Split the C bindings and wrapper into separate crates (#73)

Author: jbangelo

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "third-party/libswiftnav"]
-	path = third-party/libswiftnav
+	path = swiftnav-sys/src/libswiftnav
 	url = https://github.com/swift-nav/libswiftnav.git

Cargo.toml

@@ -1,20 +1,5 @@
-[package]
-name = "swiftnav-rs"
-version = "0.5.2-alpha.0"
-authors = ["Swift Navigation <[email protected]>"]
-edition = "2018"
-description = "GNSS positioning and related utilities"
-readme = "README.md"
-repository = "https://github.com/swift-nav/swiftnav-rs"
-license = "LGPL-3.0"
-
-[dependencies]
-chrono = { version = "0.4", optional = true }
-
-[build-dependencies]
-bindgen = "0.59"
-cmake = "0.1"
-
-[features]
-testcpp = []
-chrono-support = ["chrono"]
+[workspace]
+members = [
+    "swiftnav",
+    "swiftnav-sys"
+]

README.md

@@ -1,21 +1,26 @@
-# swiftnav-rs
+# swiftnav
 
-`swiftnav-rs` is a crate that implements GNSS utility functions for use by
+`swiftnav` is a crate that implements GNSS utility functions for use by
 software-defined GNSS receivers or software requiring GNSS functionality. It is
 intended to be as portable as possible and has limited dependencies.
 
-`swiftnav-rs` does not provide any functionality for communicating with Swift
+`swiftnav` does not provide any functionality for communicating with Swift
 Navigation receivers.  See [libsbp](https://github.com/swift-nav/libsbp) to
 communicate with receivers using Swift Binary Protocol (SBP).
 
-## Publishing a new release
+# swiftnav-sys
+
+`swiftnav-sys` is a crate which builds and exposes Rust FFI bindings for the
+`libswiftnav` C library.
+
+# Publishing a new release
 
 Use the [`cargo-release`](https://github.com/sunng87/cargo-release) tool:
 
 ```
 cargo release --skip-publish
 ```
 
-## License
+# License
 This crate is distributed under the terms of the LGPLv3, full details are
 available in the [LICENSE](./LICENSE) file.

swiftnav-sys/Cargo.toml

@@ -0,0 +1,16 @@
+[package]
+name = "swiftnav-sys"
+version = "0.5.2-alpha.0"
+authors = ["Swift Navigation <[email protected]>"]
+edition = "2018"
+description = "FFI bindings for libswiftnav"
+readme = "../README.md"
+repository = "https://github.com/swift-nav/swiftnav-rs"
+license = "LGPL-3.0"
+
+[build-dependencies]
+bindgen = "0.59"
+cmake = "0.1"
+
+[features]
+testcpp = []

build.rs renamed to swiftnav-sys/build.rs

@@ -4,7 +4,9 @@ use std::env;
 use std::path::PathBuf;
 
 fn main() {
-    let mut cmake = cmake::Config::new("third-party/libswiftnav/");
+    println!("cargo:rerun-if-changed=build.rs");
+
+    let mut cmake = cmake::Config::new("src/libswiftnav/");
     let out_dir = env::var("OUT_DIR").unwrap();
 
     if !cfg!(feature = "testcpp") {

src/c_bindings.rs renamed to swiftnav-sys/src/lib.rs

@@ -0,0 +1,16 @@
+[package]
+name = "swiftnav"
+version = "0.5.2-alpha.0"
+authors = ["Swift Navigation <[email protected]>"]
+edition = "2018"
+description = "GNSS positioning and related utilities"
+readme = "../README.md"
+repository = "https://github.com/swift-nav/swiftnav-rs"
+license = "LGPL-3.0"
+
+[dependencies]
+chrono = { version = "0.4", optional = true }
+swiftnav-sys = { version = "0.5.2-alpha.0", path = "../swiftnav-sys/" }
+
+[features]
+chrono-support = ["chrono"]

third-party/libswiftnav renamed to swiftnav-sys/src/libswiftnav

@@ -46,7 +46,6 @@
 //!      and Mapping Annual Conference. Orlando, Florida.
 //!   * "Transformation from Cartesian to Geodetic Coordinates Accelerated by
 //!      Halley’s Method", T. Fukushima (2006), Journal of Geodesy.
-use crate::c_bindings;
 
 /// WGS84 geodetic coordinates (Latitude, Longitude, Height)
 ///
@@ -95,7 +94,7 @@ impl LLHDegrees {
     /// just the representation of the angular values.
     pub fn to_radians(&self) -> LLHRadians {
         let mut rad = LLHRadians::default();
-        unsafe { c_bindings::llhdeg2rad(self.as_ptr(), rad.as_mut_ptr()) };
+        unsafe { swiftnav_sys::llhdeg2rad(self.as_ptr(), rad.as_mut_ptr()) };
         rad
     }
 
@@ -184,7 +183,7 @@ impl LLHRadians {
     /// just the representation of the angular values.
     pub fn to_degrees(&self) -> LLHDegrees {
         let mut deg = LLHDegrees::default();
-        unsafe { c_bindings::llhrad2deg(self.as_ptr(), deg.as_mut_ptr()) };
+        unsafe { swiftnav_sys::llhrad2deg(self.as_ptr(), deg.as_mut_ptr()) };
         deg
     }
 
@@ -193,7 +192,7 @@ impl LLHRadians {
     /// (X, Y and Z).
     pub fn to_ecef(&self) -> ECEF {
         let mut ecef = ECEF::default();
-        unsafe { c_bindings::wgsllh2ecef(self.as_ptr(), ecef.as_mut_ptr()) };
+        unsafe { swiftnav_sys::wgsllh2ecef(self.as_ptr(), ecef.as_mut_ptr()) };
         ecef
     }
 }
@@ -280,7 +279,7 @@ impl ECEF {
     /// longitude and height).
     pub fn to_llh(&self) -> LLHRadians {
         let mut llh = LLHRadians::from_array(&[0.0; 3]);
-        unsafe { c_bindings::wgsecef2llh(self.as_ptr(), llh.as_mut_ptr()) };
+        unsafe { swiftnav_sys::wgsecef2llh(self.as_ptr(), llh.as_mut_ptr()) };
         llh
     }
 
@@ -294,7 +293,7 @@ impl ECEF {
     pub fn azel_of(&self, point: &ECEF) -> AzimuthElevation {
         let mut azel = AzimuthElevation::new(0.0, 0.0);
         unsafe {
-            c_bindings::wgsecef2azel(point.as_ptr(), self.as_ptr(), &mut azel.az, &mut azel.el)
+            swiftnav_sys::wgsecef2azel(point.as_ptr(), self.as_ptr(), &mut azel.az, &mut azel.el)
         };
         azel
     }

swiftnav/Cargo.toml

@@ -9,8 +9,6 @@
 // WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 //! Error detection code
 
-use crate::c_bindings;
-
 /// Calculate Qualcomm 24-bit Cyclical Redundancy Check (CRC-24Q).
 ///
 /// This CRC is used with the RTCM protocol
@@ -21,7 +19,7 @@ use crate::c_bindings;
 ///
 /// Mask 0x1864CFB, not reversed, not XOR'd
 pub fn compute_crc24q(buf: &[u8], initial_value: u32) -> u32 {
-    unsafe { c_bindings::crc24q(buf.as_ptr(), buf.len() as u32, initial_value) }
+    unsafe { swiftnav_sys::crc24q(buf.as_ptr(), buf.len() as u32, initial_value) }
 }
 
 #[cfg(test)]