isaac_sim_bridge/
lib.rs

1// SPDX-License-Identifier: MPL-2.0
2#![cfg_attr(docsrs, feature(doc_cfg))]
3//! `cxx::bridge` core for the Isaac Sim Rust SDK.
4//!
5//! Exposes a process-wide consumer registry and producer registry that
6//! adapters (dora, rerun, custom) plug into. The bridge cdylib entry points
7//! (`forward_*`, `poll_cmd_vel`) are gated behind the `cdylib` feature so
8//! the rlib path compiles on any machine without Isaac Sim installed.
9
10#![warn(missing_docs)]
11#![cfg_attr(not(feature = "cdylib"), allow(dead_code))]
12
13mod articulation;
14mod camera;
15mod channel;
16mod demo;
17mod imu;
18mod lidar;
19mod lifecycle;
20mod odometry;
21mod producer;
22mod sensor;
23mod source;
24
25pub use articulation::cmd_vel::{
26    cmd_vel_consumer_count, cmd_vel_producer_count, peek_cmd_vel, register_cmd_vel_consumer,
27    register_cmd_vel_producer, CmdVelChannel,
28};
29pub use camera::depth::{
30    camera_depth_consumer_count, dispatch_camera_depth, register_camera_depth_consumer, CameraDepth,
31};
32pub use camera::info::{
33    camera_info_consumer_count, dispatch_camera_info, register_camera_info_consumer, CameraInfo,
34    CameraInfoFrame,
35};
36pub use camera::rgb::{
37    camera_rgb_consumer_count, dispatch_camera_rgb, register_camera_rgb_consumer, CameraRgb,
38};
39pub use imu::{dispatch_imu, imu_consumer_count, register_imu_consumer, Imu};
40pub use lidar::flatscan::{
41    dispatch_lidar_flatscan, lidar_flatscan_consumer_count, register_lidar_flatscan_consumer,
42    LidarFlatScan,
43};
44pub use lidar::pointcloud::{
45    dispatch_lidar_pointcloud, lidar_pointcloud_consumer_count, register_lidar_pointcloud_consumer,
46    LidarPointCloud,
47};
48pub use odometry::{
49    dispatch_odometry, odometry_consumer_count, register_odometry_consumer, Odometry,
50};
51pub use producer::{ProducerRegistry, ProducerSlot};
52pub use sensor::Sensor;
53pub use source::SourceFilter;
54
55#[allow(clippy::too_many_arguments)]
56#[allow(missing_docs)]
57#[cxx::bridge(namespace = "isaacsimrs")]
58mod ffi {
59    #[derive(Clone, Copy)]
60    struct LidarFlatScanMeta {
61        horizontal_fov: f32,
62        horizontal_resolution: f32,
63        azimuth_min: f32,
64        azimuth_max: f32,
65        depth_min: f32,
66        depth_max: f32,
67        num_rows: i32,
68        num_cols: i32,
69        rotation_rate: f32,
70    }
71
72    #[derive(Clone, Copy)]
73    struct LidarPointCloudMeta {
74        num_points: i32,
75        width: i32,
76        height: i32,
77    }
78
79    #[derive(Clone, Copy)]
80    struct CameraRgbMeta {
81        width: i32,
82        height: i32,
83        fx: f32,
84        fy: f32,
85        cx: f32,
86        cy: f32,
87        timestamp_ns: i64,
88    }
89
90    #[derive(Clone, Copy)]
91    struct CameraDepthMeta {
92        width: i32,
93        height: i32,
94        fx: f32,
95        fy: f32,
96        cx: f32,
97        cy: f32,
98        timestamp_ns: i64,
99    }
100
101    #[derive(Clone, Copy)]
102    struct CameraInfoMeta {
103        width: i32,
104        height: i32,
105        timestamp_ns: i64,
106    }
107
108    #[derive(Clone, Copy)]
109    struct ImuMeta {
110        lin_acc_x: f64,
111        lin_acc_y: f64,
112        lin_acc_z: f64,
113        ang_vel_x: f64,
114        ang_vel_y: f64,
115        ang_vel_z: f64,
116        orientation_w: f64,
117        orientation_x: f64,
118        orientation_y: f64,
119        orientation_z: f64,
120        timestamp_ns: i64,
121    }
122
123    #[derive(Clone, Copy)]
124    struct OdometryMeta {
125        position_x: f64,
126        position_y: f64,
127        position_z: f64,
128        orientation_w: f64,
129        orientation_x: f64,
130        orientation_y: f64,
131        orientation_z: f64,
132        lin_vel_x: f64,
133        lin_vel_y: f64,
134        lin_vel_z: f64,
135        ang_vel_x: f64,
136        ang_vel_y: f64,
137        ang_vel_z: f64,
138        timestamp_ns: i64,
139    }
140
141    #[derive(Default, Clone, Copy)]
142    struct CmdVel {
143        linear_x: f32,
144        linear_y: f32,
145        linear_z: f32,
146        angular_x: f32,
147        angular_y: f32,
148        angular_z: f32,
149        timestamp_ns: i64,
150    }
151
152    #[cfg(feature = "cdylib")]
153    extern "Rust" {
154        fn init();
155        fn double_value(x: i32) -> i32;
156        fn forward_lidar_flatscan(
157            source_id: &str,
158            scan: &[f32],
159            intensities: &[u8],
160            meta: &LidarFlatScanMeta,
161        );
162        fn forward_lidar_pointcloud(source_id: &str, points: &[f32], meta: &LidarPointCloudMeta);
163        fn forward_camera_rgb(source_id: &str, pixels: &[u8], meta: &CameraRgbMeta);
164        fn forward_camera_depth(source_id: &str, depths: &[f32], meta: &CameraDepthMeta);
165        fn forward_camera_info(
166            source_id: &str,
167            frame_id: &str,
168            distortion_model: &str,
169            projection_type: &str,
170            k: &[f64],
171            r: &[f64],
172            p: &[f64],
173            distortion: &[f32],
174            meta: &CameraInfoMeta,
175        );
176        fn forward_imu(source_id: &str, frame_id: &str, meta: &ImuMeta);
177        fn forward_odometry(
178            source_id: &str,
179            chassis_frame_id: &str,
180            odom_frame_id: &str,
181            meta: &OdometryMeta,
182        );
183        fn poll_cmd_vel(target_id: &str, out: &mut CmdVel) -> bool;
184    }
185}
186
187/// C++-compatible metadata structs shared across the cxx::bridge boundary.
188/// Fields are named after physical quantities and need no further prose.
189pub use ffi::{
190    CameraDepthMeta, CameraInfoMeta, CameraRgbMeta, CmdVel, ImuMeta, LidarFlatScanMeta,
191    LidarPointCloudMeta, OdometryMeta,
192};
193
194#[cfg(feature = "cdylib")]
195use articulation::cmd_vel::poll_cmd_vel;
196#[cfg(feature = "cdylib")]
197use camera::depth::forward_camera_depth;
198#[cfg(feature = "cdylib")]
199use camera::info::forward_camera_info;
200#[cfg(feature = "cdylib")]
201use camera::rgb::forward_camera_rgb;
202#[cfg(feature = "cdylib")]
203use demo::double_value;
204#[cfg(feature = "cdylib")]
205use imu::forward_imu;
206#[cfg(feature = "cdylib")]
207use lidar::flatscan::forward_lidar_flatscan;
208#[cfg(feature = "cdylib")]
209use lidar::pointcloud::forward_lidar_pointcloud;
210#[cfg(feature = "cdylib")]
211use lifecycle::init;
212#[cfg(feature = "cdylib")]
213use odometry::forward_odometry;
isaac_sim_bridge/lib.rs

isaac_sim_bridge/
lib.rs
