.gitignore

@@ -0,0 +1 @@
+target/

Cargo.toml

@@ -1,7 +1,16 @@
+
 [package]
 name = "drone_controller"
 version = "0.1.0"
-edition = "2024"
+edition = "2018"
+
+[lib]
+crate-type = ["staticlib"]
+
+[build-dependencies]
+bindgen = "0.58"
+cbindgen = "0.19"
+
 
 [dependencies]
 
@@ -14,8 +23,20 @@ serde_json = "1.0.149"
 
 clap = { version = "4", features = ["derive"] }
 
-[lib]
-crate-type = ["lib", "cdylib"]
+[features]
+std = []
 
-[build-dependencies]
-cbindgen = "0.29"
+[profile.dev]
+# Optimization level 1 is similar to "g" in gcc/clang, although for some reason
+# Cargo doesn't support that flag.
+#opt-level = 1
+opt-level = "s"
+
+[profile.release]
+debug = true
+opt-level = "z"
+#debug = true
+#lto = true
+#opt-level = "z"
+#codegen-units = 1
+#panic = "abort"

build.rs

@@ -1,11 +1,22 @@
-extern crate cbindgen;
-
 use std::env;
+use std::path::{Path, PathBuf};
 
 fn main() {
-    let crate_dir = env::var("CARGO_MANIFEST_DIR").unwrap();
+    let cargo_dir = PathBuf::from(env::var("CARGO_MANIFEST_DIR").unwrap());
+    let target_dir = PathBuf::from(env::var("CARGO_BUILD_TARGET_DIR").unwrap());
 
-    let _ = cbindgen::generate(crate_dir)
-        .unwrap()
-        .write_to_file("bindings.h");
+    run_cbindgen(&cargo_dir, &target_dir);
+}
+
+fn run_cbindgen(cargo_dir: &Path, target_dir: &Path) {
+    let out = target_dir.join("drone_controller.h");
+
+    cbindgen::Builder::new()
+        .with_crate(cargo_dir)
+        .with_language(cbindgen::Language::C)
+        .generate()
+        .expect("Unable to generate bindings")
+        .write_to_file(&out);
+
+    println!("cargo:rerun-if-changed={}", out.display());
 }

cbindgen.toml

@@ -1,36 +0,0 @@
-# This is a template cbindgen.toml file with all of the default values.
-# Some values are commented out because their absence is the real default.
-#
-# See https://github.com/mozilla/cbindgen/blob/main/docs.md#cbindgentoml
-# for detailed documentation of every option here.
-
-
-language = "C++"
-
-
-include_guard = "my_bindings_h"
-autogen_warning = "/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */"
-include_version = true
-
-
-braces = "SameLine"
-line_length = 100
-tab_width = 2
-documentation = true
-documentation_style = "auto"
-documentation_length = "full"
-line_endings = "LF"
-
-namespace = "dcont"
-
-
-style = "both"
-sort_by = "Name"
-usize_is_size_t = true
-
-[export]
-include = []
-exclude = []
-# prefix = "DCONT_"
-item_types = []
-renaming_overrides_prefixing = false