Rust bindings for RTIMULib2

Rust bindings for RTIMULib2 generated with https://rust-lang.github.io/rust-bindgen/

Steps to generate bindings:

• On Debian

sudo apt install llvm-dev libclang-dev clang

• clone and build RTIMULib2

cd ~ git clone https://github.com/seandepagnier/RTIMULib2 cd RTIMULib2/RTIMULib mkdir build && cd build cmake .. make

• put content of this directory under RTIMULib2/Linux/rust/

cd ~ git clone https://github.com/bareboat-necessities/rust-modules cp -r rust-modules/RTIMULib2/Linux/rust ~/RTIMULib2/Linux/

• cargo build

cd ~/RTIMULib2/Linux/rust cargo build find . -name bindings.rs

• cargo test

cd ~/RTIMULib2/Linux/rust cargo test

Rust Code

The Rust code example:

````

use std::ffi::{CStr}; use std::mem::MaybeUninit; use std::os::raw::{cvoid}; use std::{ptr, thread, time}; use rtimulibrust::{RTIMUSettings, RTIMU, RTIMUSettingsRTIMUSettings, RTIMUMPU925xIMUInit, RTIMUMPU925xIMUGetPollInterval, RTMathdisplayDegrees, RTVector3, RTIMUMPU925xIMURead, RTIMUMPU925xRTIMUMPU925xdestructor, RTIMUMPU925x, RTFusionKalman4RTFusionKalman4_destructor, RTFusionKalman4};

fn main() { println!("Hello RTIMULib!");

let mut instance = MaybeUninit::<RTIMUSettings>::uninit();
let settings = instance.as_mut_ptr();
unsafe {
    RTIMUSettings_RTIMUSettings( settings, "RTIMULib".as_ptr());
    (*settings).m_fusionType = 1;
    let imu = RTIMU::createIMU(settings);
    RTIMUMPU925x_IMUInit(imu as *mut c_void);

    let fusion = (*imu).m_fusion;
    (*fusion).m_slerpPower = 0.02;
    (*fusion).m_enableGyro = true;
    (*fusion).m_enableAccel = true;
    (*fusion).m_enableCompass = true;

    let poll = RTIMUMPU925x_IMUGetPollInterval(imu as *mut c_void);
    println!("Poll: {}", poll);

    thread::sleep(time::Duration::from_millis((poll * 1000) as u64));

    RTIMUMPU925x_IMURead(imu as *mut c_void);
    let mut imu_data = (*imu).m_imuData;
    let p_pose : *mut RTVector3 = ptr::addr_of_mut!(imu_data.fusionPose);

    let deg = RTMath_displayDegrees("".as_ptr(), p_pose);
    println!("{}", CStr::from_ptr(deg).to_str().unwrap().to_owned());

    RTFusionKalman4_RTFusionKalman4_destructor(fusion as *mut RTFusionKalman4);
    RTIMUMPU925x_RTIMUMPU925x_destructor( imu as *mut RTIMUMPU925x);
}

}

````