RSDK-12650 - use rust-utils header (#507)

Author: stuqdog

CMakeLists.txt

@@ -253,8 +253,31 @@ find_package(Threads REQUIRED)
 # `target_link_directories` call down in src/CMakeLists.txt, as it
 # will no longer be needed.
 set(viam_rust_utils_file ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils${CMAKE_STATIC_LIBRARY_SUFFIX})
+set(viam_rust_utils_header_file ${CMAKE_CURRENT_BINARY_DIR}/viam_rust_utils.h)
 
 file(GLOB viam_rust_utils_files ${PROJECT_SOURCE_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils*${CMAKE_STATIC_LIBRARY_SUFFIX})
+file(GLOB existing_viam_rust_utils_header_file ${PROJECT_SOURCE_DIR}/viam_rust_utils.h)
+
+if (NOT existing_viam_rust_utils_header_file)
+  file(
+    DOWNLOAD
+    https://github.com/viamrobotics/rust-utils/releases/latest/download/viam_rust_utils.h
+    ${viam_rust_utils_header_file}
+    STATUS lvruh_status
+  )
+  list(GET lvruh_status 0 lvruh_status_code)
+  list(GET lvruh_status 1 lvruh_status_string)
+
+  if(NOT lvruh_status_code EQUAL 0)
+    message(FATAL_ERROR "No local viam_rust_utils.h found and failed to download: ${lvruh_status_string}")
+  endif()
+else()
+  FILE(COPY_FILE
+    ${existing_viam_rust_utils_header_file}
+    ${viam_rust_utils_header_file}
+    ONLY_IF_DIFFERENT
+  )
+endif()
 
 if (viam_rust_utils_files)
   list(LENGTH viam_rust_utils_files num_viam_rust_utils_files)

src/viam/examples/README.md

@@ -49,8 +49,8 @@ If you are connecting to a robot with authentication you will need to
 add credentials. Update path code :
 
 ``` c++
-void *ptr = init_rust_runtime();
-char *path = dial("<your robot uri here>", "<your authentication type>", "<your authentication payload>", false, ptr);
+void *ptr = viam_init_rust_runtime();
+char *path = viam_dial("<your robot uri here>", "<your authentication type>", "<your authentication payload>", false, ptr);
 ```
 
 Then to obtain a robot client do :

src/viam/sdk/CMakeLists.txt

@@ -28,6 +28,7 @@ else()
 endif()
 message(WARNING "api proto label is ${VIAMCPPSDK_API_PROTO_LABEL}")
 configure_file(common/private/version_metadata.hpp.in common/private/version_metadata.hpp @ONLY)
+configure_file(${CMAKE_CURRENT_BINARY_DIR}/../../../viam_rust_utils.h rpc/private/viam_rust_utils.h COPYONLY)
 
 # Configure the grpc client forward declarations file
 configure_file(common/grpc_fwd.hpp.in common/grpc_fwd.hpp)
@@ -316,7 +317,7 @@ endif()
 # TODO several of these dependencies should properly be attached to `viam_rust_utils`,
 # not `viamsdk`. However, we currently are unable to do so while maintaining compilation
 if (APPLE)
-  target_link_libraries(viamsdk PUBLIC "-framework Security")
+  target_link_libraries(viamsdk PUBLIC "-framework CoreFoundation" "-framework Security")
 elseif (NOT WIN32)
   target_link_libraries(viamsdk PRIVATE dl)
   target_link_libraries(viamsdk PRIVATE rt)

src/viam/sdk/rpc/dial.cpp

@@ -20,7 +20,8 @@ namespace viam {
 namespace sdk {
 
 struct ViamChannel::impl {
-    impl(const char* path, void* runtime) : path(path), rust_runtime(runtime) {}
+    impl(const char* path, void* runtime)
+        : path(path), rust_runtime(reinterpret_cast<viam_dial_ffi*>(runtime)) {}
 
     impl(const impl&) = delete;
 
@@ -38,12 +39,13 @@ struct ViamChannel::impl {
     }
 
     ~impl() {
-        free_string(path);
-        free_rust_runtime(rust_runtime);
+        auto& p = const_cast<char*&>(path);
+        viam_free_string(p);
+        viam_free_rust_runtime(rust_runtime);
     }
 
     const char* path;
-    void* rust_runtime;
+    viam_dial_ffi* rust_runtime;
 };
 
 ViamChannel::ViamChannel(std::shared_ptr<grpc::Channel> channel, const char* path, void* runtime)
@@ -158,7 +160,7 @@ ViamChannel ViamChannel::dial_initial(const char* uri,
 }
 
 ViamChannel ViamChannel::dial(const char* uri, const boost::optional<DialOptions>& options) {
-    void* ptr = init_rust_runtime();
+    viam_dial_ffi* ptr = viam_init_rust_runtime();
     const DialOptions opts = options.get_value_or(DialOptions());
     const std::chrono::duration<float> float_timeout = opts.timeout();
     const char* type = nullptr;
@@ -172,10 +174,10 @@ ViamChannel ViamChannel::dial(const char* uri, const boost::optional<DialOptions
     if (opts.entity()) {
         entity = opts.entity()->c_str();
     }
-    char* proxy_path = ::dial(
+    char* proxy_path = ::viam_dial(
         uri, entity, type, payload, opts.allows_insecure_downgrade(), float_timeout.count(), ptr);
     if (!proxy_path) {
-        free_rust_runtime(ptr);
+        viam_free_rust_runtime(ptr);
         throw Exception(ErrorCondition::k_connection, "Unable to establish connecting path");
     }
 

src/viam/sdk/rpc/private/viam_rust_utils.h

@@ -2,18 +2,18 @@
 
 #include <cstdlib>
 
-void* init_rust_runtime() {
+viam_dial_ffi* viam_init_rust_runtime() {
     abort();
 }
 
-int free_rust_runtime(void*) {
+int viam_free_rust_runtime(viam_dial_ffi*) {
     abort();
 }
 
-void free_string(const char*) {
+void viam_free_string(char*) {
     abort();
 }
 
-char* dial(const char*, const char*, const char*, const char*, bool, float, void*) {
+char* viam_dial(const char*, const char*, const char*, const char*, bool, float, viam_dial_ffi*) {
     abort();
 }