Add larod-sys (#182)

This adds the `larod-sys` crate as an initial step to adding a later
`larod` crate.

The implementation closely follows existing sys crates.

`apps/object_detection/src/main.rs`:
- We need an example app that depends on the sys crate in order to
  trigger a build of the bindings so that we can check that the tracked
  bindings are up to date. The added example is meant to eventually
  match its namesake for `acap-native-sdk-examples`.

---------

Co-authored-by: AP Ljungquist <[email protected]>

Author: JsGjKJzi

Cargo.lock

@@ -58,6 +58,7 @@ bbox-sys = { path = "crates/bbox-sys" }
 cargo-acap-build = { path = "crates/cargo-acap-build" }
 cli-version = { path = "crates/cli-version" }
 device-manager = { path = "crates/device-manager" }
+larod-sys = { path = "crates/larod-sys" }
 licensekey = { path = "crates/licensekey" }
 licensekey-sys = { path = "crates/licensekey-sys" }
 mdb = { path = "crates/mdb" }

Cargo.toml

@@ -8,6 +8,7 @@ dfd925c003c30164c00dfc51676b6e1317a0fa6d  target-aarch64/acap/consume_analytics_
 5712d955c8ea45a774597a6032a16af72a24e118  target-aarch64/acap/hello_world_0_0_0_aarch64.eap
 222f821339cf36e88596d85427740de3536573bf  target-aarch64/acap/inspect_env_0_0_0_aarch64.eap
 74d6106b8f0afe7e3342ae3b470d8b81e7aa5150  target-aarch64/acap/licensekey_handler_0_0_0_aarch64.eap
+9deb95dbb3d67596d9f7cbc2aa05b3fb4d812025  target-aarch64/acap/object_detection_1_0_0_aarch64.eap
 5dc0969dcbe6ca09aabcef9530a0f77786932b22  target-aarch64/acap/reverse_proxy_0_0_0_aarch64.eap
 c94b3ba49a3897617dc13599ffbc0642681133e5  target-aarch64/acap/send_event_1_0_0_aarch64.eap
 9df8dead66b245aa19d3aafa758871118b8cc25f  target-aarch64/acap/using_a_build_script_0_0_0_aarch64.eap

apps-aarch64.checksum

@@ -8,6 +8,7 @@
 1406	target-aarch64/acap/hello_world_0_0_0_aarch64.eap
 1441	target-aarch64/acap/inspect_env_0_0_0_aarch64.eap
 1430	target-aarch64/acap/licensekey_handler_0_0_0_aarch64.eap
+1408	target-aarch64/acap/object_detection_1_0_0_aarch64.eap
 10362	target-aarch64/acap/reverse_proxy_0_0_0_aarch64.eap
 3430	target-aarch64/acap/send_event_1_0_0_aarch64.eap
 899	target-aarch64/acap/using_a_build_script_0_0_0_aarch64.eap

apps-aarch64.filesize

@@ -0,0 +1,12 @@
+[package]
+name = "object_detection"
+version = "0.0.0"
+edition.workspace = true
+publish = false
+
+[dependencies]
+anyhow = { workspace = true }
+log = { workspace = true }
+
+acap-logging = { workspace = true }
+larod-sys = { workspace = true }

apps/object_detection/Cargo.toml

@@ -0,0 +1,11 @@
+{
+  "schemaVersion": "1.4.0",
+  "acapPackageConf": {
+    "setup": {
+      "appName": "object_detection",
+      "vendor": "Axis Communications",
+      "runMode": "never",
+      "version": "1.0.0"
+    }
+  }
+}

apps/object_detection/manifest.json

@@ -0,0 +1,35 @@
+//! This application loads a larod model which takes an image as input and outputs values
+//! corresponding to the class, score and location of detected objects in the image.
+//!
+//! # Arguments
+//!
+//! 1. `MODEL`: a string describing the path to the model.
+//! 2. `WIDTH`: an integer for the input width. ß
+//! 3. `HEIGHT`: an integer for the input height.
+//! 4. `QUALITY`: an integer for the desired jpeg quality.
+//! 5. `RAW_WIDTH`: an integer for camera width resolution.
+//! 6. `RAW_HEIGHT`: an integer for camera height resolution.
+//! 7. `THRESHOLD`: an integer ranging from 0 to 100 to select good detections.
+//! 8. `LABELSFILE`: a string describing the path to the label txt.
+
+use log::{error, info};
+
+fn main() {
+    acap_logging::init_logger();
+    let mut conn: *mut larod_sys::larodConnection = std::ptr::null_mut();
+    let mut error: *mut larod_sys::larodError = std::ptr::null_mut();
+    if unsafe { !larod_sys::larodConnect(&mut conn, &mut error) } {
+        error!("Could not connect to larod");
+        return;
+    }
+    assert!(error.is_null());
+
+    let mut num_sessions = u64::MAX;
+    if unsafe { !larod_sys::larodGetNumSessions(conn, &mut num_sessions, &mut error) } {
+        error!("Could not get the number of sessions");
+        return;
+    }
+
+    info!("Number of sessions: {num_sessions}");
+    todo!("Implement the real example")
+}

apps/object_detection/src/main.rs

@@ -0,0 +1,10 @@
+[package]
+build = "build.rs"
+name = "larod-sys"
+version = "0.0.0"
+edition.workspace = true
+license = "MIT"
+
+[build-dependencies]
+bindgen = { workspace = true }
+pkg-config = { workspace = true }

crates/larod-sys/Cargo.toml

@@ -0,0 +1,27 @@
+use std::{env, path};
+
+fn populated_bindings(dst: &path::PathBuf) {
+    let library = pkg_config::Config::new().probe("liblarod").unwrap();
+    let mut bindings = bindgen::Builder::default()
+        .header("wrapper.h")
+        .allowlist_recursively(false)
+        .allowlist_function("^(larod.*)$")
+        .allowlist_type("^(_?larod.*)$")
+        .default_enum_style(bindgen::EnumVariation::NewType {
+            is_global: false,
+            is_bitfield: true,
+        })
+        .parse_callbacks(Box::new(bindgen::CargoCallbacks::new()))
+        .layout_tests(false);
+    for path in library.include_paths {
+        bindings = bindings.clang_args(&["-F", path.to_str().unwrap()]);
+    }
+    bindings.generate().unwrap().write_to_file(dst).unwrap();
+}
+
+fn main() {
+    let dst = path::PathBuf::from(env::var("OUT_DIR").unwrap()).join("bindings.rs");
+    if env::var("CARGO_CFG_TARGET_ARCH").unwrap_or_default() != "x86_64" {
+        populated_bindings(&dst);
+    }
+}