None working attempt at using cxx.
This commit is contained in:
parent
4f509b4ad6
commit
93a9f1baba
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@ -20,7 +20,7 @@ corrosion_add_cxxbridge(j7s_diagnostics_cxx_bridge
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FILES lib.rs)
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add_executable(test_bin src/test.cpp)
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target_link_libraries(test_bin PRIVATE j7s_diagnostics_cxx_bridge)
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target_link_libraries(test_bin PRIVATE j7s_diagnostics_cxx_bridge j7s_diagnostics_cxx)
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corrosion_install(TARGETS j7s_diagnostics_cxx
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EXPORT export_${PROJECT_NAME}
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@ -9,10 +9,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "940b3a0ca603d1eade50a4846a2afffd5ef57a9feac2c0e2ec2e14f9ead76000"
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[[package]]
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name = "cc"
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version = "1.2.65"
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name = "anyhow"
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version = "1.0.104"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e228eec9be7c17ccb640b59b36a5cd805ea2a564a4c5e162c2f659fea30d3b96"
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checksum = "330a5ed07fa54e4702c9d6c4174f74427fc0ef6e214bbd677ae50a5099946470"
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[[package]]
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name = "cc"
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version = "1.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c89588d05638b5b4594a3348a2d6c20277e43a7f5c5202b05cc56888475a47b8"
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dependencies = [
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"find-msvc-tools",
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"shlex",
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@ -20,18 +26,18 @@ dependencies = [
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[[package]]
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name = "clap"
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version = "4.6.1"
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version = "4.6.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1ddb117e43bbf7dacf0a4190fef4d345b9bad68dfc649cb349e7d17d28428e51"
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checksum = "dd059f9da4f5c36b3787f65d38ccaab1cc315f07b01f89abc8359ee6a8205011"
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dependencies = [
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"clap_builder",
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]
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[[package]]
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name = "clap_builder"
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version = "4.6.0"
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version = "4.6.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "714a53001bf66416adb0e2ef5ac857140e7dc3a0c48fb28b2f10762fc4b5069f"
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checksum = "f09628afdcc538b57f3c6341e9c8e9970f18e4a481690a64974d7023bd33548b"
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dependencies = [
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"anstyle",
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"clap_lex",
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@ -57,9 +63,9 @@ dependencies = [
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[[package]]
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name = "cxx"
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version = "1.0.194"
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version = "1.0.198"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "747d8437319e3a2f43d93b341c137927ca70c0f5dabeea7a005a73665e247c7e"
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checksum = "6fe442a792c7c736eea18b32a7f8a3b63cf8aafabda6760042dc2fdeda456291"
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dependencies = [
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"cc",
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"cxx-build",
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@ -72,9 +78,9 @@ dependencies = [
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[[package]]
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name = "cxx-build"
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version = "1.0.194"
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version = "1.0.198"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b0f4697d190a142477b16aef7da8a99bfdc41e7e8b1687583c0d23a79c7afc1e"
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checksum = "e3184a94384c663718698311a78a51ac00c484c10b4eeac06fb0a068c5f64fa2"
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dependencies = [
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"cc",
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"codespan-reporting",
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@ -87,9 +93,9 @@ dependencies = [
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[[package]]
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name = "cxxbridge-cmd"
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version = "1.0.194"
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version = "1.0.198"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d0956799fa8678d4c50eed028f2de1c0552ae183c76e976cf7ca8c4e36a7c328"
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checksum = "0148d8fd1199329ddf1d157a5e134e51ceff37c6a7ddd38615c399d81cb05d8d"
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dependencies = [
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"clap",
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"codespan-reporting",
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@ -101,15 +107,15 @@ dependencies = [
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[[package]]
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name = "cxxbridge-flags"
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version = "1.0.194"
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version = "1.0.198"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "23384a836ab4f0ad98ace7e3955ad2de39de42378ab487dc28d3990392cb283a"
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checksum = "52850339faed2eaadd24e286dc1d8268cc6f8a7bd9524d713adc9099566b4c89"
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[[package]]
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name = "cxxbridge-macro"
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version = "1.0.194"
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version = "1.0.198"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e6acc6b5822b9526adfb4fc377b67128fdd60aac757cc4a741a6278603f763cf"
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checksum = "2c77c856545d886c9bd5215409ebb63b925e262135248b50c79e5a5f194ee47c"
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dependencies = [
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"indexmap",
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"proc-macro2",
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@ -151,14 +157,30 @@ dependencies = [
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"hashbrown",
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]
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[[package]]
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name = "j7s_diagnostics"
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version = "0.1.0"
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source = "git+https://git.jpace121.net/public/j7s_diagnostics.git?branch=main#f40b64151807cbca03a021e66cb3bf3558e4619d"
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dependencies = [
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"limbo_graph",
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"thiserror",
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]
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[[package]]
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name = "j7s_diagnostics_cxx"
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version = "0.1.0"
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dependencies = [
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"anyhow",
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"cxx",
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"cxx-build",
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"j7s_diagnostics",
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]
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[[package]]
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name = "limbo_graph"
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version = "0.1.0"
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source = "git+https://git.jpace121.net/public/limbo_graph.git?branch=main#2d05aed05750fdde52424404001315a967e0d696"
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[[package]]
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name = "link-cplusplus"
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version = "1.0.12"
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@ -170,18 +192,18 @@ dependencies = [
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[[package]]
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name = "proc-macro2"
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version = "1.0.106"
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version = "1.0.107"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
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checksum = "985e7ec9bb745e6ce6535b544d84d6cd6f7ad8bd711c398938ae983b91a766d9"
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dependencies = [
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"unicode-ident",
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]
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[[package]]
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name = "quote"
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version = "1.0.46"
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version = "1.0.47"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "dfbc457d0c7a0759a614551b11a6409e5951f6c7537be1f1b7682b9ae9230368"
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checksum = "1fbf4db142a473a8d80c26bbf18454ed458bf8d26c8219c331daecfdbd079001"
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dependencies = [
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"proc-macro2",
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]
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@ -194,9 +216,9 @@ checksum = "d68f2ec51b097e4c1a75b681a8bec621909b5e91f15bb7b840c4f2f7b01148b2"
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[[package]]
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name = "serde"
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version = "1.0.228"
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version = "1.0.229"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
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checksum = "4148590afebada386688f18773da617792bf2ef03ffc1e4cbd2b1d45b023e0ba"
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dependencies = [
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"serde_core",
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"serde_derive",
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@ -204,18 +226,18 @@ dependencies = [
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[[package]]
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name = "serde_core"
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version = "1.0.228"
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version = "1.0.229"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
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checksum = "67dca2c9c51e58a4791a4b1ed58308b39c64224d349a935ab5039aa360942a48"
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dependencies = [
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"serde_derive",
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]
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[[package]]
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name = "serde_derive"
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version = "1.0.228"
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version = "1.0.229"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
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checksum = "e7a5d71263a5a7d47b41f6b3f06ba276f10cc18b0931f1799f710578e2309348"
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dependencies = [
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"proc-macro2",
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"quote",
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@ -236,9 +258,9 @@ checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
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[[package]]
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name = "syn"
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version = "2.0.118"
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version = "3.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1b9ae57f904213ebb649ce6895b8a66c66f0203b9319718f69a5612a065b1422"
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checksum = "5edbec4ed188954a10c12c038215f8ce7606b2d5c973cd8dc43e8795065c5f2f"
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dependencies = [
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"proc-macro2",
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"quote",
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@ -254,6 +276,26 @@ dependencies = [
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"winapi-util",
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]
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[[package]]
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name = "thiserror"
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version = "2.0.19"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "09a43598840e33d5b0331f38c5e30d13bb11c11210a4b58f0d9b18a5a5eefcd9"
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dependencies = [
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"thiserror-impl",
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]
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[[package]]
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name = "thiserror-impl"
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version = "2.0.19"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "43cbfe0cf76104d42a574802844187e84a305e531ed54455f11fbde0f10541cd"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "unicode-ident"
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version = "1.0.24"
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@ -289,99 +331,3 @@ checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
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dependencies = [
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"windows-link",
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]
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[[patch.unused]]
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name = "action_msgs"
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version = "2.4.5"
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[[patch.unused]]
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name = "builtin_interfaces"
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version = "2.4.5"
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[[patch.unused]]
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name = "composition_interfaces"
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version = "2.4.5"
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[[patch.unused]]
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name = "diagnostic_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "geometry_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "lifecycle_msgs"
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version = "2.4.5"
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[[patch.unused]]
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name = "limbo_graph"
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version = "0.1.0"
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[[patch.unused]]
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name = "nav_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "rcl_interfaces"
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version = "2.4.5"
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[[patch.unused]]
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name = "rmw_dds_common"
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version = "6.0.0"
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[[patch.unused]]
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name = "rosbag2_interfaces"
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version = "0.33.3"
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[[patch.unused]]
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name = "rosgraph_msgs"
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version = "2.4.5"
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[[patch.unused]]
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name = "sensor_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "service_msgs"
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version = "2.4.5"
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[[patch.unused]]
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name = "shape_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "statistics_msgs"
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version = "2.4.5"
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[[patch.unused]]
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name = "std_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "std_srvs"
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version = "5.9.2"
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[[patch.unused]]
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name = "stereo_msgs"
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version = "5.9.2"
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[[patch.unused]]
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name = "tf2_msgs"
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version = "0.45.7"
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[[patch.unused]]
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name = "trajectory_msgs"
|
||||
version = "5.9.2"
|
||||
|
||||
[[patch.unused]]
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||||
name = "type_description_interfaces"
|
||||
version = "2.4.5"
|
||||
|
||||
[[patch.unused]]
|
||||
name = "unique_identifier_msgs"
|
||||
version = "2.8.1"
|
||||
|
||||
[[patch.unused]]
|
||||
name = "visualization_msgs"
|
||||
version = "5.9.2"
|
||||
|
|
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|
@ -4,10 +4,14 @@ version = "0.1.0"
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edition = "2024"
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[lib]
|
||||
crate-type = ["cdylib"]
|
||||
crate-type = ["staticlib"]
|
||||
|
||||
[dependencies]
|
||||
anyhow = "1.0.103"
|
||||
cxx = "1.0"
|
||||
j7s_diagnostics = { branch = "main", git="https://git.jpace121.net/public/j7s_diagnostics.git" }
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||||
|
||||
[build-dependencies]
|
||||
cxx-build = "1.0"
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||||
|
||||
[patch.crates-io]
|
||||
|
|
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|||
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|
@ -1,35 +1,159 @@
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|||
#![allow(non_snake_case)]
|
||||
use anyhow::anyhow;
|
||||
use std::collections::BTreeMap;
|
||||
|
||||
#[cxx::bridge]
|
||||
mod ffi {
|
||||
// Shared structs whose fields can be seen in both C++ and Rust.
|
||||
#[derive(Clone, PartialOrd, PartialEq, Default)]
|
||||
pub enum DiagnosticLevel {
|
||||
#[default]
|
||||
UNSET,
|
||||
OK,
|
||||
WARN,
|
||||
ERROR,
|
||||
STALE,
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct DiagnosticStatus {
|
||||
level: DiagnosticLevel,
|
||||
name: String,
|
||||
message: String,
|
||||
hardware_id: String,
|
||||
values: Box<StringMap>
|
||||
}
|
||||
|
||||
extern "Rust" {
|
||||
fn add(a: &f64, b: &f64) -> f64;
|
||||
// Functions in here can be seen on both sides, but are
|
||||
// defined in rust.
|
||||
// types can be seen in both languages, but only opaquely in C++.
|
||||
type OptionalString;
|
||||
#[Self = "OptionalString"]
|
||||
fn some(val: String) -> Box<OptionalString>;
|
||||
#[Self = "OptionalString"]
|
||||
fn none() -> Box<OptionalString>;
|
||||
fn is_some(self: &OptionalString) -> bool;
|
||||
fn value(self: &OptionalString) -> Result<String>;
|
||||
|
||||
|
||||
type StringMap;
|
||||
#[Self = "StringMap"]
|
||||
fn build() -> Box<StringMap>;
|
||||
fn get(self: &StringMap, key: &String) -> Box<OptionalString>;
|
||||
fn insert(self: &mut StringMap, key: String, value: String);
|
||||
|
||||
type DiagnosticTree;
|
||||
#[Self = "DiagnosticTree"]
|
||||
fn build() -> Box<DiagnosticTree>;
|
||||
fn add_statuses(self: &mut DiagnosticTree, statuses: &Vec<DiagnosticStatus>) -> Result<()> ;
|
||||
fn reconcile(self: &mut DiagnosticTree) -> Result<()>;
|
||||
fn aggregate(self: &DiagnosticTree) -> Result<Vec<DiagnosticStatus>>;
|
||||
|
||||
type MyStruct;
|
||||
fn MyStruct_build(a: f64, b: f64) -> Box<MyStruct>;
|
||||
fn sum(self: &MyStruct) -> f64;
|
||||
}
|
||||
}
|
||||
|
||||
pub struct MyStruct {
|
||||
a: f64,
|
||||
b: f64
|
||||
fn diagnostic_status_to_rust(cpp: &crate::ffi::DiagnosticStatus) -> j7s_diagnostics::DiagnosticStatus {
|
||||
todo!()
|
||||
}
|
||||
|
||||
impl MyStruct {
|
||||
pub fn new(a: f64, b: f64) -> Self {
|
||||
MyStruct {a: a, b: b}
|
||||
fn diagnostic_status_from_rust(rust: &j7s_diagnostics::DiagnosticStatus) -> crate::ffi::DiagnosticStatus {
|
||||
todo!()
|
||||
}
|
||||
|
||||
pub fn sum(&self) -> f64 {
|
||||
self.a + self.b
|
||||
#[derive(Clone)]
|
||||
pub struct DiagnosticTree {
|
||||
graph: j7s_diagnostics::DiagnosticGraph,
|
||||
}
|
||||
|
||||
impl DiagnosticTree {
|
||||
pub fn build() -> Box<DiagnosticTree> {
|
||||
let graph = j7s_diagnostics::DiagnosticGraph::new();
|
||||
let tree = DiagnosticTree {
|
||||
graph: graph
|
||||
};
|
||||
Box::new(tree)
|
||||
}
|
||||
|
||||
pub fn add_statuses(self: &mut DiagnosticTree, statuses: &Vec<crate::ffi::DiagnosticStatus>) -> anyhow::Result<()> {
|
||||
let mut converted_statuses = Vec::new();
|
||||
for status in statuses.iter() {
|
||||
converted_statuses.push(diagnostic_status_to_rust(&status));
|
||||
}
|
||||
Ok(self.graph.add_status_vec(&converted_statuses)?)
|
||||
}
|
||||
|
||||
pub fn reconcile(self: &mut DiagnosticTree) -> anyhow::Result<()> {
|
||||
Ok(self.graph.reconcile_levels()?)
|
||||
}
|
||||
|
||||
fn aggregate(self: &DiagnosticTree) -> anyhow::Result<Vec<crate::ffi::DiagnosticStatus>> {
|
||||
let statuses = self.graph.export_graph()?;
|
||||
let mut converted_statuses = Vec::new();
|
||||
for status in statuses.iter() {
|
||||
converted_statuses.push(diagnostic_status_from_rust(&status));
|
||||
}
|
||||
Ok(converted_statuses)
|
||||
}
|
||||
}
|
||||
|
||||
fn MyStruct_build(a: f64, b: f64) -> Box<MyStruct> {
|
||||
Box::new(MyStruct::new(a, b))
|
||||
#[derive(Clone)]
|
||||
pub struct OptionalString {
|
||||
val: Option<String>
|
||||
}
|
||||
|
||||
pub fn add(a: &f64, b: &f64) -> f64 {
|
||||
a + b
|
||||
impl OptionalString {
|
||||
pub fn some(val: String) -> Box<Self> {
|
||||
let raw = Self {
|
||||
val: Some(val)
|
||||
};
|
||||
Box::new(raw)
|
||||
}
|
||||
|
||||
pub fn none() -> Box<Self> {
|
||||
let raw = Self {
|
||||
val: None
|
||||
};
|
||||
Box::new(raw)
|
||||
}
|
||||
|
||||
pub fn is_some(&self) -> bool {
|
||||
self.val.is_some()
|
||||
}
|
||||
|
||||
pub fn value(&self) -> anyhow::Result<String> {
|
||||
match &self.val {
|
||||
None => Err(anyhow!("Option not valid.")),
|
||||
Some(val) => Ok(val.clone()),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct StringMap {
|
||||
map: BTreeMap<String, String>
|
||||
}
|
||||
|
||||
impl StringMap {
|
||||
pub fn build() -> Box<Self> {
|
||||
let raw = Self {
|
||||
map: BTreeMap::<String, String>::new()
|
||||
};
|
||||
Box::new(raw)
|
||||
}
|
||||
|
||||
pub fn get(&self, key: &String) -> Box<OptionalString> {
|
||||
match self.map.get(key) {
|
||||
None => OptionalString::none(),
|
||||
Some(val) => OptionalString::some(val.clone()),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn insert(&mut self, key: String, value: String) {
|
||||
let _ = self.map.insert(key, value);
|
||||
}
|
||||
|
||||
pub fn to_box(self) -> Box<StringMap> {
|
||||
Box::new(self)
|
||||
}
|
||||
}
|
||||
|
|
|
|||
13
src/test.cpp
13
src/test.cpp
|
|
@ -4,10 +4,15 @@
|
|||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
double result = add(1.0, 2.0);
|
||||
std::cout << result << std::endl;
|
||||
const auto my_string = OptionalString::some(rust::String("test"));
|
||||
if(my_string->is_some())
|
||||
{
|
||||
auto as_string = my_string->value();
|
||||
std::cout << as_string.c_str() << std::endl;
|
||||
}
|
||||
|
||||
auto my_map = StringMap::build();
|
||||
my_map->insert(rust::String("a"), rust::String("b"));
|
||||
|
||||
const auto my_struct = MyStruct_build(3.0, 4.0);
|
||||
std::cout << my_struct->sum() << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue