Rework binding generation to reduce boilerplate

This is a pretty big (breaking!) change.
- Update OrbbecSDK submodule, vendor in crate
- Rework binding generation to change how properties work.
- Add macros for common patterns of calling orbbec sdk functions.

I've also collapsed the other PRs on this repo into this one, with
separate commits for each.

The first commit updates the OrbbecSDK submodule, and changes the build
process to vendor the contents of the OrbbecSDK folder into the crate.

Caveat: OrbbecSDK writes out a couple files to its source directory, so
we need to copy the whole source directory to OUT_DIR before building.

The next commit reworks the binding generation to use Rust-y enums
instead of raw integers. In many cases, we're now using the rust enums
directly in the public API. This isn't complete, since I would like to
rename struct members too (see rust-lang/rust-bindgen#3358).

The third commit adds macros for common patterns of calling the C SDK
functions, and rewrites all of the current calls to the C SDK to use
them.

I think my vision is to further reduce the sys/ layer so that src/ does
most of the work.

The rest of the commits are adding various features to the public API.

Topic: vendor-submodule

Author: wolfd

Cargo.lock

@@ -7,13 +7,18 @@ keywords = ["orbbec", "3d", "camera", "depth", "pointcloud"]
 repository = "https://github.com/danielstuart14/orbbec-sdk-rs"
 license = "MIT"
 edition = "2024"
-version = "0.1.0"
+version = "0.2.0"
+# These files are generated by CMake and should not be included in the crate
+exclude = [
+    "/OrbbecSDK/include/libobsensor/h/Export.h",
+    "/OrbbecSDK/src/shared/environment/Version.hpp",
+]
 
 [dependencies]
 
 [build-dependencies]
 cmake = "0.1"
-bindgen = { version = "0.71.0", optional = true }
+bindgen = { version = "0.72", optional = true }
 
 [dev-dependencies]
 colorous = "1.0.16"

Cargo.toml

@@ -1,14 +1,44 @@
+use std::{
+    env, fs,
+    path::{Path, PathBuf},
+};
+
 fn main() {
     if cfg!(feature = "docs-only") {
         return;
     }
 
+    // Tell Cargo to rerun if anything in the SDK changes
+    println!("cargo:rerun-if-changed=OrbbecSDK");
+    println!("cargo:rerun-if-changed=build.rs");
+
+    let out = PathBuf::from(env::var("OUT_DIR").unwrap());
+    let src = PathBuf::from("OrbbecSDK");
+    let work_src = out.join("orbbec_src");
+    let stamp = out.join("orbbec_src.stamp");
+
+    let current_stamp = dir_fingerprint(&src).unwrap();
+
+    let needs_refresh = match fs::read_to_string(&stamp) {
+        Ok(old) => old != current_stamp,
+        Err(_) => true,
+    };
+
+    if needs_refresh {
+        if work_src.exists() {
+            fs::remove_dir_all(&work_src).unwrap();
+        }
+        copy_dir_all(&src, &work_src).unwrap();
+        fs::write(&stamp, &current_stamp).unwrap();
+    }
+
     // Configure and build the C++ library using CMake
-    let mut dst = cmake::Config::new("OrbbecSDK");
+    let mut dst = cmake::Config::new(work_src);
     dst.define("CMAKE_POLICY_VERSION_MINIMUM", "3.10");
-    dst.define("OB_BUILD_DOCS", "OFF");
-    dst.define("OB_BUILD_TOOLS", "OFF");
+    dst.define("OB_BUILD_EXAMPLES", "OFF");
     dst.define("OB_BUILD_TESTS", "OFF");
+    dst.define("OB_BUILD_TOOLS", "OFF");
+    dst.define("OB_BUILD_DOCS", "OFF");
 
     // cmake-rs has some issues setting the correct flags on Windows
     #[cfg(target_os = "windows")]
@@ -92,6 +122,8 @@ fn main() {
     {
         let cargo_manifest_dir = std::env::current_dir().unwrap();
 
+        let target = std::env::var("TARGET").unwrap();
+
         // The bindgen::Builder is the main entry point
         // to bindgen, and lets you build up options for
         // the resulting bindings.
@@ -104,6 +136,8 @@ fn main() {
             .parse_callbacks(Box::new(bindgen::CargoCallbacks::new()))
             // Set the include path for the OrbbecSDK headers
             .clang_arg("-IOrbbecSDK/include/")
+            // Set the target architecture (The committed bindings are for x86_64-unknown-linux-gnu!)
+            .clang_arg(format!("--target={target}"))
             // Convert enum type
             .translate_enum_integer_types(true)
             // Finish the builder and generate the bindings.
@@ -122,3 +156,50 @@ fn main() {
             .expect("Couldn't write bindings!");
     }
 }
+
+fn copy_dir_all(src: &Path, dst: &Path) -> std::io::Result<()> {
+    fs::create_dir_all(dst)?;
+    for entry in fs::read_dir(src)? {
+        let entry = entry?;
+        let ty = entry.file_type()?;
+        let from = entry.path();
+        let to = dst.join(entry.file_name());
+        if ty.is_dir() {
+            copy_dir_all(&from, &to)?;
+        } else {
+            fs::copy(&from, &to)?;
+        }
+    }
+    Ok(())
+}
+
+fn dir_fingerprint(root: &Path) -> std::io::Result<String> {
+    let mut entries = Vec::new();
+    collect_entries(root, root, &mut entries)?;
+    Ok(entries.join("\n"))
+}
+
+fn collect_entries(root: &Path, dir: &Path, out: &mut Vec<String>) -> std::io::Result<()> {
+    for entry in fs::read_dir(dir)? {
+        let entry = entry?;
+        let path = entry.path();
+        let ty = entry.file_type()?;
+
+        if ty.is_dir() {
+            collect_entries(root, &path, out)?;
+        } else {
+            let rel = path.strip_prefix(root).unwrap();
+            let meta = entry.metadata()?;
+            let len = meta.len();
+            let modified = meta
+                .modified()?
+                .duration_since(std::time::UNIX_EPOCH)
+                .unwrap()
+                .as_secs();
+
+            out.push(format!("{}:{}:{}", rel.display(), len, modified));
+        }
+    }
+    out.sort();
+    Ok(())
+}