Adds maliput-sys package and basic bindings. (#6)

Signed-off-by: Franco Cipollone <[email protected]>

Cargo.toml

@@ -3,4 +3,5 @@ resolver = "2"
 
 members = [
     "maliput-sdk",
+    "maliput-sys",
 ]

README.md

@@ -1,15 +1,36 @@
 # maliput-rs
 
-Providing a Rust API for maliput.
+Provides a Rust API for maliput.
 
 ## Packages
 
-TODO
+* [`maliput-sdk`](./maliput-sdk/): Brings binaries of maliput ecosystem to cargo workspace.
+* [`maliput-sys`](./maliput-sys/): Provides ffi Rust bindings for the [`maliput`](https://github.com/maliput/maliput) API.
+* [`maliput-rs`]: Provides a rustacean API for maliput on top of `maliput-sys`. (Not implemented yet.)
+
+## Prerequisites
+
+* OS: Ubuntu 20.04
+* Bazel
 
 ## Installation
 
-TODO
+
+```
+cargo build
+```
+
 
 ## Usage
 
 TODO
+
+## Examples
+
+### maliput-sys
+ - Load `maliput::api::RoadNetwork` and perform some basic queries
+    ```
+    cargo run --examples create_rn
+    ```
+
+    _Note: RoadNetworks are loaded via [maliput plugin architecture](https://maliput.readthedocs.io/en/latest/html/deps/maliput/html/maliput_plugin_architecture.html), therefore a valid `MALIPUT_PLUGIN_PATH` env var must be set. It will be handleded automatically in the future when maliput_malidrive's binaries are also brought._

maliput-sys/Cargo.toml

@@ -0,0 +1,14 @@
+[package]
+name = "maliput-sys"
+version = "0.1.0"
+edition = "2021"
+authors = ["Franco Cipollone <[email protected]>"]
+description = "FFI Rust bindings for maliput"
+build = "build.rs"
+
+[dependencies]
+cxx = "1.0.78"
+maliput-sdk = { path = "../maliput-sdk" }
+
+[build-dependencies]
+cxx-build = "1.0.78"

maliput-sys/build.rs

@@ -0,0 +1,61 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+//   list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+//   contributors may be used to endorse or promote products derived from
+//   this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+use std::env;
+use std::error::Error;
+use std::path::PathBuf;
+
+fn main() -> Result<(), Box<dyn Error>> {
+    println!("cargo:rerun-if-changed=build.rs");
+    println!("cargo:rerun-if-changed=src/lib.rs");
+    println!("cargo:rerun-if-changed=src/create_road_network_wrapper.h");
+
+    let maliput_bin_path = PathBuf::from(env::var("DEP_MALIPUT_SDK_MALIPUT_BIN_PATH").expect("DEP_MALIPUT_SDK_MALIPUT_BIN_PATH not set"));
+
+    println!("cargo:rustc-link-search=native={}", maliput_bin_path.display());
+
+    // Link to all the libraries in the bazel-bin folder.
+    // The order of these is important! Otherwise, we get undefined reference errors.
+    println!("cargo:rustc-link-lib=drake");
+    println!("cargo:rustc-link-lib=geometry_base");
+    println!("cargo:rustc-link-lib=plugin");
+    println!("cargo:rustc-link-lib=common");
+    println!("cargo:rustc-link-lib=utility");
+    println!("cargo:rustc-link-lib=math");
+    println!("cargo:rustc-link-lib=base");
+    println!("cargo:rustc-link-lib=api");
+
+    cxx_build::bridges(["src/api.rs", "src/plugin.rs"])
+        .flag_if_supported("-std=c++17")
+        .include("src")
+        .compile("maliput-sys");
+
+    Ok(())
+}

maliput-sys/examples/create_rn.rs

@@ -0,0 +1,53 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+//   list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+//   contributors may be used to endorse or promote products derived from
+//   this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+use maliput_sys::plugin::ffi::CreateRoadNetwork;
+
+fn main() {
+  println!("\nExecuting create_rn.rs example: ");
+
+  let road_network_loader_id = "maliput_malidrive".to_string();
+  let properties = vec![
+    "road_geometry_id:my_rg_from_rust".to_string(),
+    "opendrive_file:/opt/ros/foxy/share/maliput_malidrive/resources/odr/TShapeRoad.xodr".to_string(),
+  ];
+
+  let road_network = CreateRoadNetwork(&road_network_loader_id, &properties);
+  let road_geometry = road_network.road_geometry();
+
+  // Excercise the RoadGeometry bindings.
+  unsafe {
+    // This is unsafe because we are dereferencing a raw pointer.
+    println!("linear_tolerance: {}", (*road_geometry).linear_tolerance());
+    println!("angular_tolerance: {}", (*road_geometry).angular_tolerance());
+    println!("num_junctions: {}", (*road_geometry).num_junctions());
+    println!("num_branch_points: {}", (*road_geometry).num_branch_points());
+  }
+}