change typedef style, add optional logging

update to wip servicepoint lib

Cargo.lock

@@ -8,6 +8,15 @@ version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
 
+[[package]]
+name = "aho-corasick"
+version = "1.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "anstream"
 version = "0.6.18"
@@ -173,6 +182,29 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "env_filter"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "186e05a59d4c50738528153b83b0b0194d3a29507dfec16eccd4b342903397d0"
+dependencies = [
+ "log",
+ "regex",
+]
+
+[[package]]
+name = "env_logger"
+version = "0.11.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "13c863f0904021b108aa8b2f55046443e6b1ebde8fd4a15c399893aae4fa069f"
+dependencies = [
+ "anstream",
+ "anstyle",
+ "env_filter",
+ "jiff",
+ "log",
+]
+
 [[package]]
 name = "equivalent"
 version = "1.0.2"
@@ -257,6 +289,30 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c"
 
+[[package]]
+name = "jiff"
+version = "0.2.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f02000660d30638906021176af16b17498bd0d12813dbfe7b276d8bc7f3c0806"
+dependencies = [
+ "jiff-static",
+ "log",
+ "portable-atomic",
+ "portable-atomic-util",
+ "serde",
+]
+
+[[package]]
+name = "jiff-static"
+version = "0.2.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f3c30758ddd7188629c6713fc45d1188af4f44c90582311d0c8d8c9907f60c48"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "jobserver"
 version = "0.1.33"
@@ -312,6 +368,21 @@ version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
 
+[[package]]
+name = "portable-atomic"
+version = "1.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "350e9b48cbc6b0e028b0473b114454c6316e57336ee184ceab6e53f72c178b3e"
+
+[[package]]
+name = "portable-atomic-util"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d8a2f0d8d040d7848a709caf78912debcc3f33ee4b3cac47d73d1e1069e83507"
+dependencies = [
+ "portable-atomic",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.95"
@@ -342,6 +413,35 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc33ff2d4973d518d823d61aa239014831e521c75da58e3df4840d3f47749d09"
 
+[[package]]
+name = "regex"
+version = "1.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-automata",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-syntax"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
+
 [[package]]
 name = "rust-lzma"
 version = "0.6.0"
@@ -415,8 +515,6 @@ dependencies = [
 [[package]]
 name = "servicepoint"
 version = "0.14.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6bd5cfa49c73aeecb344680ffbf697abf73e0563a441b93b9723ae43867500f"
 dependencies = [
  "bitvec",
  "bzip2",
@@ -433,6 +531,7 @@ name = "servicepoint_binding_c"
 version = "0.14.1"
 dependencies = [
  "cbindgen",
+ "env_logger",
  "servicepoint",
 ]
 

Cargo.toml

@@ -18,13 +18,17 @@ crate-type = ["staticlib", "cdylib", "rlib"]
 cbindgen = "0.28.0"
 
 [dependencies.servicepoint]
-package = "servicepoint"
 version = "0.14.1"
 default-features = false
 
+[dependencies.env_logger]
+version = "0.11.8"
+optional = true
+
 [features]
 all_compressions = ["servicepoint/all_compressions"]
-default = ["all_compressions", "servicepoint/default"]
+default = ["all_compressions", "servicepoint/default", "env_logger"]
+env_logger = ["dep:env_logger"]
 
 [lints.rust]
 missing-docs = "warn"

cbindgen.toml

@@ -16,16 +16,18 @@ line_endings = "LF"
 
 ############################# Codegen Options ##################################
 
-style = "type"
+style = "both"
 usize_is_size_t = true
 
 # this is needed because otherwise the order in the C bindings is different on different machines
 sort_by = "Name"
 
+include_guard = "SERVICEPOINT_BINDINGS_C"
+
 [parse]
 parse_deps = true
 include = ["servicepoint", "std"]
-extra_bindings = ["servicepoint"]
+extra_bindings = ["servicepoint", "servicepoint_binding_c"]
 
 [parse.expand]
 features = ["full"]

example/Makefile

@@ -1,7 +1,7 @@
 CARGO ?= cargo
 STRIP ?= strip
 
-FEATURES := ""
+FEATURES := "env_logger"
 
 THIS_DIR := $(dir $(realpath $(lastword $(MAKEFILE_LIST))))
 REPO_ROOT := $(realpath $(THIS_DIR)/..)
@@ -10,7 +10,7 @@ export SERVICEPOINT_HEADER_OUT := $(REPO_ROOT)/include
 override CFG_MUSL := $(if $(CFG_MUSL),$(CFG_MUSL),$(if $(MUSL),$(MUSL),0))
 override CFG_PROFILE := $(if $(CFG_PROFILE),$(CFG_PROFILE),$(if $(PROFILE),$(PROFILE),release))
 
-CCFLAGS += -Wall -fwhole-program -fPIE -pie
+CCFLAGS += -Wall -Wextra -pedantic -fwhole-program -fPIE -pie
 
 STRIPFLAGS := -s --strip-unneeded -R .comment -R .gnu.version -R .note -R .note.gnu.build-id -R .note.ABI-tag
 
@@ -99,7 +99,7 @@ clean-rust:
 
 .PHONY: all clean sizes $(_run_programs) clean-c clean-rust
 
-$(_unstripped_bins): out/%_unstripped: src/%.c $(SERVICEPOINT_HEADER_OUT)/servicepoint.h $(_sp_artifacts)
+$(_unstripped_bins): out/%_unstripped: src/%.c $(SERVICEPOINT_HEADER_OUT)/servicepoint.h src/helpers.h $(_sp_artifacts)
 	mkdir -p out || true
 	$(CC) $< \
 		-I $(SERVICEPOINT_HEADER_OUT) \

example/src/announce.c

@@ -1,16 +1,9 @@
-#include <stdio.h>
+#include "helpers.h"
-#include "servicepoint.h"
-
 
 int main(void) {
-    printf("test\n");
+    sock_init();
 
-    UdpSocket *connection = sp_udp_open_ipv4(172, 23, 42, 29, 2342);
+    sp_udp_send_header(sock, (Header) {.command_code = COMMAND_CODE_CLEAR});
-    //UdpSocket *connection = sp_udp_open_ipv4(127, 0, 0, 1, 2342);
-    if (connection == NULL)
-        return 1;
-
-    sp_udp_send_header(connection, (Header) {.command_code = COMMAND_CODE_CLEAR});
 
     CharGrid *grid = sp_char_grid_new(5, 2);
     if (grid == NULL)
@@ -30,8 +23,7 @@ int main(void) {
     Packet *packet = sp_char_grid_into_packet(grid, 0, 0);
     if (packet == NULL)
         return 1;
-    sp_udp_send_packet(connection, packet);
+    sp_udp_send_packet(sock, packet);
 
-    sp_udp_free(connection);
     return 0;
 }

example/src/brightness_tester.c

@@ -1,6 +1,5 @@
 #include "servicepoint.h"
-
+#include "helpers.h"
-static UdpSocket *connection = NULL;
 
 void enable_all_pixels(void) {
     Bitmap *all_on = sp_bitmap_new_max_sized();
@@ -9,26 +8,18 @@ void enable_all_pixels(void) {
     BitmapCommand *bitmapCommand = sp_cmd_bitmap_from_bitmap(all_on);
     Packet *packet = sp_cmd_bitmap_try_into_packet(bitmapCommand);
     if (packet != NULL)
-        sp_udp_send_packet(connection, packet);
+        sp_udp_send_packet(sock, packet);
 }
 
 void make_brightness_pattern(BrightnessGrid *grid) {
     ByteSlice slice = sp_brightness_grid_unsafe_data_ref(grid);
     for (size_t index = 0; index < slice.length; index++) {
-        slice.start[index] = (uint8_t) (index % ((size_t) Brightness_MAX));
+        slice.start[index] = (uint8_t)(index % ((size_t) Brightness_MAX));
     }
 }
 
-void run_at_exit() {
-    sp_udp_free(connection);
-}
-
 int main(void) {
-    //UdpSocket *connection = sp_udp_open_ipv4(172, 23, 42, 29, 2342);
+    sock_init();
-    connection = sp_udp_open_ipv4(127, 0, 0, 1, 2342);
-    if (connection == NULL)
-        return -1;
-    atexit(run_at_exit);
 
     enable_all_pixels();
 
@@ -39,6 +30,6 @@ int main(void) {
     if (packet == NULL)
         return -2;
 
-    sp_udp_send_packet(connection, packet);
+    sp_udp_send_packet(sock, packet);
     return 0;
 }

example/src/header_logger.c

@@ -0,0 +1,76 @@
+#include <stdio.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <arpa/inet.h>
+#include <string.h>
+#include "servicepoint.h"
+
+#define DEFAULT_LISTEN_IP "127.0.0.1"
+
+void handle_error(const char *msg) {
+    perror(msg);
+    exit(EXIT_FAILURE);
+}
+
+int main(int argc, char **argv) {
+    init_env_logger();
+
+    int udp_socket = socket(AF_INET, SOCK_DGRAM, 0);
+    if (udp_socket == -1)
+        handle_error("socket could not be created\n");
+
+    char *listen_addr_arg;
+    if (argc > 1) {
+        listen_addr_arg = argv[1];
+    } else {
+        listen_addr_arg = DEFAULT_LISTEN_IP;
+    }
+
+    struct in_addr addr;
+    if (inet_aton(listen_addr_arg, &addr) == 0)
+        handle_error("listen ip could not be parsed\n");
+
+    struct sockaddr_in sockaddrIn = {
+            .sin_addr = addr,
+            .sin_family = AF_INET,
+            .sin_port = htons(2342),
+    };
+    memset(sockaddrIn.sin_zero, 0, sizeof(sockaddrIn.sin_zero));
+
+    if (bind(udp_socket, (struct sockaddr *) &sockaddrIn, sizeof(sockaddrIn)) == -1)
+        handle_error("could not bind socket\n");
+
+    printf("socket ready to receive on %s\n", listen_addr_arg);
+
+    uint8_t buffer[10000];
+    bool done = false;
+    while (!done) {
+        memset(buffer, 0, sizeof(buffer));
+
+        ssize_t num_bytes = recv(udp_socket, (void *) buffer, sizeof(buffer), 0);
+        if (num_bytes == -1)
+            handle_error("could not read from client");
+
+        Packet *packet = sp_packet_try_load((ByteSlice) {
+                .start = buffer,
+                .length = num_bytes,
+        });
+        if (packet == NULL) {
+            printf("received invalid packet\n");
+            continue;
+        }
+
+        struct Header *header = sp_packet_get_header(packet);
+        ByteSlice payload = sp_packet_get_payload(packet);
+        printf("Received packet: cc=%d, a=%d, b=%d, c=%d, d=%d, payload=%p (len %zu)\n",
+               header->command_code, header->a, header->b, header->c, header->d,
+               payload.start, payload.length);
+
+        done = header->command_code == COMMAND_CODE_HARD_RESET;
+        sp_packet_free(packet);
+    }
+
+    exit(EXIT_SUCCESS);
+}

example/src/helpers.h

@@ -0,0 +1,45 @@
+#pragma once
+#ifndef SERVICEPOINT_BINDING_C_MSLEEP_H
+#define SERVICEPOINT_BINDING_C_MSLEEP_H
+
+#include <time.h>
+#include <errno.h>
+#include <stdlib.h>
+#include "servicepoint.h"
+
+static UdpSocket *sock = NULL;
+
+void sock_free() {
+    sp_udp_free(sock);
+}
+
+void sock_init() {
+    //sock = sp_udp_open_ipv4(127, 0, 0, 1, 2342);
+    sock = sp_udp_open_ipv4(172, 23, 42, 29, 2342);
+    if (sock == NULL)
+        exit(-1);
+    atexit(sock_free);
+}
+
+/// TODO: all of this for sleeping n ms? There should be a better way!
+int msleep(long msec) {
+    int res;
+
+    if (msec < 0) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    struct timespec ts = {
+            .tv_sec = msec / 1000,
+            .tv_nsec = (msec % 1000) * 1000000,
+    };
+
+    do {
+        res = nanosleep(&ts, &ts);
+    } while (res && errno == EINTR);
+
+    return res;
+}
+
+#endif //SERVICEPOINT_BINDING_C_MSLEEP_H

example/src/moving_line.c

@@ -0,0 +1,34 @@
+#include "servicepoint.h"
+#include "helpers.h"
+
+int main(void) {
+    sock_init();
+
+    int result = 0;
+    Bitmap *bitmap = sp_bitmap_new_max_sized();
+    for (size_t x = 0; x < sp_bitmap_width(bitmap); x++) {
+        sp_bitmap_fill(bitmap, false);
+
+        for (size_t y = 0; y < sp_bitmap_height(bitmap); y++) {
+            sp_bitmap_set(bitmap, (y + x) % PIXEL_WIDTH, y, true);
+        }
+
+        BitmapCommand *command = sp_cmd_bitmap_from_bitmap(sp_bitmap_clone(bitmap));
+        Packet *packet = sp_cmd_bitmap_try_into_packet(command);
+        if (packet == NULL) {
+            result = -2;
+            goto exit;
+        }
+
+        if (!sp_udp_send_packet(sock, packet)) {
+            result = -3;
+            goto exit;
+        }
+
+        msleep(SP_FRAME_PACING_MS);
+    }
+
+    exit:
+    sp_bitmap_free(bitmap);
+    return result;
+}

example/src/random_stuff.c

@@ -1,10 +1,9 @@
 #include <stdio.h>
 #include "servicepoint.h"
+#include "helpers.h"
 
 int main(void) {
-    UdpSocket *connection = sp_udp_open_ipv4(127, 0, 0, 1, 2342);
+    sock_init();
-    if (connection == NULL)
-        return 1;
 
     Bitmap *pixels = sp_bitmap_new(PIXEL_WIDTH, PIXEL_HEIGHT);
     if (pixels == NULL)
@@ -19,8 +18,6 @@ int main(void) {
     Header *header = sp_packet_get_header(packet);
     printf("[%d, %d, %d, %d, %d]\n", header->command_code, header->a, header->b, header->c, header->d);
 
-    sp_udp_send_packet(connection, packet);
+    sp_udp_send_packet(sock, packet);
-
-    sp_udp_free(connection);
     return 0;
 }

example/src/wiping_clear.c

@@ -0,0 +1,34 @@
+#include "servicepoint.h"
+#include "helpers.h"
+
+int main() {
+    sock_init();
+
+    Bitmap *enabled_pixels = sp_bitmap_new_max_sized();
+    sp_bitmap_fill(enabled_pixels, true);
+
+    int result = 0;
+    for (int x = 0; x < PIXEL_WIDTH; x++) {
+        for (int y = 0; y < PIXEL_HEIGHT; y++) {
+            sp_bitmap_set(enabled_pixels, x, y, false);
+        }
+
+        BitVec *bitvec = sp_bitmap_into_bitvec(sp_bitmap_clone(enabled_pixels));
+        BitVecCommand *command = sp_cmd_bitvec_new(bitvec, 0, BINARY_OPERATION_AND, COMPRESSION_CODE_LZMA);
+        Packet *packet = sp_cmd_bitvec_try_into_packet(command);
+        if (packet == NULL) {
+            result = -2;
+            goto exit;
+        }
+        if (!sp_udp_send_packet(sock, packet)) {
+            result = -3;
+            goto exit;
+        }
+
+        msleep(SP_FRAME_PACING_MS);
+    }
+
+    exit:
+    sp_bitmap_free(enabled_pixels);
+    return result;
+}

include/servicepoint.h

@@ -1,3 +1,6 @@
+#ifndef SERVICEPOINT_BINDINGS_C
+#define SERVICEPOINT_BINDINGS_C
+
 /* Generated with cbindgen:0.28.0 */
 
 /* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */
@@ -446,12 +449,19 @@ typedef struct ValueGrid_u8 ValueGrid_u8;
  * - accesses to the memory pointed to with `start` is never accessed outside `length`
  * - the lifetime of the `CByteSlice` does not outlive the memory it points to, as described in
  *   the function returning this type.
+ * - if `start` is NULL or `length` is 0, do not dereference `start`.
+ *
+ * # Examples
+ *
+ * ```c
+ * ByteSlice empty = {.start: NULL, .length = 0};
+ * ```
  */
-typedef struct {
+typedef struct ByteSlice {
     /**
      * The start address of the memory.
      */
-    uint8_t */*notnull*/ start;
+    uint8_t *start;
     /**
      * The amount of memory in bytes.
      */
@@ -476,7 +486,7 @@ typedef struct {
  * }).unwrap()
  * ```
  */
-typedef ValueGrid_Brightness BrightnessGrid;
+typedef struct ValueGrid_Brightness BrightnessGrid;
 
 /**
  * A display brightness value, checked for correct value range
@@ -522,7 +532,7 @@ typedef uint8_t Brightness;
  * connection.send_command(command).unwrap()
  * ```
  */
-typedef ValueGrid_char CharGrid;
+typedef struct ValueGrid_char CharGrid;
 
 /**
  * Type alias for documenting the meaning of the u16 in enum values
@@ -534,23 +544,23 @@ typedef size_t Offset;
  *
  * The encoding is currently not enforced.
  */
-typedef ValueGrid_u8 Cp437Grid;
+typedef struct ValueGrid_u8 Cp437Grid;
 
 /**
  * Pointer to one of the available command structs.
  */
-typedef union {
+typedef union CommandUnion {
     uint8_t *null;
-    BitmapCommand */*notnull*/ bitmap;
+    struct BitmapCommand */*notnull*/ bitmap;
-    BitVecCommand */*notnull*/ bitvec;
+    struct BitVecCommand */*notnull*/ bitvec;
-    BrightnessGridCommand */*notnull*/ brightness_grid;
+    struct BrightnessGridCommand */*notnull*/ brightness_grid;
-    CharGridCommand */*notnull*/ char_grid;
+    struct CharGridCommand */*notnull*/ char_grid;
-    Cp437GridCommand */*notnull*/ cp437_grid;
+    struct Cp437GridCommand */*notnull*/ cp437_grid;
-    GlobalBrightnessCommand */*notnull*/ global_brightness;
+    struct GlobalBrightnessCommand */*notnull*/ global_brightness;
-    ClearCommand */*notnull*/ clear;
+    struct ClearCommand */*notnull*/ clear;
-    BitmapLegacyCommand */*notnull*/ bitmap_legacy;
+    struct BitmapLegacyCommand */*notnull*/ bitmap_legacy;
-    HardResetCommand */*notnull*/ hard_reset;
+    struct HardResetCommand */*notnull*/ hard_reset;
-    FadeOutCommand */*notnull*/ fade_out;
+    struct FadeOutCommand */*notnull*/ fade_out;
 } CommandUnion;
 
 /**
@@ -560,7 +570,7 @@ typedef union {
  *
  * Rust equivalent: [TypedCommand].
  */
-typedef struct {
+typedef struct Command {
     /**
      * Specifies which kind of command struct is contained in `data`
      */
@@ -568,7 +578,7 @@ typedef struct {
     /**
      * The pointer to the command struct
      */
-    CommandUnion data;
+    union CommandUnion data;
 } Command;
 
 /**
@@ -581,7 +591,7 @@ typedef struct {
  *
  * The contained values are in platform endian-ness and may need to be converted before sending.
  */
-typedef struct {
+typedef struct Header {
     /**
      * The first two bytes specify which command this packet represents.
      */
@@ -606,14 +616,23 @@ typedef struct {
 
 
 
+/**
+ * Actual hardware limit is around 28-29ms/frame. Rounded up for less dropped packets.
+ */
+#define SP_FRAME_PACING_MS 30
+
+
+
 #ifdef __cplusplus
 extern "C" {
 #endif // __cplusplus
 
+void init_env_logger(void);
+
 /**
  * Clones a [Bitmap].
  */
-Bitmap */*notnull*/ sp_bitmap_clone(Bitmap */*notnull*/ bitmap);
+struct Bitmap */*notnull*/ sp_bitmap_clone(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Sets the state of all pixels in the [Bitmap].
@@ -623,12 +642,12 @@ Bitmap */*notnull*/ sp_bitmap_clone(Bitmap */*notnull*/ bitmap);
  * - `bitmap`: instance to write to
  * - `value`: the value to set all pixels to
  */
-void sp_bitmap_fill(Bitmap */*notnull*/ bitmap, bool value);
+void sp_bitmap_fill(struct Bitmap */*notnull*/ bitmap, bool value);
 
 /**
  * Deallocates a [Bitmap].
  */
-void sp_bitmap_free(Bitmap */*notnull*/ bitmap);
+void sp_bitmap_free(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Tries to convert the BitVec to a Bitmap.
@@ -637,7 +656,7 @@ void sp_bitmap_free(Bitmap */*notnull*/ bitmap);
  *
  * Returns NULL in case of error.
  */
-Bitmap *sp_bitmap_from_bitvec(size_t width, BitVec */*notnull*/ bitvec);
+struct Bitmap *sp_bitmap_from_bitvec(size_t width, BitVec */*notnull*/ bitvec);
 
 /**
  * Gets the current value at the specified position in the [Bitmap].
@@ -651,7 +670,7 @@ Bitmap *sp_bitmap_from_bitvec(size_t width, BitVec */*notnull*/ bitvec);
  *
  * - when accessing `x` or `y` out of bounds
  */
-bool sp_bitmap_get(Bitmap */*notnull*/ bitmap, size_t x, size_t y);
+bool sp_bitmap_get(struct Bitmap */*notnull*/ bitmap, size_t x, size_t y);
 
 /**
  * Gets the height in pixels of the [Bitmap] instance.
@@ -660,12 +679,12 @@ bool sp_bitmap_get(Bitmap */*notnull*/ bitmap, size_t x, size_t y);
  *
  * - `bitmap`: instance to read from
  */
-size_t sp_bitmap_height(Bitmap */*notnull*/ bitmap);
+size_t sp_bitmap_height(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Consumes the Bitmap and returns the contained BitVec
  */
-BitVec */*notnull*/ sp_bitmap_into_bitvec(Bitmap */*notnull*/ bitmap);
+BitVec */*notnull*/ sp_bitmap_into_bitvec(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Creates a [BitmapCommand] and immediately turns that into a [Packet].
@@ -674,7 +693,7 @@ BitVec */*notnull*/ sp_bitmap_into_bitvec(Bitmap */*notnull*/ bitmap);
  *
  * Returns NULL in case of an error.
  */
-Packet *sp_bitmap_into_packet(Bitmap */*notnull*/ bitmap,
+struct Packet *sp_bitmap_into_packet(struct Bitmap */*notnull*/ bitmap,
                                      size_t x,
                                      size_t y,
                                      CompressionCode compression);
@@ -689,9 +708,9 @@ Packet *sp_bitmap_into_packet(Bitmap */*notnull*/ bitmap,
  *
  * returns: [Bitmap] that contains a copy of the provided data, or NULL in case of an error.
  */
-Bitmap *sp_bitmap_load(size_t width,
+struct Bitmap *sp_bitmap_load(size_t width,
                               size_t height,
-                       ByteSlice data);
+                              struct ByteSlice data);
 
 /**
  * Creates a new [Bitmap] with the specified dimensions.
@@ -718,14 +737,14 @@ Bitmap *sp_bitmap_load(size_t width,
  * sp_bitmap_free(grid);
  * ```
  */
-Bitmap *sp_bitmap_new(size_t width, size_t height);
+struct Bitmap *sp_bitmap_new(size_t width, size_t height);
 
 /**
  * Creates a new [Bitmap] with a size matching the screen.
  *
  * returns: [Bitmap] initialized to all pixels off.
  */
-Bitmap */*notnull*/ sp_bitmap_new_max_sized(void);
+struct Bitmap */*notnull*/ sp_bitmap_new_max_sized(void);
 
 /**
  * Sets the value of the specified position in the [Bitmap].
@@ -740,14 +759,17 @@ Bitmap */*notnull*/ sp_bitmap_new_max_sized(void);
  *
  * - when accessing `x` or `y` out of bounds
  */
-void sp_bitmap_set(Bitmap */*notnull*/ bitmap, size_t x, size_t y, bool value);
+void sp_bitmap_set(struct Bitmap */*notnull*/ bitmap,
+                   size_t x,
+                   size_t y,
+                   bool value);
 
 /**
  * Gets an unsafe reference to the data of the [Bitmap] instance.
  *
  * The returned memory is valid for the lifetime of the bitmap.
  */
-ByteSlice sp_bitmap_unsafe_data_ref(Bitmap */*notnull*/ bitmap);
+struct ByteSlice sp_bitmap_unsafe_data_ref(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Gets the width in pixels of the [Bitmap] instance.
@@ -766,7 +788,7 @@ ByteSlice sp_bitmap_unsafe_data_ref(Bitmap */*notnull*/ bitmap);
  *
  * - `bitmap` points to a valid [Bitmap]
  */
-size_t sp_bitmap_width(Bitmap */*notnull*/ bitmap);
+size_t sp_bitmap_width(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Clones a [DisplayBitVec].
@@ -811,7 +833,7 @@ bool sp_bitvec_get(BitVec */*notnull*/ bit_vec, size_t index);
  *
  * Returns NULL in case of an error.
  */
-Packet *sp_bitvec_into_packet(BitVec */*notnull*/ bitvec,
+struct Packet *sp_bitvec_into_packet(BitVec */*notnull*/ bitvec,
                                      size_t offset,
                                      BinaryOperation operation,
                                      CompressionCode compression);
@@ -839,7 +861,7 @@ size_t sp_bitvec_len(BitVec */*notnull*/ bit_vec);
  *
  * returns: [DisplayBitVec] instance containing data.
  */
-BitVec */*notnull*/ sp_bitvec_load(ByteSlice data);
+BitVec */*notnull*/ sp_bitvec_load(struct ByteSlice data);
 
 /**
  * Creates a new [DisplayBitVec] instance.
@@ -880,7 +902,7 @@ void sp_bitvec_set(BitVec */*notnull*/ bit_vec, size_t index, bool value);
  *
  * - `bit_vec`: instance to write to
  */
-ByteSlice sp_bitvec_unsafe_data_ref(BitVec */*notnull*/ bit_vec);
+struct ByteSlice sp_bitvec_unsafe_data_ref(BitVec */*notnull*/ bit_vec);
 
 /**
  * Clones a [BrightnessGrid].
@@ -938,7 +960,7 @@ size_t sp_brightness_grid_height(BrightnessGrid */*notnull*/ brightness_grid);
  *
  * Returns NULL in case of an error.
  */
-Packet *sp_brightness_grid_into_packet(BrightnessGrid */*notnull*/ grid,
+struct Packet *sp_brightness_grid_into_packet(BrightnessGrid */*notnull*/ grid,
                                               size_t x,
                                               size_t y);
 
@@ -951,7 +973,7 @@ Packet *sp_brightness_grid_into_packet(BrightnessGrid */*notnull*/ grid,
  */
 BrightnessGrid *sp_brightness_grid_load(size_t width,
                                         size_t height,
-                                        ByteSlice data);
+                                        struct ByteSlice data);
 
 /**
  * Creates a new [BrightnessGrid] with the specified dimensions.
@@ -1005,7 +1027,7 @@ void sp_brightness_grid_set(BrightnessGrid */*notnull*/ brightness_grid,
  *
  * returns: slice of bytes underlying the `brightness_grid`.
  */
-ByteSlice sp_brightness_grid_unsafe_data_ref(BrightnessGrid */*notnull*/ brightness_grid);
+struct ByteSlice sp_brightness_grid_unsafe_data_ref(BrightnessGrid */*notnull*/ brightness_grid);
 
 /**
  * Gets the width of the [BrightnessGrid] instance.
@@ -1068,7 +1090,7 @@ size_t sp_char_grid_height(CharGrid */*notnull*/ char_grid);
  *
  * Returns NULL in case of an error.
  */
-Packet *sp_char_grid_into_packet(CharGrid */*notnull*/ grid,
+struct Packet *sp_char_grid_into_packet(CharGrid */*notnull*/ grid,
                                         size_t x,
                                         size_t y);
 
@@ -1077,7 +1099,7 @@ Packet *sp_char_grid_into_packet(CharGrid */*notnull*/ grid,
  *
  * returns: new CharGrid or NULL in case of an error
  */
-CharGrid *sp_char_grid_load(size_t width, size_t height, ByteSlice data);
+CharGrid *sp_char_grid_load(size_t width, size_t height, struct ByteSlice data);
 
 /**
  * Creates a new [CharGrid] with the specified dimensions.
@@ -1129,12 +1151,12 @@ size_t sp_char_grid_width(CharGrid */*notnull*/ char_grid);
  *
  * returns: a new [BitmapCommand] instance.
  */
-BitmapCommand */*notnull*/ sp_cmd_bitmap_clone(BitmapCommand */*notnull*/ command);
+struct BitmapCommand */*notnull*/ sp_cmd_bitmap_clone(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Deallocates a [BitmapCommand] instance.
  */
-void sp_cmd_bitmap_free(BitmapCommand */*notnull*/ command);
+void sp_cmd_bitmap_free(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Move the provided [Bitmap] into a new [BitmapCommand],
@@ -1142,7 +1164,7 @@ void sp_cmd_bitmap_free(BitmapCommand */*notnull*/ command);
  *
  * Rust equivalent: `BitmapCommand::from(bitmap)`
  */
-BitmapCommand */*notnull*/ sp_cmd_bitmap_from_bitmap(Bitmap */*notnull*/ bitmap);
+struct BitmapCommand */*notnull*/ sp_cmd_bitmap_from_bitmap(struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Returns a pointer to the provided `BitmapCommand`.
@@ -1152,17 +1174,17 @@ BitmapCommand */*notnull*/ sp_cmd_bitmap_from_bitmap(Bitmap */*notnull*/ bitmap)
  * - The returned bitmap inherits the lifetime of the command in which it is contained.
  * - The returned pointer may not be used in a function that consumes the instance, e.g. to create a command.
  */
-Bitmap */*notnull*/ sp_cmd_bitmap_get(BitmapCommand */*notnull*/ command);
+struct Bitmap */*notnull*/ sp_cmd_bitmap_get(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Reads the compression kind of the [BitmapCommand].
  */
-CompressionCode sp_cmd_bitmap_get_compression(BitmapCommand */*notnull*/ command);
+CompressionCode sp_cmd_bitmap_get_compression(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Reads the origin field of the [BitmapCommand].
  */
-void sp_cmd_bitmap_get_origin(BitmapCommand */*notnull*/ command,
+void sp_cmd_bitmap_get_origin(struct BitmapCommand */*notnull*/ command,
                               size_t */*notnull*/ origin_x,
                               size_t */*notnull*/ origin_y);
 
@@ -1173,7 +1195,7 @@ void sp_cmd_bitmap_get_origin(BitmapCommand */*notnull*/ command,
  *
  * Returns: a new [BitmapCommand] instance.
  */
-BitmapCommand */*notnull*/ sp_cmd_bitmap_new(Bitmap */*notnull*/ bitmap,
+struct BitmapCommand */*notnull*/ sp_cmd_bitmap_new(struct Bitmap */*notnull*/ bitmap,
                                                     size_t origin_x,
                                                     size_t origin_y,
                                                     CompressionCode compression);
@@ -1181,19 +1203,19 @@ BitmapCommand */*notnull*/ sp_cmd_bitmap_new(Bitmap */*notnull*/ bitmap,
 /**
  * Moves the provided [Bitmap] to be contained in the [BitmapCommand].
  */
-void sp_cmd_bitmap_set(BitmapCommand */*notnull*/ command,
+void sp_cmd_bitmap_set(struct BitmapCommand */*notnull*/ command,
-                       Bitmap */*notnull*/ bitmap);
+                       struct Bitmap */*notnull*/ bitmap);
 
 /**
  * Overwrites the compression kind of the [BitmapCommand].
  */
-void sp_cmd_bitmap_set_compression(BitmapCommand */*notnull*/ command,
+void sp_cmd_bitmap_set_compression(struct BitmapCommand */*notnull*/ command,
                                    CompressionCode compression);
 
 /**
  * Overwrites the origin field of the [BitmapCommand].
  */
-void sp_cmd_bitmap_set_origin(BitmapCommand */*notnull*/ command,
+void sp_cmd_bitmap_set_origin(struct BitmapCommand */*notnull*/ command,
                               size_t origin_x,
                               size_t origin_y);
 
@@ -1202,39 +1224,39 @@ void sp_cmd_bitmap_set_origin(BitmapCommand */*notnull*/ command,
  *
  * Returns: NULL or a [Packet] containing the command.
  */
-Packet *sp_cmd_bitmap_try_into_packet(BitmapCommand */*notnull*/ command);
+struct Packet *sp_cmd_bitmap_try_into_packet(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Clones an [BitVecCommand] instance.
  *
  * returns: a new [BitVecCommand] instance.
  */
-BitVecCommand */*notnull*/ sp_cmd_bitvec_clone(BitVecCommand */*notnull*/ command);
+struct BitVecCommand */*notnull*/ sp_cmd_bitvec_clone(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Deallocates a [BitVecCommand].
  */
-void sp_cmd_bitvec_free(BitVecCommand */*notnull*/ command);
+void sp_cmd_bitvec_free(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Returns a pointer to the [BitVec] contained in the [BitVecCommand].
  */
-BitVec *sp_cmd_bitvec_get(BitVecCommand */*notnull*/ command);
+BitVec *sp_cmd_bitvec_get(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Reads the compression kind of the [BitVecCommand].
  */
-CompressionCode sp_cmd_bitvec_get_compression(BitVecCommand */*notnull*/ command);
+CompressionCode sp_cmd_bitvec_get_compression(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Reads the offset field of the [BitVecCommand].
  */
-Offset sp_cmd_bitvec_get_offset(BitVecCommand */*notnull*/ command);
+Offset sp_cmd_bitvec_get_offset(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Returns the [BinaryOperation] of the command.
  */
-BinaryOperation sp_cmd_bitvec_get_operation(BitVecCommand */*notnull*/ command);
+BinaryOperation sp_cmd_bitvec_get_operation(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Set pixel data starting at the pixel offset on screen.
@@ -1250,7 +1272,7 @@ BinaryOperation sp_cmd_bitvec_get_operation(BitVecCommand */*notnull*/ command);
  *
  * The contained [`DisplayBitVec`] is always uncompressed.
  */
-BitVecCommand */*notnull*/ sp_cmd_bitvec_new(BitVec */*notnull*/ bitvec,
+struct BitVecCommand */*notnull*/ sp_cmd_bitvec_new(BitVec */*notnull*/ bitvec,
                                                     size_t offset,
                                                     BinaryOperation operation,
                                                     CompressionCode compression);
@@ -1258,25 +1280,25 @@ BitVecCommand */*notnull*/ sp_cmd_bitvec_new(BitVec */*notnull*/ bitvec,
 /**
  * Moves the provided [BitVec] to be contained in the [BitVecCommand].
  */
-void sp_cmd_bitvec_set(BitVecCommand */*notnull*/ command,
+void sp_cmd_bitvec_set(struct BitVecCommand */*notnull*/ command,
                        BitVec */*notnull*/ bitvec);
 
 /**
  * Overwrites the compression kind of the [BitVecCommand].
  */
-void sp_cmd_bitvec_set_compression(BitVecCommand */*notnull*/ command,
+void sp_cmd_bitvec_set_compression(struct BitVecCommand */*notnull*/ command,
                                    CompressionCode compression);
 
 /**
  * Overwrites the offset field of the [BitVecCommand].
  */
-void sp_cmd_bitvec_set_offset(BitVecCommand */*notnull*/ command,
+void sp_cmd_bitvec_set_offset(struct BitVecCommand */*notnull*/ command,
                               Offset offset);
 
 /**
  * Overwrites the [BinaryOperation] of the command.
  */
-void sp_cmd_bitvec_set_operation(BitVecCommand */*notnull*/ command,
+void sp_cmd_bitvec_set_operation(struct BitVecCommand */*notnull*/ command,
                                  BinaryOperation operation);
 
 /**
@@ -1284,32 +1306,32 @@ void sp_cmd_bitvec_set_operation(BitVecCommand */*notnull*/ command,
  *
  * Returns: NULL or a [Packet] containing the command.
  */
-Packet *sp_cmd_bitvec_try_into_packet(BitVecCommand */*notnull*/ command);
+struct Packet *sp_cmd_bitvec_try_into_packet(struct BitVecCommand */*notnull*/ command);
 
 /**
  * Clones an [GlobalBrightnessCommand] instance.
  *
  * returns: a new [GlobalBrightnessCommand] instance.
  */
-GlobalBrightnessCommand */*notnull*/ sp_cmd_brightness_global_clone(GlobalBrightnessCommand */*notnull*/ command);
+struct GlobalBrightnessCommand */*notnull*/ sp_cmd_brightness_global_clone(struct GlobalBrightnessCommand */*notnull*/ command);
 
-void sp_cmd_brightness_global_free(BitmapCommand */*notnull*/ command);
+void sp_cmd_brightness_global_free(struct BitmapCommand */*notnull*/ command);
 
-Brightness *sp_cmd_brightness_global_get(GlobalBrightnessCommand */*notnull*/ command);
+Brightness *sp_cmd_brightness_global_get(struct GlobalBrightnessCommand */*notnull*/ command);
 
-Packet */*notnull*/ sp_cmd_brightness_global_into_packet(GlobalBrightnessCommand */*notnull*/ command);
+struct Packet */*notnull*/ sp_cmd_brightness_global_into_packet(struct GlobalBrightnessCommand */*notnull*/ command);
 
 /**
  * Set the brightness of all tiles to the same value.
  *
  * Returns: a new [GlobalBrightnessCommand] instance.
  */
-GlobalBrightnessCommand */*notnull*/ sp_cmd_brightness_global_new(Brightness brightness);
+struct GlobalBrightnessCommand */*notnull*/ sp_cmd_brightness_global_new(Brightness brightness);
 
 /**
  * Moves the provided bitmap to be contained in the command.
  */
-void sp_cmd_brightness_global_set(GlobalBrightnessCommand */*notnull*/ command,
+void sp_cmd_brightness_global_set(struct GlobalBrightnessCommand */*notnull*/ command,
                                   Brightness brightness);
 
 /**
@@ -1317,28 +1339,28 @@ void sp_cmd_brightness_global_set(GlobalBrightnessCommand */*notnull*/ command,
  *
  * returns: a new [BrightnessGridCommand] instance.
  */
-BrightnessGridCommand */*notnull*/ sp_cmd_brightness_grid_clone(BrightnessGridCommand */*notnull*/ command);
+struct BrightnessGridCommand */*notnull*/ sp_cmd_brightness_grid_clone(struct BrightnessGridCommand */*notnull*/ command);
 
 /**
  * Deallocates a [BitmapCommand].
  */
-void sp_cmd_brightness_grid_free(BitmapCommand */*notnull*/ command);
+void sp_cmd_brightness_grid_free(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Moves the provided [BrightnessGrid] into a new [BrightnessGridCommand],
  * leaving other fields as their default values.
  */
-BrightnessGridCommand */*notnull*/ sp_cmd_brightness_grid_from_grid(BrightnessGrid */*notnull*/ grid);
+struct BrightnessGridCommand */*notnull*/ sp_cmd_brightness_grid_from_grid(BrightnessGrid */*notnull*/ grid);
 
 /**
  * Returns a pointer to the [BrightnessGrid] contained in the [BrightnessGridCommand].
  */
-BrightnessGrid *sp_cmd_brightness_grid_get(BrightnessGridCommand */*notnull*/ command);
+BrightnessGrid *sp_cmd_brightness_grid_get(struct BrightnessGridCommand */*notnull*/ command);
 
 /**
  * Overwrites the origin field of the [BrightnessGridCommand].
  */
-void sp_cmd_brightness_grid_get_origin(BrightnessGridCommand */*notnull*/ command,
+void sp_cmd_brightness_grid_get_origin(struct BrightnessGridCommand */*notnull*/ command,
                                        size_t */*notnull*/ origin_x,
                                        size_t */*notnull*/ origin_y);
 
@@ -1347,7 +1369,7 @@ void sp_cmd_brightness_grid_get_origin(BrightnessGridCommand */*notnull*/ comman
  *
  * Returns: NULL or a [Packet] containing the command.
  */
-Packet *sp_cmd_brightness_grid_into_packet(BrightnessGridCommand */*notnull*/ command);
+struct Packet *sp_cmd_brightness_grid_into_packet(struct BrightnessGridCommand */*notnull*/ command);
 
 /**
  * Set the brightness of individual tiles in a rectangular area of the display.
@@ -1356,20 +1378,20 @@ Packet *sp_cmd_brightness_grid_into_packet(BrightnessGridCommand */*notnull*/ co
  *
  * Returns: a new [BrightnessGridCommand] instance.
  */
-BrightnessGridCommand */*notnull*/ sp_cmd_brightness_grid_new(BrightnessGrid */*notnull*/ grid,
+struct BrightnessGridCommand */*notnull*/ sp_cmd_brightness_grid_new(BrightnessGrid */*notnull*/ grid,
                                                                      size_t origin_x,
                                                                      size_t origin_y);
 
 /**
  * Moves the provided [BrightnessGrid] to be contained in the [BrightnessGridCommand].
  */
-void sp_cmd_brightness_grid_set(BrightnessGridCommand */*notnull*/ command,
+void sp_cmd_brightness_grid_set(struct BrightnessGridCommand */*notnull*/ command,
                                 BrightnessGrid */*notnull*/ grid);
 
 /**
  * Reads the origin field of the [BrightnessGridCommand].
  */
-void sp_cmd_brightness_grid_set_origin(BrightnessGridCommand */*notnull*/ command,
+void sp_cmd_brightness_grid_set_origin(struct BrightnessGridCommand */*notnull*/ command,
                                        size_t origin_x,
                                        size_t origin_y);
 
@@ -1378,28 +1400,28 @@ void sp_cmd_brightness_grid_set_origin(BrightnessGridCommand */*notnull*/ comman
  *
  * returns: a new [CharGridCommand] instance.
  */
-CharGridCommand */*notnull*/ sp_cmd_char_grid_clone(CharGridCommand */*notnull*/ command);
+struct CharGridCommand */*notnull*/ sp_cmd_char_grid_clone(struct CharGridCommand */*notnull*/ command);
 
 /**
  * Deallocates a [BitmapCommand].
  */
-void sp_cmd_char_grid_free(BitmapCommand */*notnull*/ command);
+void sp_cmd_char_grid_free(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Moves the provided [CharGrid] into a new [CharGridCommand],
  * leaving other fields as their default values.
  */
-CharGridCommand */*notnull*/ sp_cmd_char_grid_from_grid(CharGrid */*notnull*/ grid);
+struct CharGridCommand */*notnull*/ sp_cmd_char_grid_from_grid(CharGrid */*notnull*/ grid);
 
 /**
  * Returns a pointer to the [CharGrid] contained in the [CharGridCommand].
  */
-CharGrid *sp_cmd_char_grid_get(CharGridCommand */*notnull*/ command);
+CharGrid *sp_cmd_char_grid_get(struct CharGridCommand */*notnull*/ command);
 
 /**
  * Reads the origin field of the [CharGridCommand].
  */
-void sp_cmd_char_grid_get_origin(CharGridCommand */*notnull*/ command,
+void sp_cmd_char_grid_get_origin(struct CharGridCommand */*notnull*/ command,
                                  size_t */*notnull*/ origin_x,
                                  size_t */*notnull*/ origin_y);
 
@@ -1410,20 +1432,20 @@ void sp_cmd_char_grid_get_origin(CharGridCommand */*notnull*/ command,
  *
  * Returns: a new [CharGridCommand] instance.
  */
-CharGridCommand */*notnull*/ sp_cmd_char_grid_new(CharGrid */*notnull*/ grid,
+struct CharGridCommand */*notnull*/ sp_cmd_char_grid_new(CharGrid */*notnull*/ grid,
                                                          size_t origin_x,
                                                          size_t origin_y);
 
 /**
  * Moves the provided [CharGrid] to be contained in the [CharGridCommand].
  */
-void sp_cmd_char_grid_set(CharGridCommand */*notnull*/ command,
+void sp_cmd_char_grid_set(struct CharGridCommand */*notnull*/ command,
                           CharGrid */*notnull*/ grid);
 
 /**
  * Overwrites the origin field of the [CharGridCommand].
  */
-void sp_cmd_char_grid_set_origin(CharGridCommand */*notnull*/ command,
+void sp_cmd_char_grid_set_origin(struct CharGridCommand */*notnull*/ command,
                                  size_t origin_x,
                                  size_t origin_y);
 
@@ -1432,12 +1454,12 @@ void sp_cmd_char_grid_set_origin(CharGridCommand */*notnull*/ command,
  *
  * Returns: NULL or a [Packet] containing the command.
  */
-Packet *sp_cmd_char_grid_try_into_packet(CharGridCommand */*notnull*/ command);
+struct Packet *sp_cmd_char_grid_try_into_packet(struct CharGridCommand */*notnull*/ command);
 
 /**
  * Deallocates a [ClearCommand].
  */
-void sp_cmd_clear_free(ClearCommand */*notnull*/ command);
+void sp_cmd_clear_free(struct ClearCommand */*notnull*/ command);
 
 /**
  * Set all pixels to the off state.
@@ -1446,25 +1468,25 @@ void sp_cmd_clear_free(ClearCommand */*notnull*/ command);
  *
  * Returns: a new [ClearCommand] instance.
  */
-ClearCommand */*notnull*/ sp_cmd_clear_new(void);
+struct ClearCommand */*notnull*/ sp_cmd_clear_new(void);
 
 /**
  * Clones an [Cp437GridCommand] instance.
  *
  * returns: a new [Cp437GridCommand] instance.
  */
-Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_clone(Cp437GridCommand */*notnull*/ command);
+struct Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_clone(struct Cp437GridCommand */*notnull*/ command);
 
 /**
  * Deallocates a [Cp437GridCommand].
  */
-void sp_cmd_cp437_grid_free(BitmapCommand */*notnull*/ command);
+void sp_cmd_cp437_grid_free(struct BitmapCommand */*notnull*/ command);
 
 /**
  * Moves the provided [Cp437Grid] into a new [Cp437GridCommand],
  * leaving other fields as their default values.
  */
-Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_from_grid(Cp437Grid */*notnull*/ grid);
+struct Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_from_grid(Cp437Grid */*notnull*/ grid);
 
 /**
  * Show text on the screen.
@@ -1474,14 +1496,14 @@ Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_from_grid(Cp437Grid */*notnull*/
  *
  * [CP-437]: https://en.wikipedia.org/wiki/Code_page_437
  */
-Cp437Grid *sp_cmd_cp437_grid_get(Cp437GridCommand */*notnull*/ command);
+Cp437Grid *sp_cmd_cp437_grid_get(struct Cp437GridCommand */*notnull*/ command);
 
 /**
  * Gets the origin field of the [Cp437GridCommand].
  *
  * Rust equivalent: `cp437_command.origin`
  */
-void sp_cmd_cp437_grid_get_origin(Cp437GridCommand */*notnull*/ command,
+void sp_cmd_cp437_grid_get_origin(struct Cp437GridCommand */*notnull*/ command,
                                   size_t */*notnull*/ origin_x,
                                   size_t */*notnull*/ origin_y);
 
@@ -1492,7 +1514,7 @@ void sp_cmd_cp437_grid_get_origin(Cp437GridCommand */*notnull*/ command,
  *
  * The origin is relative to the top-left of the display.
  */
-Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_new(Cp437Grid */*notnull*/ grid,
+struct Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_new(Cp437Grid */*notnull*/ grid,
                                                            size_t origin_x,
                                                            size_t origin_y);
 
@@ -1501,7 +1523,7 @@ Cp437GridCommand */*notnull*/ sp_cmd_cp437_grid_new(Cp437Grid */*notnull*/ grid,
  *
  * This drops the previously contained [Cp437Grid].
  */
-void sp_cmd_cp437_grid_set(Cp437GridCommand */*notnull*/ command,
+void sp_cmd_cp437_grid_set(struct Cp437GridCommand */*notnull*/ command,
                            Cp437Grid */*notnull*/ grid);
 
 /**
@@ -1509,7 +1531,7 @@ void sp_cmd_cp437_grid_set(Cp437GridCommand */*notnull*/ command,
  *
  * Rust equivalent: `cp437_command.origin = Origin::new(origin_x, origin_y)`
  */
-void sp_cmd_cp437_grid_set_origin(Cp437GridCommand */*notnull*/ command,
+void sp_cmd_cp437_grid_set_origin(struct Cp437GridCommand */*notnull*/ command,
                                   size_t origin_x,
                                   size_t origin_y);
 
@@ -1518,26 +1540,26 @@ void sp_cmd_cp437_grid_set_origin(Cp437GridCommand */*notnull*/ command,
  *
  * Returns: NULL or a [Packet] containing the command.
  */
-Packet *sp_cmd_cp437_grid_try_into_packet(Cp437GridCommand */*notnull*/ command);
+struct Packet *sp_cmd_cp437_grid_try_into_packet(struct Cp437GridCommand */*notnull*/ command);
 
 /**
  * Deallocates a [FadeOutCommand].
  */
-void sp_cmd_fade_out_free(ClearCommand */*notnull*/ command);
+void sp_cmd_fade_out_free(struct ClearCommand */*notnull*/ command);
 
 /**
  * A yet-to-be-tested command.
  *
  * Returns: a new [FadeOutCommand] instance.
  */
-FadeOutCommand */*notnull*/ sp_cmd_fade_out_new(void);
+struct FadeOutCommand */*notnull*/ sp_cmd_fade_out_new(void);
 
 /**
  * Clones an [SPCommand] instance.
  *
  * returns: a new [SPCommand] instance.
  */
-Command sp_cmd_generic_clone(Command command);
+struct Command sp_cmd_generic_clone(struct Command command);
 
 /**
  * Deallocates an [SPCommand].
@@ -1549,7 +1571,7 @@ Command sp_cmd_generic_clone(Command command);
  * sp_command_free(c);
  * ```
  */
-void sp_cmd_generic_free(Command command);
+void sp_cmd_generic_free(struct Command command);
 
 /**
  * Tries to turn a [SPCommand] into a [Packet].
@@ -1557,7 +1579,7 @@ void sp_cmd_generic_free(Command command);
  *
  * Returns tag [CommandTag::Invalid] in case of an error.
  */
-Packet *sp_cmd_generic_into_packet(Command command);
+struct Packet *sp_cmd_generic_into_packet(struct Command command);
 
 /**
  * Tries to turn a [Packet] into a [SPCommand].
@@ -1566,12 +1588,12 @@ Packet *sp_cmd_generic_into_packet(Command command);
  *
  * Returns: pointer to new [SPCommand] instance or NULL if parsing failed.
  */
-Command *sp_cmd_generic_try_from_packet(Packet */*notnull*/ packet);
+struct Command *sp_cmd_generic_try_from_packet(struct Packet */*notnull*/ packet);
 
 /**
  * Deallocates a [HardResetCommand].
  */
-void sp_cmd_hard_reset_free(ClearCommand */*notnull*/ command);
+void sp_cmd_hard_reset_free(struct ClearCommand */*notnull*/ command);
 
 /**
  * Kills the udp daemon on the display, which usually results in a restart.
@@ -1580,7 +1602,7 @@ void sp_cmd_hard_reset_free(ClearCommand */*notnull*/ command);
  *
  * Returns: a new [HardResetCommand] instance.
  */
-HardResetCommand */*notnull*/ sp_cmd_hard_reset_new(void);
+struct HardResetCommand */*notnull*/ sp_cmd_hard_reset_new(void);
 
 /**
  * Clones a [Cp437Grid].
@@ -1634,14 +1656,16 @@ size_t sp_cp437_grid_height(Cp437Grid */*notnull*/ cp437_grid);
  *
  * Returns NULL in case of an error.
  */
-Packet *sp_cp437_grid_into_packet(Cp437Grid */*notnull*/ grid,
+struct Packet *sp_cp437_grid_into_packet(Cp437Grid */*notnull*/ grid,
                                          size_t x,
                                          size_t y);
 
 /**
  * Loads a [Cp437Grid] with the specified dimensions from the provided data.
  */
-Cp437Grid *sp_cp437_grid_load(size_t width, size_t height, ByteSlice data);
+Cp437Grid *sp_cp437_grid_load(size_t width,
+                              size_t height,
+                              struct ByteSlice data);
 
 /**
  * Creates a new [Cp437Grid] with the specified dimensions.
@@ -1675,7 +1699,7 @@ void sp_cp437_grid_set(Cp437Grid */*notnull*/ cp437_grid,
  *
  * The returned memory is valid for the lifetime of the grid.
  */
-ByteSlice sp_cp437_grid_unsafe_data_ref(Cp437Grid */*notnull*/ cp437_grid);
+struct ByteSlice sp_cp437_grid_unsafe_data_ref(Cp437Grid */*notnull*/ cp437_grid);
 
 /**
  * Gets the width of the [Cp437Grid] instance.
@@ -1691,34 +1715,36 @@ size_t sp_cp437_grid_width(Cp437Grid */*notnull*/ cp437_grid);
  *
  * returns: a new [Packet] instance.
  */
-Packet */*notnull*/ sp_packet_clone(Packet */*notnull*/ packet);
+struct Packet */*notnull*/ sp_packet_clone(struct Packet */*notnull*/ packet);
 
 /**
  * Deallocates a [Packet].
  */
-void sp_packet_free(Packet */*notnull*/ packet);
+void sp_packet_free(struct Packet */*notnull*/ packet);
 
 /**
  * Creates a raw [Packet] from parts.
  *
  * returns: new instance. Will never return null.
  */
-Packet */*notnull*/ sp_packet_from_parts(Header header,
+struct Packet */*notnull*/ sp_packet_from_parts(struct Header header,
-                                         const ByteSlice *payload);
+                                                struct ByteSlice payload);
 
 /**
  * Returns a pointer to the header field of the provided packet.
  *
  * The returned header can be changed and will be valid for the lifetime of the packet.
  */
-Header */*notnull*/ sp_packet_get_header(Packet */*notnull*/ packet);
+struct Header */*notnull*/ sp_packet_get_header(struct Packet */*notnull*/ packet);
 
 /**
  * Returns a pointer to the current payload of the provided packet.
  *
+ * Returns an [ByteSlice::INVALID] instance in case the packet does not have any payload.
+ *
  * The returned memory can be changed and will be valid until a new payload is set.
  */
-ByteSlice sp_packet_get_payload(Packet */*notnull*/ packet);
+struct ByteSlice sp_packet_get_payload(struct Packet */*notnull*/ packet);
 
 /**
  * Serialize the packet into the provided buffer.
@@ -1727,21 +1753,23 @@ ByteSlice sp_packet_get_payload(Packet */*notnull*/ packet);
  *
  * - if the buffer is not big enough to hold header+payload.
  */
-void sp_packet_serialize_to(Packet */*notnull*/ packet, ByteSlice buffer);
+void sp_packet_serialize_to(struct Packet */*notnull*/ packet,
+                            struct ByteSlice buffer);
 
 /**
  * Sets the payload of the provided packet to the provided data.
  *
  * This makes previous payload pointers invalid.
  */
-void sp_packet_set_payload(Packet */*notnull*/ packet, ByteSlice data);
+void sp_packet_set_payload(struct Packet */*notnull*/ packet,
+                           struct ByteSlice data);
 
 /**
  * Tries to load a [Packet] from the passed array with the specified length.
  *
  * returns: NULL in case of an error, pointer to the allocated packet otherwise
  */
-Packet *sp_packet_try_load(ByteSlice data);
+struct Packet *sp_packet_try_load(struct ByteSlice data);
 
 /**
  * Converts u16 into [CommandCode].
@@ -1754,7 +1782,7 @@ bool sp_u16_to_command_code(uint16_t code,
 /**
  * Closes and deallocates a [UdpSocket].
  */
-void sp_udp_free(UdpSocket */*notnull*/ connection);
+void sp_udp_free(struct UdpSocket */*notnull*/ connection);
 
 /**
  * Creates a new instance of [UdpSocket].
@@ -1769,7 +1797,7 @@ void sp_udp_free(UdpSocket */*notnull*/ connection);
  *     sp_udp_send_command(connection, sp_command_clear());
  * ```
  */
-UdpSocket *sp_udp_open(char */*notnull*/ host);
+struct UdpSocket *sp_udp_open(char */*notnull*/ host);
 
 /**
  * Creates a new instance of [UdpSocket].
@@ -1784,7 +1812,7 @@ UdpSocket *sp_udp_open(char */*notnull*/ host);
  *     sp_udp_send_command(connection, sp_command_clear());
  * ```
  */
-UdpSocket *sp_udp_open_ipv4(uint8_t ip1,
+struct UdpSocket *sp_udp_open_ipv4(uint8_t ip1,
                                    uint8_t ip2,
                                    uint8_t ip3,
                                    uint8_t ip4,
@@ -1803,7 +1831,8 @@ UdpSocket *sp_udp_open_ipv4(uint8_t ip1,
  * sp_udp_send_command(connection, sp_command_brightness(5));
  * ```
  */
-bool sp_udp_send_command(UdpSocket */*notnull*/ connection, Command command);
+bool sp_udp_send_command(struct UdpSocket */*notnull*/ connection,
+                         struct Command command);
 
 /**
  * Sends a [Header] to the display using the [UdpSocket].
@@ -1816,7 +1845,8 @@ bool sp_udp_send_command(UdpSocket */*notnull*/ connection, Command command);
  * sp_udp_send_header(connection, sp_command_brightness(5));
  * ```
  */
-bool sp_udp_send_header(UdpSocket */*notnull*/ udp_connection, Header header);
+bool sp_udp_send_header(struct UdpSocket */*notnull*/ udp_connection,
+                        struct Header header);
 
 /**
  * Sends a [Packet] to the display using the [UdpSocket].
@@ -1825,9 +1855,11 @@ bool sp_udp_send_header(UdpSocket */*notnull*/ udp_connection, Header header);
  *
  * returns: true in case of success
  */
-bool sp_udp_send_packet(UdpSocket */*notnull*/ connection,
+bool sp_udp_send_packet(struct UdpSocket */*notnull*/ connection,
-                        Packet */*notnull*/ packet);
+                        struct Packet */*notnull*/ packet);
 
 #ifdef __cplusplus
 }  // extern "C"
 #endif  // __cplusplus
+
+#endif  /* SERVICEPOINT_BINDINGS_C */

src/commands/bitvec_command.rs

@@ -65,7 +65,7 @@ pub unsafe extern "C" fn sp_cmd_bitvec_free(command: NonNull<BitVecCommand>) {
 pub unsafe extern "C" fn sp_cmd_bitvec_get(
     mut command: NonNull<BitVecCommand>,
 ) -> *mut DisplayBitVec {
-    &mut unsafe { command.as_mut() }.bitvec
+    unsafe { &mut command.as_mut().bitvec }
 }
 
 /// Moves the provided [BitVec] to be contained in the [BitVecCommand].
@@ -103,7 +103,7 @@ pub unsafe extern "C" fn sp_cmd_bitvec_set_offset(
 pub unsafe extern "C" fn sp_cmd_bitvec_get_operation(
     command: NonNull<BitVecCommand>,
 ) -> BinaryOperation {
-    unsafe { command.as_ref().operation.clone() } // TODO remove clone
+    unsafe { command.as_ref().operation }
 }
 
 /// Overwrites the [BinaryOperation] of the command.

src/commands/brightness_grid_command.rs

@@ -76,7 +76,7 @@ pub unsafe extern "C" fn sp_cmd_brightness_grid_set(
 pub unsafe extern "C" fn sp_cmd_brightness_grid_get(
     mut command: NonNull<BrightnessGridCommand>,
 ) -> *mut BrightnessGrid {
-    &mut unsafe { command.as_mut() }.grid
+    unsafe { &mut command.as_mut().grid }
 }
 
 /// Overwrites the origin field of the [BrightnessGridCommand].

src/commands/char_grid_command.rs

@@ -74,7 +74,7 @@ pub unsafe extern "C" fn sp_cmd_char_grid_set(
 pub unsafe extern "C" fn sp_cmd_char_grid_get(
     mut command: NonNull<CharGridCommand>,
 ) -> *mut CharGrid {
-    &mut unsafe { command.as_mut() }.grid
+    unsafe { &mut command.as_mut().grid }
 }
 
 /// Reads the origin field of the [CharGridCommand].

src/commands/cp437_grid_command.rs

@@ -83,7 +83,7 @@ pub unsafe extern "C" fn sp_cmd_cp437_grid_set(
 pub unsafe extern "C" fn sp_cmd_cp437_grid_get(
     mut command: NonNull<Cp437GridCommand>,
 ) -> *mut Cp437Grid {
-    &mut unsafe { command.as_mut() }.grid
+    unsafe { &mut command.as_mut().grid }
 }
 
 /// Gets the origin field of the [Cp437GridCommand].

src/commands/global_brightness_command.rs

@@ -53,5 +53,5 @@ pub unsafe extern "C" fn sp_cmd_brightness_global_set(
 pub unsafe extern "C" fn sp_cmd_brightness_global_get(
     mut command: NonNull<GlobalBrightnessCommand>,
 ) -> *mut Brightness {
-    &mut unsafe { command.as_mut() }.brightness
+    unsafe { &mut command.as_mut().brightness }
 }

src/containers/byte_slice.rs

@@ -1,7 +1,5 @@
 //! FFI slice helper
 
-use std::ptr::NonNull;
-
 /// Represents a span of memory (`&mut [u8]` ) as a struct.
 ///
 /// # Safety
@@ -11,28 +9,39 @@ use std::ptr::NonNull;
 /// - accesses to the memory pointed to with `start` is never accessed outside `length`
 /// - the lifetime of the `CByteSlice` does not outlive the memory it points to, as described in
 ///   the function returning this type.
+/// - if `start` is NULL or `length` is 0, do not dereference `start`.
+/// 
+/// # Examples
+/// 
+/// ```c
+/// ByteSlice empty = {.start: NULL, .length = 0};
+/// ```
 #[repr(C)]
+#[derive(Copy, Clone, Debug, Eq, PartialEq)]
 pub struct ByteSlice {
     /// The start address of the memory.
-    pub start: NonNull<u8>,
+    pub start: *mut u8,
     /// The amount of memory in bytes.
     pub length: usize,
 }
 
 impl ByteSlice {
+    pub(crate) const INVALID: ByteSlice = ByteSlice {
+        start: std::ptr::null_mut(),
+        length: 0,
+    };
+
     pub(crate) unsafe fn as_slice(&self) -> &[u8] {
-        unsafe { std::slice::from_raw_parts(self.start.as_ptr(), self.length) }
+        unsafe { std::slice::from_raw_parts(self.start, self.length) }
     }
 
     pub(crate) unsafe fn as_slice_mut(&mut self) -> &mut [u8] {
-        unsafe {
+        unsafe { std::slice::from_raw_parts_mut(self.start, self.length) }
-            std::slice::from_raw_parts_mut(self.start.as_ptr(), self.length)
-        }
     }
 
     pub(crate) unsafe fn from_slice(slice: &mut [u8]) -> Self {
         Self {
-            start: NonNull::new(slice.as_mut_ptr()).unwrap(),
+            start: slice.as_mut_ptr(),
             length: slice.len(),
         }
     }

src/lib.rs

@@ -35,13 +35,19 @@ pub mod packet;
 /// Functions related to [UdpSocket].
 pub mod udp;
 
-use std::time::Duration;
-
 /// Actual hardware limit is around 28-29ms/frame. Rounded up for less dropped packets.
-pub const SP_FRAME_PACING_MS: u128 = Duration::from_millis(30).as_millis();
+pub const SP_FRAME_PACING_MS: u128 = 30;
 
 /// This is a type only used by cbindgen to have a type for pointers.
 pub struct UdpSocket;
 
 /// This is a type only used by cbindgen to have a type for pointers.
 pub struct DisplayBitVec;
+
+#[cfg(feature = "env_logger")]
+pub mod feature_env_logger {
+    #[no_mangle]
+    pub unsafe extern "C" fn init_env_logger() {
+        env_logger::init();
+    }
+}

src/packet.rs

@@ -20,13 +20,12 @@ pub unsafe extern "C" fn sp_packet_try_load(data: ByteSlice) -> *mut Packet {
 #[no_mangle]
 pub unsafe extern "C" fn sp_packet_from_parts(
     header: Header,
-    payload: *const ByteSlice,
+    payload: ByteSlice,
 ) -> NonNull<Packet> {
-    let payload = if payload.is_null() {
+    let payload = if payload == ByteSlice::INVALID {
-        vec![]
+        None
     } else {
-        let payload = unsafe { (*payload).as_slice() };
+        Some(Vec::from(unsafe { payload.as_slice() }))
-        Vec::from(payload)
     };
 
     heap_move_nonnull(Packet { header, payload })
@@ -39,17 +38,24 @@ pub unsafe extern "C" fn sp_packet_from_parts(
 pub unsafe extern "C" fn sp_packet_get_header(
     packet: NonNull<Packet>,
 ) -> NonNull<Header> {
-    NonNull::from(&mut unsafe { (*packet.as_ptr()).header })
+    NonNull::from(unsafe { &mut (*packet.as_ptr()).header })
 }
 
 /// Returns a pointer to the current payload of the provided packet.
 ///
+/// Returns an [ByteSlice::INVALID] instance in case the packet does not have any payload.
+///
 /// The returned memory can be changed and will be valid until a new payload is set.
 #[no_mangle]
 pub unsafe extern "C" fn sp_packet_get_payload(
     packet: NonNull<Packet>,
 ) -> ByteSlice {
-    unsafe { ByteSlice::from_slice(&mut (*packet.as_ptr()).payload) }
+    unsafe {
+        match &mut (*packet.as_ptr()).payload {
+            None => ByteSlice::INVALID,
+            Some(payload) => ByteSlice::from_slice(payload),
+        }
+    }
 }
 
 /// Sets the payload of the provided packet to the provided data.
@@ -60,7 +66,13 @@ pub unsafe extern "C" fn sp_packet_set_payload(
     packet: NonNull<Packet>,
     data: ByteSlice,
 ) {
-    unsafe { (*packet.as_ptr()).payload = data.as_slice().to_vec() }
+    unsafe {
+        (*packet.as_ptr()).payload = if data == ByteSlice::INVALID {
+            None
+        } else {
+            Some(data.as_slice().to_vec())
+        }
+    }
 }
 
 /// Serialize the packet into the provided buffer.

src/udp.rs

@@ -136,7 +136,7 @@ pub unsafe extern "C" fn sp_udp_send_header(
 ) -> bool {
     let packet = Packet {
         header,
-        payload: vec![],
+        payload: None,
     };
     unsafe { udp_connection.as_ref() }
         .send(&Vec::from(packet))