.nvim.lua

@@ -0,0 +1,17 @@
+-- You must enable the exrc setting in neovim for this config file to be used.
+local rust_analyzer = {
+    cargo = {
+        target = "xtensa-esp32-none-elf",
+        allTargets = false,
+    },
+}
+rust_analyzer.cargo.extraEnv = { RUST_TOOLCHAIN = "esp" }
+rust_analyzer.check = { extraEnv = { RUST_TOOLCHAIN = "esp" } }
+rust_analyzer.server = { extraEnv = { RUST_TOOLCHAIN = "stable" } }
+
+-- Note the neovim name of the language server is rust_analyzer with an underscore.
+vim.lsp.config("rust_analyzer", {
+    settings = {
+        ["rust-analyzer"] = rust_analyzer
+    },
+})

Cargo.toml

@@ -5,7 +5,7 @@ version = "0.1.0"
 edition = "2024"
 
 [lib]
-crate-type = ["staticlib"]
+crate-type = ["staticlib", "lib"]
 
 [build-dependencies]
 cbindgen = "0.29"

build.rs

@@ -1,5 +1,5 @@
-use std::env;
 use std::path::{Path, PathBuf};
+use std::{env, time};
 
 fn main() {
     let cargo_dir = PathBuf::from(env::var("CARGO_MANIFEST_DIR").unwrap());
@@ -19,4 +19,11 @@ fn run_cbindgen(cargo_dir: &Path, target_dir: &Path) {
         .write_to_file(&out);
 
     println!("cargo:rerun-if-changed={}", out.display());
+    println!(
+        "cargo:rerun-if-changed={}",
+        time::SystemTime::now()
+            .duration_since(time::UNIX_EPOCH)
+            .unwrap()
+            .as_secs()
+    );
 }

cbindgen.toml

@@ -0,0 +1,137 @@
+# 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++"
+
+
+############## Options for Wrapping the Contents of the Header #################
+
+# header = "/* Text to put at the beginning of the generated file. Probably a license. */"
+# trailer = "/* Text to put at the end of the generated file */"
+# include_guard = "my_bindings_h"
+# pragma_once = true
+# autogen_warning = "/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */"
+include_version = false
+namespace = "dcont"
+# namespaces = []
+using_namespaces = []
+sys_includes = []
+includes = []
+no_includes = false
+# cpp_compat = true
+after_includes = ""
+
+
+############################ Code Style Options ################################
+
+braces = "SameLine"
+line_length = 100
+tab_width = 2
+documentation = true
+documentation_style = "auto"
+documentation_length = "full"
+line_endings = "LF"           # also "CR", "CRLF", "Native"
+
+
+############################# Codegen Options ##################################
+
+style = "both"
+sort_by = "Name"       # default for `fn.sort_by` and `const.sort_by`
+usize_is_size_t = true
+
+
+[defines]
+# "target_os = freebsd" = "DEFINE_FREEBSD"
+# "feature = serde" = "DEFINE_SERDE"
+
+
+[export]
+include = []
+exclude = []
+# prefix = "CAPI_"
+item_types = []
+renaming_overrides_prefixing = false
+
+
+[export.rename]
+
+
+[export.body]
+
+
+[export.mangle]
+
+
+[fn]
+rename_args = "None"
+# must_use = "MUST_USE_FUNC"
+# deprecated = "DEPRECATED_FUNC"
+# deprecated_with_note = "DEPRECATED_FUNC_WITH_NOTE"
+# no_return = "NO_RETURN"
+# prefix = "START_FUNC"
+# postfix = "END_FUNC"
+args = "auto"
+sort_by = "Name"
+
+
+[struct]
+rename_fields = "None"
+# must_use = "MUST_USE_STRUCT"
+# deprecated = "DEPRECATED_STRUCT"
+# deprecated_with_note = "DEPRECATED_STRUCT_WITH_NOTE"
+rename_associated_constant = "None"
+derive_constructor = false
+derive_eq = false
+derive_neq = false
+derive_lt = false
+derive_lte = false
+derive_gt = false
+derive_gte = false
+
+
+[enum]
+rename_variants = "None"
+# must_use = "MUST_USE_ENUM"
+# deprecated = "DEPRECATED_ENUM"
+# deprecated_with_note = "DEPRECATED_ENUM_WITH_NOTE"
+add_sentinel = false
+prefix_with_name = false
+derive_helper_methods = false
+derive_const_casts = false
+derive_mut_casts = false
+# cast_assert_name = "ASSERT"
+derive_tagged_enum_destructor = false
+derive_tagged_enum_copy_constructor = false
+enum_class = true
+private_default_tagged_enum_constructor = false
+
+
+[const]
+allow_static_const = true
+allow_constexpr = false
+sort_by = "Name"
+
+
+[macro_expansion]
+bitflags = false
+
+
+############## Options for How Your Rust library Should Be Parsed ##############
+
+[parse]
+parse_deps = false
+# include = []
+exclude = []
+clean = false
+extra_bindings = []
+
+
+[parse.expand]
+crates = []
+all_features = false
+default_features = true
+features = []

src/ccont.rs

@@ -0,0 +1,96 @@
+use crate::*;
+use nalgebra as na;
+
+#[unsafe(no_mangle)]
+pub extern "C" fn create(c: config::ControllerConfig) -> *mut StackedController {
+    return Box::into_raw(Box::new(StackedController::new(c)));
+}
+
+
+#[unsafe(no_mangle)]
+pub unsafe extern "C" fn destroy(ptr: *mut StackedController) {
+    assert!(!ptr.is_null());
+    let _x = unsafe { Box::from_raw(ptr) };
+}
+
+#[repr(C)]
+pub struct MotorThrottles {
+    pub values: [f32; 4],
+}
+
+
+
+
+#[unsafe(no_mangle)]
+pub extern "C" fn get_throttles(ptr: *mut StackedController) -> MotorThrottles {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    return MotorThrottles {
+        values: controller.get_motor_throttles(),
+    };
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_cur_time(ptr: *mut StackedController, time: f32) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    controller.set_time(time);
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_input(ptr: *mut StackedController, inp: Input) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    controller.set_input(inp);
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_cur_rot(ptr: *mut StackedController, parts: Vec3C, scalar: f32) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    let quat: na::UnitQuaternion<f32> =
+        na::UnitQuaternion::from_quaternion(na::Quaternion::from_parts(scalar, parts.into()));
+    controller.set_rotation(quat);
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_cur_angvel(ptr: *mut StackedController, angvel: Vec3C) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    controller.set_angular_velocity(angvel.into());
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_cur_linvel(ptr: *mut StackedController, vel: Vec3C) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    controller.set_linvel(vel.into());
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_cur_pos(ptr: *mut StackedController, pos: Vec3C) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    controller.set_pos(pos.into());
+}

src/cmath.rs

@@ -0,0 +1,73 @@
+use nalgebra as na;
+
+#[repr(C)]
+pub struct Vec3C {
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+#[repr(C)]
+pub struct QuatC {
+    pub i: f32,
+    pub j: f32,
+    pub k: f32,
+    pub w: f32,
+}
+
+impl Into<na::UnitQuaternion<f32>> for QuatC {
+    fn into(self) -> na::UnitQuaternion<f32> {
+        na::UnitQuaternion::from_quaternion(na::Quaternion::from_parts(
+            self.w,
+            na::vector![self.i, self.j, self.k],
+        ))
+    }
+}
+
+impl Into<na::Vector3<f32>> for Vec3C {
+    fn into(self) -> na::Vector3<f32> {
+        na::vector![self.x, self.y, self.z]
+    }
+}
+
+impl From<na::Vector3<f32>> for Vec3C {
+    fn from(value: na::Vector3<f32>) -> Self {
+        Vec3C { x: value.x, y: value.y, z: value.z }
+    }
+}
+
+
+
+#[unsafe(no_mangle)]
+pub extern "C" fn apply_rot(vec_ptr: *const Vec3C, quat_ptr: *const QuatC) -> Vec3C{
+    assert!(!vec_ptr.is_null());
+    assert!(!quat_ptr.is_null());
+    unsafe {
+        let quat: na::UnitQuaternion<f32> = std::ptr::read(quat_ptr).into();
+        let v: na::Vector3<f32> = std::ptr::read(vec_ptr).into();
+        return quat.transform_vector(&v).into();
+    }
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn multiply_vec_by(vec_ptr: *mut Vec3C, k: f32) {
+    assert!(!vec_ptr.is_null());
+
+    unsafe {
+        (*vec_ptr).x *= k;
+        (*vec_ptr).y *= k;
+        (*vec_ptr).z *= k;
+    }
+}
+
+
+#[unsafe(no_mangle)]
+pub extern "C" fn add_to_vec(vec_ptr: *mut Vec3C, to_add_ptr: *const Vec3C){
+    assert!(!vec_ptr.is_null());
+    assert!(!to_add_ptr.is_null());
+    unsafe {
+        (*vec_ptr).x += (*to_add_ptr).x;
+        (*vec_ptr).y += (*to_add_ptr).y;
+        (*vec_ptr).z += (*to_add_ptr).z;
+    }
+}

src/lib.rs

@@ -1,5 +1,3 @@
-use nalgebra::{self as na, Quaternion, Unit};
-
 pub mod config;
 pub mod controller;
 pub mod input;
@@ -10,106 +8,7 @@ pub use controller::*;
 pub use input::*;
 pub use stacked::*;
 
-#[unsafe(no_mangle)]
-pub extern "C" fn create(c: config::ControllerConfig) -> *mut StackedController {
-    return Box::into_raw(Box::new(StackedController::new(c)));
-}
-
-
-#[unsafe(no_mangle)]
-pub unsafe extern "C" fn destroy(ptr: *mut StackedController) {
-    assert!(!ptr.is_null());
-    let _x = unsafe { Box::from_raw(ptr) };
-}
-
-#[repr(C)]
-pub struct MotorThrottles {
-    pub values: [f32; 4],
-}
-
-#[repr(C)]
-pub struct Vec3C {
-    pub x: f32,
-    pub y: f32,
-    pub z: f32,
-}
-
-impl Into<na::Vector3<f32>> for Vec3C {
-    fn into(self) -> na::Vector3<f32> {
-        na::vector![self.x, self.y, self.z]
-    }
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn get_throttles(ptr: *mut StackedController) -> MotorThrottles {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    return MotorThrottles {
-        values: controller.get_motor_throttles(),
-    };
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn set_cur_time(ptr: *mut StackedController, time: f32) {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    controller.set_time(time);
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn set_input(ptr: *mut StackedController, inp: Input) {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    controller.set_input(inp);
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn set_cur_rot(ptr: *mut StackedController, parts: Vec3C, scalar: f32) {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    let quat: na::UnitQuaternion<f32> =
-        na::UnitQuaternion::from_quaternion(Quaternion::from_parts(scalar, parts.into()));
-    controller.set_rotation(quat);
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn set_cur_angvel(ptr: *mut StackedController, angvel: Vec3C) {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    controller.set_angular_velocity(angvel.into());
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn set_cur_linvel(ptr: *mut StackedController, vel: Vec3C) {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    controller.set_linvel(vel.into());
-}
-
-#[unsafe(no_mangle)]
-pub extern "C" fn set_cur_pos(ptr: *mut StackedController, pos: Vec3C) {
-    let controller = unsafe {
-        assert!(!ptr.is_null());
-        &mut *ptr
-    };
-
-    controller.set_pos(pos.into());
-}
+pub mod ccont;
+pub mod cmath;
+pub use ccont::*;
+pub use cmath::*;