_description_interfaces/ ') + '/include/type_description_interfaces/')\")",
],
}
],
],
]
}
],
[
'OS=="win"',
{
'OS=="win"', {
'defines': [
'OS_WINDOWS'
],
Expand All @@ -108,57 +77,24 @@
],
'include_dirs': [
'./src/third_party/dlfcn-win32/',
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include ').replace(/\\\/g, '/') + '/include')\")",
],
'msvs_settings': {
'VCCLCompilerTool': {
'ExceptionHandling': '2', # /EHsc
},
'VCLinkerTool': {
'AdditionalDependencies': ['psapi.lib'],
'AdditionalLibraryDirectories': ["<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\lib ').replace(/\\\/g, '/') + '/lib')\")",],
'AdditionalLibraryDirectories': ['<(ros_lib_dir)'],
}
},
'conditions': [
[
'ros_version > 2105', # Humble, Rolling, ... TODO - not tested due to broken setup_ros v3.3 action on windows
{
'include_dirs':
[
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl ').replace(/\\\/g, '/') + '/include/rcl')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcutils ').replace(/\\\/g, '/') + '/include/rcutils')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rmw ').replace(/\\\/g, '/') + '/include/rmw')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_yaml_param_parser ').replace(/\\\/g, '/') + '/include/rcl_yaml_param_parser')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_runtime_c ').replace(/\\\/g, '/') + '/include/rosidl_runtime_c')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_typesupport_interface ').replace(/\\\/g, '/') + '/include/rosidl_typesupport_interface')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_action ').replace(/\\\/g, '/') + '/include/rcl_action')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/action_msgs ').replace(/\\\/g, '/') + '/include/action_msgs')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/service_msgs ').replace(/\\\/g, '/') + '/include/service_msgs')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/unique_identifier_msgs ').replace(/\\\/g, '/') + '/include/unique_identifier_msgs')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/builtin_interfaces ').replace(/\\\/g, '/') + '/include/builtin_interfaces')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_lifecycle ').replace(/\\\/g, '/') + '/include/rcl_lifecycle')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/lifecycle_msgs ').replace(/\\\/g, '/') + '/include/lifecycle_msgs')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_dynamic_typesupport ').replace(/\\\/g, '/') + '/include/rosidl_dynamic_typesupport')\")",
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/type_description_interfaces/ ').replace(/\\\/g, '/') + '/include/type_description_interfaces/')\")",
],
}
]
]
}
}
],
[
'OS=="mac"',
# TODO - macos is no longer a tier-1 ROS platform and we have no binary ROS builds to test for Humble & Rolling
{
'OS=="mac"', {
'defines': [
'OS_MACOS'
],
'include_dirs': [
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
],
'library_dirs': [
"<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
],
'xcode_settings': {
'GCC_ENABLE_CPP_EXCEPTIONS': 'YES',
'CLANG_CXX_LIBRARY': 'libc++',
Expand All @@ -168,8 +104,7 @@
}
],
[
'ros_version<=1911',
{
'ros_version <= 1911', {
'libraries': [
'-lrosidl_generator_c'
],
Expand All @@ -178,9 +113,22 @@
]
}
],
['runtime=="electron"', {
"defines": ["NODE_RUNTIME_ELECTRON=1"]
}],
[
# After Galactic, e.g., Humble, Jazzy, Rolling.
'ros_version > 2105', {
'include_dirs': [
"<!@(node -p \"require('./scripts/config.js').getIncludePaths().forEach(p => console.log(JSON.stringify(p)))\")"
],
'library_dirs': [
'<(ros_lib_dir)',
]
}
],
[
'runtime=="electron"', {
"defines": ["NODE_RUNTIME_ELECTRON=1"]
}
],
]
}
]
Expand Down
69 changes: 69 additions & 0 deletions scripts/config.js
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Original file line number Diff line number Diff line change
@@ -0,0 +1,69 @@
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

'use strict';

const os = require('os');
const path = require('path');
const { execSync } = require('child_process');

const dependencies = [
'rcl',
'rcutils',
'rmw',
'rcl_yaml_param_parser',
'rosidl_typesupport_interface',
'rcl_action',
'action_msgs',
'service_msgs',
'unique_identifier_msgs',
'builtin_interfaces',
'rcl_lifecycle',
'lifecycle_msgs',
'rosidl_runtime_c',
'rosidl_dynamic_typesupport',
'type_description_interfaces',
];

const command = os.type() === 'Windows_NT' ? 'where ros2' : 'which ros2';

function getROSRootPath() {
try {
// Execute the command to find the ROS2 installation path.
let ros2Path = execSync(command).toString().trim();
return path.dirname(path.dirname(ros2Path));
} catch (error) {
console.error(`Error: ${error.message}`);
}
}

function getROSLibPath() {
return path.join(getROSRootPath(), 'lib');
}

function getROSIncludeRootPath() {
return path.join(getROSRootPath(), 'include');
}

function getIncludePaths() {
const includeRoot = getROSIncludeRootPath();
return dependencies.map((dependency) => {
return path.join(includeRoot, dependency);
});
}

module.exports = {
getROSRootPath,
getROSLibPath,
getROSIncludeRootPath,
getIncludePaths,
};
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