Integrate Rust -> BSW logger bridge

.cargo/config.toml

@@ -0,0 +1,23 @@
+# *******************************************************************************
+# Copyright (c) 2026 Accenture
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License Version 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+# *******************************************************************************
+
+# Use vendored crate sources so the Rust build works fully offline.
+# Run `cargo vendor libs/3rdparty/cargo-vendor` to regenerate the directory
+# after changing dependencies or Cargo.lock.
+[source.crates-io]
+replace-with = "vendored"
+
+[source.vendored]
+directory = "libs/3rdparty/cargo-vendor"
+
+# Force all cargo invocations (including those driven by corrosion/CMake)
+# to build without network access.
+[net]
+offline = true

.ci/cbindgen.py

@@ -0,0 +1,52 @@
+# *******************************************************************************
+# Copyright (c) 2026 Accenture
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License Version 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+# *******************************************************************************
+
+import subprocess
+import sys
+from pathlib import Path
+
+REPO_ROOT = Path(__file__).resolve().parent.parent
+
+# C headers generated from Rust FFI with cbindgen. cbindgen is deliberately not a
+# build dependency (its dependency tree would bloat the vendored crates), so the
+# headers are checked-in artifacts regenerated by this script. Add an entry here
+# for every crate that ships a generated header.
+CBINDGEN_HEADERS = [
+    {
+        "crate_dir": "libs/bsw/logger/rust",
+        "crate": "openbsw-logger",
+        "output": "libs/bsw/logger/rust/include/BswLogger.h",
+    },
+]
+
+
+def regenerate_headers():
+    for header in CBINDGEN_HEADERS:
+        crate_dir = REPO_ROOT / header["crate_dir"]
+        subprocess.run(
+            [
+                "cbindgen",
+                "--config", str(crate_dir / "cbindgen.toml"),
+                "--crate", header["crate"],
+                "--output", str(REPO_ROOT / header["output"]),
+                str(crate_dir),
+            ],
+            check=True,
+        )
+    # Fail if a committed header was out of date with the current FFI.
+    subprocess.run(["git", "diff", "--exit-code"], check=True, cwd=REPO_ROOT)
+
+
+if __name__ == "__main__":
+    try:
+        regenerate_headers()
+    except subprocess.CalledProcessError as e:
+        print(f"Command failed with exit code {e.returncode}")
+        sys.exit(e.returncode)

.gitattributes

@@ -0,0 +1,8 @@
+# All third-party imports: exclude from GitHub language statistics so the
+# language bar reflects OpenBSW's own code rather than its dependencies.
+libs/3rdparty/** linguist-vendored
+
+# The cargo vendor bundle is machine-generated and never hand-edited, so also
+# collapse it in diffs/PRs. (The C++ libs above are patched in place, so their
+# diffs stay visible.)
+libs/3rdparty/cargo-vendor/** -diff

.github/workflows/cbindgen.yml

@@ -0,0 +1,26 @@
+# *******************************************************************************
+# Copyright (c) 2026 Accenture
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License Version 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+# *******************************************************************************
+
+name: cbindgen header check
+
+on: [ merge_group, push, pull_request ]
+
+jobs:
+  cbindgen:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup Docker Environment
+        uses: ./.github/actions/setup-docker-env
+
+      - name: Run the cbindgen.py inside the docker container
+        run: DOCKER_UID=$(id -u) DOCKER_GID=$(id -g) DOCKER_HISTORY=/dev/null docker compose run --rm development python3 .ci/cbindgen.py

.gitignore

@@ -19,6 +19,7 @@ __pycache__/
 build/
 cmake-build*
 code_coverage/
+/target/
 compile_commands.json
 doc/api/DoxygenWarningLog.txt
 doc/api/doc-coverage.info

Cargo.toml

@@ -13,6 +13,7 @@ resolver = "3"
 
 members = [
     "executables/referenceApp/rustHelloWorld",
+    "libs/bsw/logger/rust",
     "libs/rust/panic_handler",
     "libs/rust/console_out",
 ]
@@ -23,7 +24,18 @@ documentation = "https://eclipse-openbsw.github.io/openbsw/"
 
 # Workspace dependencies - add new Rust crates here as they are developed
 [workspace.dependencies]
+# External crates
+cbindgen = "0.29.4"
+log = "0.4"
+paste = "1"
+# NOTE: cbindgen is intentionally NOT a dependency here. C headers are generated
+# out-of-band via the cbindgen CLI (see .ci/cbindgen.py); keeping it out of the
+# build graph keeps the vendored dependency tree (libs/3rdparty/cargo-vendor)
+# tiny. The cbindgen CLI version lives in docker/development/Dockerfile.
+
+# openbsw-internal crates
 openbsw_console_out = { path = "libs/rust/console_out" }
+openbsw-logger = { path = "libs/bsw/logger/rust" }
 openbsw_panic_handler = { path = "libs/rust/panic_handler" }
 
 # Similar to C++ we always build optimized (matching C++ -O2)

doc/dev/conf.py

@@ -53,6 +53,7 @@ def replace_placeholders(app, doctree, docname):
     gcc_arm = props["tool"].get("gcc-arm-none-eabi", "x.x")
     llvm_arm = props["tool"].get("llvm-arm", "x.x")
     ubuntu_version = props["tool"].get("ubuntu_version", "x.x")
+    rust_version = props["tool"].get("rust_version", "x.x")
 
     for node in doctree.traverse(nodes.Text):
         text = node.astext()
@@ -67,6 +68,9 @@ def replace_placeholders(app, doctree, docname):
         elif "Ubuntu-x.x" in text:
             new_text = new_text.replace("x.x", ubuntu_version)
 
+        if "default-toolchain" in text and "x.x" in text:
+            new_text = new_text.replace("x.x", rust_version)
+
         if new_text != text:
             node.parent.replace(node, nodes.Text(new_text))
 

doc/dev/learning/setup/setup_posix_build.rst

@@ -95,11 +95,11 @@ To build OpenBSW with Rust components for the POSIX platform, you need:
 1. The build tools set up as described above (gcc, cmake, make)
 2. The Rust compiler
 
-Install Rust 1.90.0 to be compatible with the CI builds:
+Install Rust :prop:`tool:rust_version` to be compatible with the CI builds:
 
 .. code-block:: bash
 
-    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.90.0
+    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain x.x
 
 Then build using the Rust preset:
 

doc/dev/learning/setup/setup_s32k148_ubuntu_build.rst

@@ -126,11 +126,11 @@ To build OpenBSW with Rust components for the S32K148 platform, you need:
 1. The GCC toolchain set up as described in `Using the GCC toolchain`_ above (including CC and CXX environment variables)
 2. The Rust compiler with the ARM cross-compilation target
 
-Install Rust 1.90.0 to be compatible with the CI builds and add the ARM target:
+Install Rust :prop:`tool:rust_version` to be compatible with the CI builds and add the ARM target:
 
 .. code-block:: bash
 
-    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.90.0
+    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain x.x
     rustup target add thumbv7em-none-eabihf
 
 Then, with the GCC toolchain environment variables set, build using the Rust preset:

doc/dev/properties.yaml

@@ -16,3 +16,4 @@ tool:
   s32ds_arm_version: "2.2"
   gcc-arm-none-eabi: "14.3.rel1"
   llvm-arm: "19.1.1"
+  rust_version: "1.96.0"

docker/development/Dockerfile

@@ -98,9 +98,13 @@ RUN gem install esr-rim
 ENV RUSTUP_HOME=/opt/rustup
 ENV CARGO_HOME=/opt/cargo
 ENV PATH=/opt/cargo/bin:${PATH}
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain 1.90.0 --profile minimal \
+# /opt/cargo and /opt/rustup are populated as root during the image build. Make
+# them world-accessible so the runtime UID injected via DOCKER_UID can use them.
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain 1.96.0 --profile minimal \
+    && rustup component add rustfmt \
     && rustup target add thumbv7em-none-eabihf \
-    && cargo install cbindgen --version 0.27.0 --locked
+    && cargo install cbindgen --version 0.29.4 --locked \
+    && chmod -R a+rwX /opt/cargo /opt/rustup
 
 RUN python3 -m venv /opt/venv
 ENV PATH=/opt/venv/bin:${PATH}

executables/referenceApp/application/CMakeLists.txt

@@ -116,7 +116,8 @@ endif ()
 if (BUILD_RUST)
     target_compile_definitions(app.referenceApp PRIVATE BUILD_RUST)
     # Link against Rust static library(should be only one static library)
-    target_link_libraries(app.referenceApp PRIVATE rust_hello_world)
+    target_link_libraries(app.referenceApp PRIVATE openbsw_logger
+                                                   rust_hello_world)
     # Add include directory for Rust C/C++ headers
     target_include_directories(
         app.referenceApp

executables/referenceApp/application/include/logger/logger.h

@@ -10,6 +10,14 @@
 
 #pragma once
 
+#include <logger/ComponentMapping.h>
+
+#ifdef BUILD_RUST
+#include <util/logger/Logger.h>
+
+DECLARE_LOGGER_COMPONENT(RUST)
+#endif
+
 namespace logger
 {
 void init();

executables/referenceApp/application/src/app/app.cpp

@@ -62,6 +62,9 @@
 #include <cstdio>
 
 #ifdef BUILD_RUST
+#include "app/DemoLogger.h"
+
+#include <BswLogger.h>
 #include <rust_hello_world.h>
 #endif
 
@@ -183,6 +186,15 @@ class IdleHandler : private ::async::RunnableType
 
         ::console::init();
         ::console::enable();
+
+#ifdef BUILD_RUST
+        // Route any `log::*!` calls (e.g. from third-party Rust crates that use the
+        // `log` facade) to the RUST component. First-party Rust code uses the
+        // `bsw_*!` macros and resolves its component index directly via the C++
+        // `bsw_logger_component_<NAME>()` getter emitted by DEFINE_LOGGER_COMPONENT.
+        ::logger::set_default_component(::util::logger::RUST);
+        ::logger::install_rust_logging();
+#endif
     }
 
     void start() { ::async::execute(AsyncAdapter::TASK_IDLE, *this); }
@@ -228,12 +240,14 @@ void run()
 {
     staticInit();
     etl::print("hello\r\n");
+
+    idleHandler.init();
 #ifdef BUILD_RUST
     etl::print("Hello Rust!\r\n");
     rust_hello_world();
     etl::print("Rust add(3, 4) = {}\r\n", static_cast<unsigned int>(rust_add(3U, 4U)));
 #endif
-    idleHandler.init();
+
     AsyncAdapter::run(AsyncAdapter::StartAppFunctionType::create<&startApp>());
 }
 

executables/referenceApp/application/src/logger/logger.cpp

@@ -48,6 +48,7 @@ DEFINE_LOGGER_COMPONENT(ETHERNET);
 DEFINE_LOGGER_COMPONENT(DOIP);
 DEFINE_LOGGER_COMPONENT(UDS);
 DEFINE_LOGGER_COMPONENT(LWIP);
+DEFINE_LOGGER_COMPONENT(RUST);
 
 #include <async/AsyncBinding.h>
 #include <console/AsyncCommandWrapper.h>
@@ -65,6 +66,7 @@ LOGGER_COMPONENT_MAPPING_INFO(_DEBUG, GLOBAL, ::util::format::Color::DEFAULT_COL
 LOGGER_COMPONENT_MAPPING_INFO(_DEBUG, LIFECYCLE, ::util::format::Color::DARK_GRAY)
 LOGGER_COMPONENT_MAPPING_INFO(_DEBUG, CONSOLE, ::util::format::Color::DEFAULT_COLOR)
 LOGGER_COMPONENT_MAPPING_INFO(_DEBUG, SAFETY, ::util::format::Color::DEFAULT_COLOR)
+LOGGER_COMPONENT_MAPPING_INFO(_DEBUG, RUST, ::util::format::Color::GREEN)
 #ifdef PLATFORM_SUPPORT_CAN
 LOGGER_COMPONENT_MAPPING_INFO(_DEBUG, CAN, ::util::format::Color::LIGHT_BLUE)
 #ifdef PLATFORM_SUPPORT_TRANSPORT

executables/referenceApp/rustHelloWorld/Cargo.toml

@@ -18,5 +18,10 @@ edition = "2024"
 crate-type = ["staticlib"]
 
 [dependencies]
+# External crates
+log.workspace = true
+
+# openbsw-internal crates
 openbsw_console_out.workspace = true
+openbsw-logger.workspace = true
 openbsw_panic_handler.workspace = true

executables/referenceApp/rustHelloWorld/src/lib.rs

@@ -36,11 +36,21 @@ extern crate openbsw_panic_handler;
 
 use core::fmt::Write;
 use openbsw_console_out::Console;
+use openbsw_logger::{bsw_debug, bsw_info, declare_logger_component};
 
-/// Prints "Hello from Rust!" to BSP stdout via putByteToStdout.
+use log::info;
+
+declare_logger_component!(DEMO);
+
+/// Prints "Hello from Rust!" to BSP stdout via putByteToStdout. Also prints some rust log messages,
+/// mapped to the DEMO logging component.
 #[unsafe(no_mangle)]
 pub extern "C" fn rust_hello_world() {
+    bsw_debug!(DEMO, "Rust FFI called 🦀");
     write!(Console, "Hello from Rust!\r\n").ok();
+    bsw_info!(DEMO, "Rust FFI completed");
+    // Plain log::info! routes through the default component (e. g. RUST) configured from C++.
+    info!("Hello from rust crate without logger mapping");
 }
 
 /// Adds two numbers and returns the result.

libs/3rdparty/cargo-vendor/log/.cargo-checksum.json

@@ -0,0 +1 @@
+{"files":{".cargo_vcs_info.json":"fe75b2d660e4f5cecfc6e8926b75370a30752399a8d0293a90902fcd3be8caaa",".github/workflows/main.yml":"ec945c9615b558fa1125e012369675daa107997389f25ad70d923898aaf2dd0c","CHANGELOG.md":"a216e6550df9437781c01c09783c59276245b0121d3d39b874675148d412d361","Cargo.lock":"7439a99151c8c47a4df860560ff30531aff5fb80dc7583d3e25652da288b1a38","Cargo.toml":"1471858c37a27ccb84d7274816ead00082c0e4acbbb28acc547a6329e3bdaf22","Cargo.toml.orig":"f9bcbe8c7872abcca77b6a3f8b0346835c17326baa861fa8a0f47b2c9d957ef1","LICENSE-APACHE":"a60eea817514531668d7e00765731449fe14d059d3249e0bc93b36de45f759f2","LICENSE-MIT":"6485b8ed310d3f0340bf1ad1f47645069ce4069dcc6bb46c7d5c6faf41de1fdb","README.md":"486c6cf85f99a2a3ea14dbd5fc6d6075fdc047a0dbf2b93682595db0de6a115f","benches/value.rs":"b613ff353d3cf0ef8cb98e4ca461ea929b8ba553fe299f2eb2942d77a5b1b6a0","src/__private_api.rs":"c1b8541fe7b7906a654ad1c23a643c516a3b735de4fbd1d07ca7a7a5754b74ac","src/kv/error.rs":"6dae12424164c33b93915f5e70bd6d99d616c969c8bfb543806721dd9b423981","src/kv/key.rs":"9037de97791fa0fb6def6c44ada324351d10ed0f4db8015c9ac4e90504141b87","src/kv/mod.rs":"a62c4dbfbcf28fc755c3662ea4a1e79268edc15311d5ca97b7f0325cc2dfb43f","src/kv/source.rs":"0f7c3a89c8998fe3805ae35f3e87778bca30a444da9f67964e674028f7864625","src/kv/value.rs":"b6df78e50ca912f2d97fdb1155408b538669e5be237b1f9471f9443c9d01f748","src/lib.rs":"5f47680950577eb5213a99b022f7789c2cf22dc3d6ddacda94a54f8e035c6ca2","src/macros.rs":"34c367a645483e21eee4c7846d0efbf97c29a52156d56536c82cdfe1d226a54d","src/serde.rs":"ead8df70c3ca3fafeed062f7a42d9b6f87bc7826055d71d8c4b77a0a25b57634","tests/integration.rs":"0980b3bd85d36863bc9f355e80bc7cf7987d2599adbc87e8e0082861a08a1097","tests/macros.rs":"a94f3cc181c9ecb30af6b5ca8bd2b4e5accc93689c0eb19051b8479a298dc21b","triagebot.toml":"a135e10c777cd13459559bdf74fb704c1379af7c9b0f70bc49fa6f5a837daa81"},"package":"5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"}

libs/3rdparty/cargo-vendor/log/.cargo_vcs_info.json

@@ -0,0 +1,6 @@
+{
+  "git": {
+    "sha1": "b1e2df7bce7a1b685aa9bfd1db0a5cac1f0fc27d"
+  },
+  "path_in_vcs": ""
+}