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352.9c-1.3 1-1 3.3 .7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3 .3 2.9 2.3 3.9 1.6 1 3.6 .7 4.3-.7 .7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3 .7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3 .7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg></a><a href="#" class="tsd-widget menu" id="tsd-toolbar-menu-trigger" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../../../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb" aria-label="Breadcrumb"><li><a href="../../../Developing.html">Developing</a></li><li><a href="../../Plugins.html">Plugins</a></li><li><a href="../WASM_Plugins.html">WASM Plugins</a></li><li><a href="" aria-current="page">Rust Plugins</a></li></ul></div><div class="tsd-panel tsd-typography"><h1 id="creating-rust-plugins" class="tsd-anchor-link">Creating Rust Plugins<a href="#creating-rust-plugins" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h1> Rust is excellent for WASM plugins due to its zero-cost abstractions, memory safety, and mature WASM tooling. Signal K Rust plugins use buffer-based FFI for string passing, which differs from AssemblyScript's automatic string handling. <h2 id="rust-vs-assemblyscript-key-differences" class="tsd-anchor-link">Rust vs AssemblyScript: Key Differences<a href="#rust-vs-assemblyscript-key-differences" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> <table> <thead> <tr> <th>Aspect</th> <th>AssemblyScript</th> <th>Rust</th> </tr> </thead> <tbody> <tr> <td>String passing</td> <td>Automatic via AS loader</td> <td>Manual buffer-based FFI</td> </tr> <tr> <td>Memory management</td> <td>AS runtime handles</td> <td><code>allocate</code>/<code>deallocate</code> exports</td> </tr> <tr> <td>Binary size</td> <td>3-10 KB</td> <td>50-200 KB</td> </tr> <tr> <td>Target</td> <td><code>wasm32</code> (AS compiler)</td> <td><code>wasm32-wasip1</code></td> </tr> </tbody> </table> <h2 id="step-1-project-structure" class="tsd-anchor-link">Step 1: Project Structure<a href="#step-1-project-structure" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> Create a new Rust library project: <pre><code class="bash">cargo new --lib example-anchor-watch-rust cd example-anchor-watch-rust </code><button type="button">Copy</button></pre> <h2 id="step-2-configure-cargotoml" class="tsd-anchor-link">Step 2: Configure Cargo.toml<a href="#step-2-configure-cargotoml" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> <pre><code class="toml">[package] name = "anchor_watch_rust" version = "0.1.0" edition = "2021" [lib] crate-type = ["cdylib"] [dependencies] serde = { version = "1.0", features = ["derive"] } serde_json = "1.0" [profile.release] opt-level = "z" # Optimize for size lto = true # Link-time optimization strip = true # Strip symbols </code><button type="button">Copy</button></pre> <h2 id="step-3-implement-plugin-srclibrs" class="tsd-anchor-link">Step 3: Implement Plugin (src/lib.rs)<a href="#step-3-implement-plugin-srclibrs" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> <pre><code class="rust">use std::cell::RefCell; use serde::{Deserialize, Serialize}; // ============================================================================= // FFI Imports - These MUST match what the Signal K runtime provides in "env" // ============================================================================= #[link(wasm_import_module = "env")] extern "C" { fn sk_debug(ptr: *const u8, len: usize); fn sk_set_status(ptr: *const u8, len: usize); fn sk_set_error(ptr: *const u8, len: usize); fn sk_handle_message(ptr: *const u8, len: usize); fn sk_register_put_handler( context_ptr: *const u8, context_len: usize, path_ptr: *const u8, path_len: usize ) -> i32; } // ============================================================================= // Helper wrappers for FFI functions // ============================================================================= fn debug(msg: &str) { unsafe { sk_debug(msg.as_ptr(), msg.len()); } } fn set_status(msg: &str) { unsafe { sk_set_status(msg.as_ptr(), msg.len()); } } fn set_error(msg: &str) { unsafe { sk_set_error(msg.as_ptr(), msg.len()); } } fn handle_message(msg: &str) { unsafe { sk_handle_message(msg.as_ptr(), msg.len()); } } fn register_put_handler(context: &str, path: &str) -> i32 { unsafe { sk_register_put_handler( context.as_ptr(), context.len(), path.as_ptr(), path.len() ) } } // ============================================================================= // Memory Allocation - REQUIRED for buffer-based string passing // ============================================================================= /// Allocate memory for string passing from host #[no_mangle] pub extern "C" fn allocate(size: usize) -> *mut u8 { let mut buf = Vec::with_capacity(size); let ptr = buf.as_mut_ptr(); std::mem::forget(buf); ptr } /// Deallocate memory #[no_mangle] pub extern "C" fn deallocate(ptr: *mut u8, size: usize) { unsafe { let _ = Vec::from_raw_parts(ptr, 0, size); } } // ============================================================================= // Plugin State // ============================================================================= thread_local! { static STATE: RefCell<PluginState> = RefCell::new(PluginState::default()); } #[derive(Debug, Clone, Serialize, Deserialize, Default)] #[serde(rename_all = "camelCase")] struct PluginConfig { #[serde(default)] max_radius: f64, } #[derive(Debug, Default)] struct PluginState { config: PluginConfig, is_running: bool, } // ============================================================================= // Plugin Exports - Core plugin interface // ============================================================================= static PLUGIN_ID: &str = "my-rust-plugin"; static PLUGIN_NAME: &str = "My Rust Plugin"; static PLUGIN_SCHEMA: &str = r#"{ "type": "object", "properties": { "maxRadius": { "type": "number", "title": "Max Radius", "default": 50 } } }"#; /// Return the plugin ID (buffer-based) #[no_mangle] pub extern "C" fn plugin_id(out_ptr: *mut u8, out_max_len: usize) -> i32 { write_string(PLUGIN_ID, out_ptr, out_max_len) } /// Return the plugin name (buffer-based) #[no_mangle] pub extern "C" fn plugin_name(out_ptr: *mut u8, out_max_len: usize) -> i32 { write_string(PLUGIN_NAME, out_ptr, out_max_len) } /// Return the plugin JSON schema (buffer-based) #[no_mangle] pub extern "C" fn plugin_schema(out_ptr: *mut u8, out_max_len: usize) -> i32 { write_string(PLUGIN_SCHEMA, out_ptr, out_max_len) } /// Start the plugin with configuration #[no_mangle] pub extern "C" fn plugin_start(config_ptr: *const u8, config_len: usize) -> i32 { // Read config from buffer let config_json = unsafe { let slice = std::slice::from_raw_parts(config_ptr, config_len); String::from_utf8_lossy(slice).to_string() }; // Parse configuration let parsed_config: PluginConfig = match serde_json::from_str(&config_json) { Ok(c) => c, Err(e) => { set_error(&format!("Failed to parse config: {}", e)); return 1; } }; // Update state STATE.with(|state| { let mut s = state.borrow_mut(); s.config = parsed_config; s.is_running = true; }); debug("Plugin started successfully"); set_status("Running"); 0 // Success } /// Stop the plugin #[no_mangle] pub extern "C" fn plugin_stop() -> i32 { STATE.with(|state| { state.borrow_mut().is_running = false; }); debug("Plugin stopped"); set_status("Stopped"); 0 // Success } // ============================================================================= // Helper Functions // ============================================================================= /// Write string to output buffer, return bytes written fn write_string(s: &str, ptr: *mut u8, max_len: usize) -> i32 { let bytes = s.as_bytes(); let len = bytes.len().min(max_len); unsafe { std::ptr::copy_nonoverlapping(bytes.as_ptr(), ptr, len); } len as i32 } </code><button type="button">Copy</button></pre> <h2 id="step-4-create-packagejson" class="tsd-anchor-link">Step 4: Create package.json<a href="#step-4-create-packagejson" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> <pre><code class="json">{ "name": "my-rust-wasm-plugin", "version": "0.1.0", "description": "My Rust WASM plugin for Signal K", "keywords": ["signalk-wasm-plugin"], "wasmManifest": "plugin.wasm", "wasmCapabilities": { "network": false, "storage": "vfs-only", "dataRead": true, "dataWrite": true, "putHandlers": true }, "author": "Your Name", "license": "Apache-2.0" } </code><button type="button">Copy</button></pre> <blockquote> Note: The package name can be anything - there's no requirement for <code>@signalk/</code> scope. The <code>wasmManifest</code> field is what identifies this as a WASM plugin. </blockquote> <h2 id="step-5-build" class="tsd-anchor-link">Step 5: Build<a href="#step-5-build" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> <pre><code class="bash"># Build with WASI Preview 1 target (required for Signal K) cargo build --release --target wasm32-wasip1 # Copy to plugin.wasm cp target/wasm32-wasip1/release/my_rust_plugin.wasm plugin.wasm </code><button type="button">Copy</button></pre> <blockquote> Important: Use <code>wasm32-wasip1</code> target, NOT <code>wasm32-wasi</code>. Signal K requires WASI Preview 1. </blockquote> <h2 id="step-6-install" class="tsd-anchor-link">Step 6: Install<a href="#step-6-install" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> Option 1: Symlink (Recommended for Development) <pre><code class="bash">cd ~/.signalk/node_modules ln -s /path/to/your/my-rust-wasm-plugin my-rust-wasm-plugin </code><button type="button">Copy</button></pre> Option 2: Direct Copy <pre><code class="bash">mkdir -p ~/.signalk/node_modules/my-rust-wasm-plugin cp plugin.wasm package.json ~/.signalk/node_modules/my-rust-wasm-plugin/ </code><button type="button">Copy</button></pre> Option 3: NPM Package Install <pre><code class="bash">npm pack npm install -g ./my-rust-wasm-plugin-0.1.0.tgz </code><button type="button">Copy</button></pre> <h2 id="step-7-enable-in-admin-ui" class="tsd-anchor-link">Step 7: Enable in Admin UI<a href="#step-7-enable-in-admin-ui" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> <ol> <li>Navigate to Server → Plugin Config</li> <li>Find "My Rust Plugin"</li> <li>Click Enable</li> <li>Configure settings</li> <li>Click Submit</li> </ol> <h2 id="rust-ffi-interface-reference" class="tsd-anchor-link">Rust FFI Interface Reference<a href="#rust-ffi-interface-reference" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> Signal K provides these FFI imports in the <code>env</code> module: <table> <thead> <tr> <th>Function</th> <th>Parameters</th> <th>Description</th> </tr> </thead> <tbody> <tr> <td><code>sk_debug</code></td> <td><code>(ptr, len)</code></td> <td>Log debug message</td> </tr> <tr> <td><code>sk_set_status</code></td> <td><code>(ptr, len)</code></td> <td>Set plugin status</td> </tr> <tr> <td><code>sk_set_error</code></td> <td><code>(ptr, len)</code></td> <td>Set error message</td> </tr> <tr> <td><code>sk_handle_message</code></td> <td><code>(ptr, len)</code></td> <td>Emit delta message</td> </tr> <tr> <td><code>sk_register_put_handler</code></td> <td><code>(ctx_ptr, ctx_len, path_ptr, path_len)</code></td> <td>Register PUT handler</td> </tr> </tbody> </table> <blockquote> IMPORTANT: Use Exact Function Names You MUST use the exact function names listed above. Common mistakes: <ul> <li><code>sk_log_debug</code>, <code>sk_log_info</code>, <code>sk_log_warn</code> → Use <code>sk_debug</code> for all logging</li> <li><code>sk_emit_delta</code> → Use <code>sk_handle_message</code></li> <li><code>sk_udp_recv_from</code> → Use <code>sk_udp_recv</code></li> </ul> There is only one logging function (<code>sk_debug</code>). If you need log levels, prefix your message: <pre><code class="rust">debug("[INFO] Starting radar scan"); debug("[WARN] Connection timeout"); </code><button type="button">Copy</button></pre> </blockquote> <h2 id="required-plugin-exports" class="tsd-anchor-link">Required Plugin Exports<a href="#required-plugin-exports" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> Your plugin MUST export: <table> <thead> <tr> <th>Export</th> <th>Signature</th> <th>Description</th> </tr> </thead> <tbody> <tr> <td><code>plugin_id</code></td> <td><code>(out_ptr, max_len) -> len</code></td> <td>Return plugin ID</td> </tr> <tr> <td><code>plugin_name</code></td> <td><code>(out_ptr, max_len) -> len</code></td> <td>Return plugin name</td> </tr> <tr> <td><code>plugin_schema</code></td> <td><code>(out_ptr, max_len) -> len</code></td> <td>Return JSON schema</td> </tr> <tr> <td><code>plugin_start</code></td> <td><code>(config_ptr, config_len) -> status</code></td> <td>Start plugin</td> </tr> <tr> <td><code>plugin_stop</code></td> <td><code>() -> status</code></td> <td>Stop plugin</td> </tr> <tr> <td><code>allocate</code></td> <td><code>(size) -> ptr</code></td> <td>Allocate memory</td> </tr> <tr> <td><code>deallocate</code></td> <td><code>(ptr, size)</code></td> <td>Free memory</td> </tr> </tbody> </table> <h2 id="optional-plugin-exports" class="tsd-anchor-link">Optional Plugin Exports<a href="#optional-plugin-exports" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> Your plugin MAY export: <table> <thead> <tr> <th>Export</th> <th>Signature</th> <th>Description</th> </tr> </thead> <tbody> <tr> <td><code>poll</code></td> <td><code>() -> status</code></td> <td>Called every 1 second while plugin is running. Useful for polling hardware, sockets, or external systems. Return 0 for success, non-zero for errors.</td> </tr> <tr> <td><code>http_endpoints</code></td> <td><code>() -> json</code></td> <td>Return JSON array of HTTP endpoint definitions</td> </tr> <tr> <td><code>delta_handler</code></td> <td><code>(delta_ptr, delta_len)</code></td> <td>Receives Signal K deltas as JSON strings. Called for every delta emitted by the server.</td> </tr> </tbody> </table> <h2 id="additional-resources" class="tsd-anchor-link">Additional Resources<a href="#additional-resources" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../../assets/icons.svg#icon-anchor"></use></svg></a></h2> See the example-anchor-watch-rust plugin in <code>examples/wasm-plugins/example-anchor-watch-rust/</code> for a complete working plugin with PUT handlers. </div></div><div class="col-sidebar"><div class="page-menu"><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../../../assets/icons.svg#icon-chevronDown"></use></svg><h3>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#rust-vs-assemblyscript-key-differences">Rust vs AssemblyScript: Key Differences</a><a href="#step-1-project-structure">Step 1: Project Structure</a><a href="#step-2-configure-cargotoml">Step 2: Configure Cargo.toml</a><a href="#step-3-implement-plugin-srclibrs">Step 3: Implement Plugin (src/lib.rs)</a><a href="#step-4-create-packagejson">Step 4: Create package.json</a><a href="#step-5-build">Step 5: Build</a><a h