Brings maliput_malidrive to maliput-sdk (#7)

Signed-off-by: Franco Cipollone <[email protected]>

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "maliput-sdk/maliput_malidrive"]
+	path = maliput-sdk/maliput_malidrive
+	url = https://github.com/francocipollone/maliput_malidrive.git
+	branch = francocipollone/rust_bazel_plugin_lib

README.md

@@ -25,12 +25,25 @@ cargo build
 
 TODO
 
+## Executables
+
+### maliput-sdk
+
+ - Print libraries being vendored
+   ```sh
+   cargo run --bin maliput-sdk
+   ```
+
+ - Get location of maliput_malidrive's plugin library:
+   ```sh
+   cargo run --bin maliput_malidrive_plugin_path
+   ```
+
 ## Examples
 
 ### maliput-sys
+
  - Load `maliput::api::RoadNetwork` and perform some basic queries
     ```
-    cargo run --examples create_rn
+    cargo run --example create_rn
     ```
-
-    _Note: RoadNetworks are loaded via [maliput plugin architecture](https://maliput.readthedocs.io/en/latest/html/deps/maliput/html/maliput_plugin_architecture.html), therefore a valid `MALIPUT_PLUGIN_PATH` env var must be set. It will be handleded automatically in the future when maliput_malidrive's binaries are also brought._

maliput-sdk/.bazelignore

@@ -0,0 +1 @@
+maliput_malidrive

maliput-sdk/Cargo.toml

@@ -15,3 +15,7 @@ links = "maliput-sdk"
 [dependencies]
 
 [build-dependencies]
+
+[[bin]]
+name = "maliput_malidrive_plugin_path"
+path = "src/maliput_malidrive_plugin_path.rs"

maliput-sdk/MODULE.bazel

@@ -1,5 +1,5 @@
 """
-Welcome to Maliput Malidrive!
+Maliput SDK!
 """
 
 module(

maliput-sdk/build.rs

@@ -55,7 +55,20 @@ fn main() -> Result<(), Box<dyn Error>> {
     let bazel_bin_dir = bazel_output_base_dir.join("bazel-bin");
 
 
-    // ************* Maliput Files ************* //
+    // TODO(francocipollone): Remove this custom build once maliput_malidrive is within BCR.
+    env::set_current_dir("maliput_malidrive")
+    .unwrap_or_else(|_| panic!("Unable to change directory to {}", "maliput_malidrive"));
+    let build_malidrive = std::process::Command::new("bazel")
+        .arg("build")
+        .arg("//...")
+        .status()
+        .expect("Failed to generate build script");
+    if build_malidrive.code() != Some(0) {
+        panic!("Failed to generate build script");
+    }
+    let maliput_malidrive_bin_path = PathBuf::from(env::current_dir().unwrap()).join("bazel-bin");
+
+    // ************* maliput header files ************* //
 
     // TODO(francocipollone): Get version from MODULE.bazel configuration.
     let maliput_version = "1.2.0";
@@ -77,13 +90,27 @@ fn main() -> Result<(), Box<dyn Error>> {
         println!("cargo:CXXBRIDGE_DIR{}={}", i, path.display());
     }
 
+    // ************* maliput_malidrive header files ************* //
+    // TODO(francocipollone): For consistency we should also add include paths for maliput_malidrive.
+
+    // ************* crate output env vars ************* //
+
     // Environment variable to pass down to this crate:
     println!("cargo:rustc-env=MALIPUT_BIN_PATH={}", maliput_bin_path.display());
+    println!("cargo:rustc-env=MALIPUT_MALIDRIVE_BIN_PATH={}", maliput_malidrive_bin_path.display());
 
     // Environment variable to pass down to dependent crates:
     // See: https://doc.rust-lang.org/cargo/reference/build-scripts.html#the-links-manifest-key
     println!("cargo:root={}", out_dir.display()); //> Accessed as MALIPUT_SDK_ROOT
     println!("cargo:maliput_bin_path={}", maliput_bin_path.display()); //> Accessed as MALIPUT_SDK_MALIPUT_BIN_PATH
+    println!("cargo:maliput_malidrive_bin_path={}", maliput_malidrive_bin_path.display()); //> Accessed as MALIPUT_SDK_MALIPUT_MALIDRIVE_BIN_PATH
+    println!("cargo:maliput_malidrive_plugin_path={}",
+        maliput_malidrive_bin_path
+        .join("maliput_plugins")
+        .join("libmaliput_malidrive_road_network.so.runfiles")
+        .join("_main")
+        .join("maliput_plugins")
+        .display()); //> Accessed as MALIPUT_SDK_MALIPUT_MALIDRIVE_PLUGIN_PATH
 
     Ok(())
 

maliput-sdk/src/lib.rs

@@ -34,5 +34,6 @@ use std::path::PathBuf;
 pub fn sdk_libraries() -> Vec<(String, PathBuf)> {
     vec![
         ("maliput".to_string(), PathBuf::from(env!("MALIPUT_BIN_PATH"))),
+        ("maliput_malidrive".to_string(), PathBuf::from(env!("MALIPUT_MALIDRIVE_BIN_PATH"))),
     ]
 }

maliput-sdk/src/maliput_malidrive_plugin_path.rs

@@ -0,0 +1,39 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+//   list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+//   contributors may be used to endorse or promote products derived from
+//   this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+use maliput_sdk::sdk_libraries;
+
+pub fn main () {
+    // Get maliput_malidrive
+    let libs = sdk_libraries();
+    let maliput_malidrive = libs.get(1).unwrap();
+    let maliput_malidrive_plugin_path = maliput_malidrive.1.join("maliput_plugins").join("libmaliput_malidrive_road_network.so.runfiles").join("_main").join("maliput_plugins");
+    println!("{}", maliput_malidrive_plugin_path.display());
+}

maliput-sys/build.rs

@@ -57,5 +57,11 @@ fn main() -> Result<(), Box<dyn Error>> {
         .include("src")
         .compile("maliput-sys");
 
+
+    let maliput_malidrive_plugin_path = PathBuf::from(env::var("DEP_MALIPUT_SDK_MALIPUT_MALIDRIVE_PLUGIN_PATH").expect("DEP_MALIPUT_SDK_MALIPUT_MALIDRIVE_PLUGIN_PATH not set"));
+
+    // Environment variables are available from within binaries and tests in the crate.
+    println!("cargo:rustc-env=MALIPUT_PLUGIN_PATH={}", maliput_malidrive_plugin_path.display());
+
     Ok(())
 }