adamo_sys/
lib.rs

1//! Raw FFI bindings to the Adamo SDK.
2//!
3//! This crate is a thin, `unsafe` interface — prefer the safe wrappers in
4//! [`adamo`](https://docs.rs/adamo) for normal use.
5//!
6//! All declarations match the C header generated by `cbindgen` for the
7//! `adamo-c` crate (`include/adamo/adamo.h`). Keep them in sync.
8
9#![allow(non_camel_case_types)]
10#![allow(clippy::missing_safety_doc)]
11
12use std::os::raw::{c_char, c_int, c_void};
13
14pub type adamo_protocol_t = u32;
15pub const ADAMO_PROTOCOL_UDP: adamo_protocol_t = 0;
16pub const ADAMO_PROTOCOL_QUIC: adamo_protocol_t = 1;
17pub const ADAMO_PROTOCOL_TCP: adamo_protocol_t = 2;
18
19pub type adamo_regime_t = u32;
20pub const ADAMO_REGIME_STABLE: adamo_regime_t = 0;
21pub const ADAMO_REGIME_DEGRADING: adamo_regime_t = 1;
22pub const ADAMO_REGIME_VOLATILE: adamo_regime_t = 2;
23pub const ADAMO_REGIME_RECOVERING: adamo_regime_t = 3;
24
25pub type adamo_video_backend_t = i32;
26pub const ADAMO_VIDEO_BACKEND_AUTO: adamo_video_backend_t = 0;
27pub const ADAMO_VIDEO_BACKEND_GSTREAMER: adamo_video_backend_t = 1;
28pub const ADAMO_VIDEO_BACKEND_HW_PIPELINE: adamo_video_backend_t = 2;
29
30// Opaque handles. Zero-sized placeholders — callers only ever see pointers
31// to them. `PhantomData<*mut ()>` keeps them `!Send + !Sync` by default;
32// the safe wrapper re-asserts thread-safety where the C API documents it.
33#[repr(C)]
34pub struct adamo_session_t {
35    _priv: [u8; 0],
36    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
37}
38#[repr(C)]
39pub struct adamo_publisher_t {
40    _priv: [u8; 0],
41    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
42}
43#[repr(C)]
44pub struct adamo_subscriber_t {
45    _priv: [u8; 0],
46    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
47}
48#[repr(C)]
49pub struct adamo_cb_sub_t {
50    _priv: [u8; 0],
51    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
52}
53#[repr(C)]
54pub struct adamo_liveliness_token_t {
55    _priv: [u8; 0],
56    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
57}
58#[repr(C)]
59pub struct adamo_liveliness_sub_t {
60    _priv: [u8; 0],
61    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
62}
63#[repr(C)]
64pub struct adamo_robot_t {
65    _priv: [u8; 0],
66    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
67}
68#[repr(C)]
69pub struct adamo_video_track_t {
70    _priv: [u8; 0],
71    _marker: core::marker::PhantomData<(*mut u8, core::marker::PhantomPinned)>,
72}
73
74#[repr(C)]
75pub struct adamo_sample_t {
76    pub key: *mut c_char,
77    pub payload: *mut u8,
78    pub payload_len: usize,
79    pub is_delete: i32,
80    pub timestamp_us: u64,
81}
82
83#[repr(C)]
84pub struct adamo_latency_stats_t {
85    pub regime: adamo_regime_t,
86    pub jitter_hint_ms: f32,
87    pub garch_sigma_ms: f32,
88    pub target_bitrate_kbps: u32,
89    pub loss_rate: f32,
90    pub queuing_delay_ms: f32,
91    pub timestamp_ms: u64,
92}
93
94#[repr(C)]
95#[derive(Clone, Copy)]
96pub struct adamo_video_options_t {
97    pub width: u32,
98    pub height: u32,
99    pub pixel_format: *const c_char,
100    pub codec: *const c_char,
101    pub encoder: *const c_char,
102    pub bitrate_kbps: u32,
103    pub adaptive_bitrate: i32,
104    pub min_bitrate_kbps: u32,
105    pub max_bitrate_kbps: u32,
106    pub bitrate_priority: f32,
107    pub fps: u32,
108    pub keyframe_distance: f64,
109    pub stereo: i32,
110    pub backend: adamo_video_backend_t,
111}
112
113pub type adamo_sample_cb_t =
114    Option<unsafe extern "C" fn(sample: *const adamo_sample_t, user: *mut c_void)>;
115pub type adamo_liveliness_cb_t =
116    Option<unsafe extern "C" fn(key: *const c_char, alive: c_int, user: *mut c_void)>;
117
118// docs.rs builds can't link libadamo; stub the extern block out there so
119// rustdoc still succeeds.
120#[cfg(not(docsrs))]
121unsafe extern "C" {
122    pub fn adamo_last_error() -> *const c_char;
123
124    /// Category of the last error on this thread. 0 = OK, 1 = auth,
125    /// 2 = network, 3 = timeout, 4 = invalid argument, 5 = video,
126    /// 6 = internal. Stable across releases.
127    pub fn adamo_last_error_code() -> core::ffi::c_int;
128
129    pub fn adamo_sample_free(sample: *mut adamo_sample_t);
130
131    pub fn adamo_open(api_key: *const c_char, protocol: adamo_protocol_t) -> *mut adamo_session_t;
132    pub fn adamo_open_default(api_key: *const c_char) -> *mut adamo_session_t;
133    pub fn adamo_open_mtls(
134        api_key: *const c_char,
135        protocol: adamo_protocol_t,
136    ) -> *mut adamo_session_t;
137    pub fn adamo_session_free(sess: *mut adamo_session_t);
138    pub fn adamo_session_org(sess: *const adamo_session_t) -> *const c_char;
139    pub fn adamo_session_org_len(sess: *const adamo_session_t) -> usize;
140
141    pub fn adamo_put(
142        sess: *const adamo_session_t,
143        key: *const c_char,
144        payload: *const u8,
145        payload_len: usize,
146        priority: u8,
147        express: i32,
148    ) -> i32;
149
150    pub fn adamo_publisher(
151        sess: *const adamo_session_t,
152        key: *const c_char,
153        priority: u8,
154        express: i32,
155        reliable: i32,
156    ) -> *mut adamo_publisher_t;
157    pub fn adamo_publisher_put(
158        pub_: *const adamo_publisher_t,
159        payload: *const u8,
160        payload_len: usize,
161    ) -> i32;
162    pub fn adamo_publisher_free(pub_: *mut adamo_publisher_t);
163
164    pub fn adamo_subscribe(
165        sess: *const adamo_session_t,
166        key: *const c_char,
167    ) -> *mut adamo_subscriber_t;
168    pub fn adamo_sub_recv(
169        sub: *const adamo_subscriber_t,
170        timeout_ms: u64,
171    ) -> *mut adamo_sample_t;
172    pub fn adamo_sub_try_recv(sub: *const adamo_subscriber_t) -> *mut adamo_sample_t;
173    pub fn adamo_sub_free(sub: *mut adamo_subscriber_t);
174
175    pub fn adamo_subscribe_cb(
176        sess: *const adamo_session_t,
177        key: *const c_char,
178        cb: adamo_sample_cb_t,
179        user: *mut c_void,
180    ) -> *mut adamo_cb_sub_t;
181    pub fn adamo_cb_sub_free(sub: *mut adamo_cb_sub_t);
182
183    pub fn adamo_get(
184        sess: *const adamo_session_t,
185        key: *const c_char,
186        timeout_ms: u64,
187        count_out: *mut usize,
188    ) -> *mut *mut adamo_sample_t;
189    pub fn adamo_get_replies_free(replies: *mut *mut adamo_sample_t, count: usize);
190
191    pub fn adamo_liveliness_declare(
192        sess: *const adamo_session_t,
193        token_key: *const c_char,
194    ) -> *mut adamo_liveliness_token_t;
195    pub fn adamo_liveliness_token_free(tok: *mut adamo_liveliness_token_t);
196    pub fn adamo_liveliness_get(
197        sess: *const adamo_session_t,
198        pattern: *const c_char,
199        count_out: *mut usize,
200    ) -> *mut *mut c_char;
201    pub fn adamo_liveliness_tokens_free(tokens: *mut *mut c_char, count: usize);
202    pub fn adamo_liveliness_subscribe(
203        sess: *const adamo_session_t,
204        pattern: *const c_char,
205        history: c_int,
206        cb: adamo_liveliness_cb_t,
207        user: *mut c_void,
208    ) -> *mut adamo_liveliness_sub_t;
209    pub fn adamo_liveliness_sub_free(sub: *mut adamo_liveliness_sub_t);
210
211    pub fn adamo_robot_new(
212        api_key: *const c_char,
213        name: *const c_char,
214        protocol: adamo_protocol_t,
215    ) -> *mut adamo_robot_t;
216    pub fn adamo_robot_new_default(
217        api_key: *const c_char,
218        name: *const c_char,
219    ) -> *mut adamo_robot_t;
220    pub fn adamo_video_options_default() -> adamo_video_options_t;
221    pub fn adamo_robot_video(
222        robot: *mut adamo_robot_t,
223        name: *const c_char,
224        width: u32,
225        height: u32,
226        pixel_format: *const c_char,
227        fps: u32,
228        bitrate_kbps: u32,
229        stereo: bool,
230    ) -> *mut adamo_video_track_t;
231    pub fn adamo_robot_video_with_options(
232        robot: *mut adamo_robot_t,
233        name: *const c_char,
234        width: u32,
235        height: u32,
236        pixel_format: *const c_char,
237        fps: u32,
238        bitrate_kbps: u32,
239        stereo: bool,
240        encoder: *const c_char,
241        hw_pipeline: bool,
242    ) -> *mut adamo_video_track_t;
243    pub fn adamo_robot_video_configured(
244        robot: *mut adamo_robot_t,
245        name: *const c_char,
246        opts: *const adamo_video_options_t,
247    ) -> *mut adamo_video_track_t;
248    pub fn adamo_robot_attach_video_v4l2(
249        robot: *mut adamo_robot_t,
250        name: *const c_char,
251        device: *const c_char,
252        width: u32,
253        height: u32,
254        fps: u32,
255        bitrate_kbps: u32,
256        stereo: bool,
257    ) -> i32;
258    pub fn adamo_robot_attach_video_v4l2_configured(
259        robot: *mut adamo_robot_t,
260        name: *const c_char,
261        device: *const c_char,
262        opts: *const adamo_video_options_t,
263    ) -> i32;
264    pub fn adamo_robot_attach_video_gst(
265        robot: *mut adamo_robot_t,
266        name: *const c_char,
267        pipeline: *const c_char,
268        width: u32,
269        height: u32,
270        fps: u32,
271        bitrate_kbps: u32,
272        stereo: bool,
273    ) -> i32;
274    pub fn adamo_robot_attach_video_gst_with_format(
275        robot: *mut adamo_robot_t,
276        name: *const c_char,
277        pipeline: *const c_char,
278        width: u32,
279        height: u32,
280        fps: u32,
281        bitrate_kbps: u32,
282        stereo: bool,
283        source_format: *const c_char,
284    ) -> i32;
285    pub fn adamo_robot_attach_video_gst_configured(
286        robot: *mut adamo_robot_t,
287        name: *const c_char,
288        pipeline: *const c_char,
289        opts: *const adamo_video_options_t,
290    ) -> i32;
291    pub fn adamo_robot_attach_video_shm(
292        robot: *mut adamo_robot_t,
293        name: *const c_char,
294        service: *const c_char,
295        width: u32,
296        height: u32,
297        pixel_format: *const c_char,
298        fps: u32,
299        bitrate_kbps: u32,
300        stereo: bool,
301    ) -> i32;
302    pub fn adamo_robot_attach_video_shm_configured(
303        robot: *mut adamo_robot_t,
304        name: *const c_char,
305        service: *const c_char,
306        opts: *const adamo_video_options_t,
307    ) -> i32;
308    pub fn adamo_video_track_send(
309        track: *mut adamo_video_track_t,
310        payload: *const u8,
311        payload_len: usize,
312    ) -> i32;
313    pub fn adamo_video_track_free(track: *mut adamo_video_track_t);
314    pub fn adamo_robot_run(robot: *mut adamo_robot_t) -> i32;
315    pub fn adamo_robot_free(robot: *mut adamo_robot_t);
316
317    pub fn adamo_detect_encoder() -> *const c_char;
318
319    pub fn adamo_fabric_now_us() -> u64;
320    pub fn adamo_fabric_synced() -> i32;
321    pub fn adamo_relay_rtt_us(sess: *const adamo_session_t, out_us: *mut u64) -> i32;
322
323    pub fn adamo_parse_heartbeat(
324        payload: *const u8,
325        payload_len: usize,
326        out: *mut adamo_latency_stats_t,
327    ) -> i32;
328    pub fn adamo_heartbeat_topic(
329        robot: *const c_char,
330        out: *mut c_char,
331        out_cap: usize,
332    ) -> isize;
333    pub fn adamo_ping_topic(
334        robot: *const c_char,
335        out: *mut c_char,
336        out_cap: usize,
337    ) -> isize;
338    pub fn adamo_pong_topic(
339        robot: *const c_char,
340        out: *mut c_char,
341        out_cap: usize,
342    ) -> isize;
343    pub fn adamo_measure_rtt(
344        sess: *const adamo_session_t,
345        robot: *const c_char,
346        timeout_ms: u64,
347        out_us: *mut u64,
348    ) -> i32;
349}
350
351// Silence `unused_imports` if someone pulls in the crate without calling
352// anything (e.g. docs builds).
353#[doc(hidden)]
354pub const _IMPORTS: (Option<c_int>, Option<*mut c_void>) = (None, None);
adamo_sys/lib.rs

adamo_sys/
lib.rs
