Restructure uORB bindings into separate modules.

Author: m-ou-se

src/uorb.rs

@@ -0,0 +1,75 @@
+// Bindings to the C API.
+
+use std::ffi::CStr;
+
+extern "C" {
+	pub fn orb_advertise(meta: *const Metadata, data: *const u8) -> usize;
+	pub fn orb_advertise_queue(meta: *const Metadata, data: *const u8, queue_size: u32) -> usize;
+	pub fn orb_advertise_multi(meta: *const Metadata, data: *const u8, instance: *mut i32, priority: i32) -> usize;
+	pub fn orb_advertise_multi_queue(meta: *const Metadata, data: *const u8, instance: *mut i32, priority: i32, queue_size: u32) -> usize;
+	pub fn orb_unadvertise(handle: usize) -> i32;
+	pub fn orb_publish(meta: *const Metadata, handle: usize, data: *const u8) -> i32;
+	pub fn orb_subscribe(meta: *const Metadata) -> i32;
+	pub fn orb_subscribe_multi(meta: *const Metadata, instance: u32) -> i32;
+	pub fn orb_unsubscribe(handle: i32) -> i32;
+	pub fn orb_copy(meta: *const Metadata, handle: i32, buffer: *mut u8) -> i32;
+	pub fn orb_check(handle: i32, updated: *mut bool) -> i32;
+	pub fn orb_stat(handle: i32, time: *mut u64) -> i32;
+	pub fn orb_exists(meta: *const Metadata, instance: i32) -> i32;
+	pub fn orb_group_count(meta: *const Metadata) -> i32;
+	pub fn orb_priority(handle: i32, priority: *mut i32) -> i32;
+	pub fn orb_set_interval(handle: i32, interval: u32) -> i32;
+	pub fn orb_get_interval(handle: i32, interval: *mut u32) -> i32;
+}
+
+#[repr(C)]
+#[derive(Copy, Clone)]
+pub struct Metadata {
+	#[doc(hidden)]
+	pub _name: *const u8,
+	#[doc(hidden)]
+	pub _size: u16,
+	#[doc(hidden)]
+	pub _size_no_padding: u16,
+	#[doc(hidden)]
+	pub _fields: *const u8,
+}
+
+unsafe impl Sync for Metadata {}
+
+impl Metadata {
+	pub fn name_cstr(&self) -> &CStr {
+		unsafe { CStr::from_ptr(self._name as *const _) }
+	}
+	pub fn name(&self) -> &str {
+		unsafe { std::str::from_utf8_unchecked(self.name_cstr().to_bytes()) }
+	}
+	pub fn size(&self) -> u16 {
+		self._size
+	}
+	pub fn size_no_padding(&self) -> u16 {
+		self._size_no_padding
+	}
+	pub fn fields_cstr(&self) -> &CStr {
+		unsafe { CStr::from_ptr(self._fields as *const _) }
+	}
+	pub fn fields(&self) -> &str {
+		unsafe { std::str::from_utf8_unchecked(self.fields_cstr().to_bytes()) }
+	}
+}
+
+#[macro_export]
+macro_rules! ORB_ID {
+	($name:ident) => {
+		ORB_ID!(@ concat!("__orb_", stringify!($name)))
+	};
+	(@ $name:expr) => {
+		unsafe {
+			extern "C" {
+				#[link_name=$name]
+				static metadata: px4::uorb::Metadata;
+			}
+			&metadata
+		}
+	};
+}