Add Larod

.cargo/config.toml

@@ -0,0 +1,5 @@
+[build]
+target = "aarch64-unknown-linux-gnu"
+
+[target.aarch64-unknown-linux-gnu]
+runner = ["/workspaces/acap-rs/remote-test.sh"]

.devcontainer/Dockerfile

@@ -2,7 +2,7 @@ ARG REPO=axisecp
 ARG SDK=acap-native-sdk
 ARG UBUNTU_VERSION=22.04
 # Keep in sync with `install-sdk.sh`.
-ARG VERSION=1.15
+ARG VERSION=1.3
 ARG BASE_IMAGE=debian:bookworm-20240423
 
 FROM --platform=linux/amd64 ${REPO}/${SDK}:${VERSION}-aarch64-ubuntu${UBUNTU_VERSION} AS sdk-aarch64
@@ -25,16 +25,10 @@ ENV \
     CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_RUSTFLAGS="-C link-args=--sysroot=${SYSROOT_AARCH64}" \
     CC_aarch64_unknown_linux_gnu="aarch64-linux-gnu-gcc" \
     CXX_aarch64_unknown_linux_gnu="aarch64-linux-gnu-g++" \
-    PKG_CONFIG_LIBDIR_aarch64_unknown_linux_gnu="${SYSROOT_AARCH64}/usr/lib/pkgconfig:${SYSROOT_AARCH64}/usr/share/pkgconfig" \
-    PKG_CONFIG_PATH_aarch64_unknown_linux_gnu="${SYSROOT_AARCH64}/usr/lib/pkgconfig:${SYSROOT_AARCH64}/usr/share/pkgconfig" \
-    PKG_CONFIG_SYSROOT_DIR_aarch64_unknown_linux_gnu="${SYSROOT_AARCH64}" \
     CARGO_TARGET_THUMBV7NEON_UNKNOWN_LINUX_GNUEABIHF_LINKER="arm-linux-gnueabihf-gcc" \
     CARGO_TARGET_THUMBV7NEON_UNKNOWN_LINUX_GNUEABIHF_RUSTFLAGS="-C link-args=--sysroot=${SYSROOT_ARMV7HF}" \
     CC_thumbv7neon_unknown_linux_gnueabihf="arm-linux-gnueabihf-gcc" \
-    CXX_thumbv7neon_unknown_linux_gnueabihf="arm-linux-gnueabihf-g++" \
-    PKG_CONFIG_LIBDIR_thumbv7neon_unknown_linux_gnueabihf="${SYSROOT_ARMV7HF}/usr/lib/pkgconfig:${SYSROOT_ARMV7HF}/usr/share/pkgconfig" \
-    PKG_CONFIG_PATH_thumbv7neon_unknown_linux_gnueabihf="${SYSROOT_ARMV7HF}/usr/lib/pkgconfig:${SYSROOT_ARMV7HF}/usr/share/pkgconfig" \
-    PKG_CONFIG_SYSROOT_DIR_thumbv7neon_unknown_linux_gnueabihf="${SYSROOT_ARMV7HF}"
+    CXX_thumbv7neon_unknown_linux_gnueabihf="arm-linux-gnueabihf-g++"
 
 COPY .devhost/install-system-packages.sh ./
 RUN ./install-system-packages.sh \
@@ -61,6 +55,14 @@ RUN --mount=type=bind,target=/context \
  && ./install-venv.sh $VIRTUAL_ENV \
  && chmod a+w -R $VIRTUAL_ENV
 
+ENV \
+    PKG_CONFIG_LIBDIR_aarch64_unknown_linux_gnu="${SYSROOT_AARCH64}/usr/lib/pkgconfig:${SYSROOT_AARCH64}/usr/share/pkgconfig" \
+    PKG_CONFIG_PATH_aarch64_unknown_linux_gnu="${SYSROOT_AARCH64}/usr/lib/pkgconfig:${SYSROOT_AARCH64}/usr/share/pkgconfig" \
+    PKG_CONFIG_SYSROOT_DIR_aarch64_unknown_linux_gnu="${SYSROOT_AARCH64}" \
+    PKG_CONFIG_LIBDIR_thumbv7neon_unknown_linux_gnueabihf="${SYSROOT_ARMV7HF}/usr/lib/pkgconfig:${SYSROOT_ARMV7HF}/usr/share/pkgconfig" \
+    PKG_CONFIG_PATH_thumbv7neon_unknown_linux_gnueabihf="${SYSROOT_ARMV7HF}/usr/lib/pkgconfig:${SYSROOT_ARMV7HF}/usr/share/pkgconfig" \
+    PKG_CONFIG_SYSROOT_DIR_thumbv7neon_unknown_linux_gnueabihf="${SYSROOT_ARMV7HF}"
+
 # If neither `CARGO_HOME` nor `HOME` is set when launching a container, then cargo will try to
 # download crates to this directory. If launched with the `--user` option then this will fail.
 # TODO: Replace the example in the README with something that does not mount any volumes.

.devhost/install-sdk.sh

@@ -5,7 +5,7 @@ set -eux
 DIRECTORY="${1}"
 
 # Keep version in sync with `Dockerfile`.
-docker run axisecp/acap-native-sdk:1.15-armv7hf-ubuntu22.04 tar \
+docker run axisecp/acap-native-sdk:1.3-armv7hf-ubuntu22.04 tar \
   --create \
   --directory /opt/ \
   --file - \
@@ -18,7 +18,7 @@ docker run axisecp/acap-native-sdk:1.15-armv7hf-ubuntu22.04 tar \
   --strip-components 1
 
 # Keep version in sync with `Dockerfile`.
-docker run axisecp/acap-native-sdk:1.15-aarch64-ubuntu22.04 tar \
+docker run axisecp/acap-native-sdk:1.3-aarch64-ubuntu22.04 tar \
   --create \
   --directory /opt/ \
   --file - \

Cargo.toml

@@ -37,6 +37,8 @@ axstorage = { path = "crates/axstorage" }
 axstorage-sys = { path = "crates/axstorage-sys" }
 bbox = { path = "crates/bbox" }
 bbox-sys = { path = "crates/bbox-sys" }
+larod = { path = "crates/larod" }
+larod-sys = { path = "crates/larod-sys" }
 licensekey = { path = "crates/licensekey" }
 licensekey-sys = { path = "crates/licensekey-sys" }
 mdb = { path = "crates/mdb" }

README.md

@@ -43,6 +43,20 @@ Important workflows are documented in the [Makefile](./Makefile) and can now be
 Development environments outside containers are more difficult to reproduce and maintain.
 Should it nonetheless be of interest, one procedure is documented in [this workflow](.github/workflows/on-host-workflow.yml).
 
+## Testing
+Some items in this workspace rely on libraries or hardware on Axis cameras. This makes testing difficult since these tests cannot run on an arbitrary x86_64 host. Below are some steps to enable running unit test on device.
+
+1. Connect an Axis camera to your network and ensure it is accessible.
+2. The user will likely need to be `root`, such that the Axis camera file system is writable.
+3. Set the `CARGO_TEST_CAMERA` environment variable to the user and IP of the camera with the format `user@ip`
+4. Set up an identity based SSH connection to the camera.
+  1. Create an ID via `ssh-keygen`
+  2. Copy the id to the device via `ssh-copy-id`
+
+Now, via the [remote-test.sh](remote-test.sh) script, and the `runner = ["/workspaces/acap-rs/remote-test.sh"]` line in the .cargo/config.toml, tests with the `aarch64-unknown-linux-gnu` target triplet will automatically be copied to the remote camera and executed there. Run these tests via `cargo test --target aarch64-unknown-linux-gnu`.
+
+If you want to run tests locally, just make sure you clear the `CARGO_TEST_CAMERA` environment variable via `unset CARGO_TEST_CAMERA`.
+
 ## Example applications
 
 Below is the list of examples available in the repository.

crates/larod-sys/Cargo.toml

@@ -0,0 +1,11 @@
+[package]
+build = "build.rs"
+name = "larod-sys"
+version = "0.1.0"
+edition.workspace = true
+
+[build-dependencies]
+bindgen = { workspace = true }
+pkg-config = { workspace = true }
+
+[dependencies]

crates/larod-sys/build.rs

@@ -0,0 +1,23 @@
+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.*)$")
+        .allowlist_type("^(_?larod.*)$")
+        .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);
+    }
+}