feat: 初始化

2026-09-22 20:05:16 +08:00
commit 7d87987e41
54 changed files with 6446 additions and 0 deletions
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+[workspace]
+resolver = "3"
+members = [
+    "crates/motor-core",
+    "crates/can-link",
+    "crates/dji-esc",
+    "crates/dji-esc-socketcan",
+    "crates/mecanum",
+    "crates/chassisd",
+]
+
+[workspace.package]
+version = "0.1.0"
+edition = "2024"
+rust-version = "1.89"
+license = "MIT"
+
+# 部署二进制去符号表（armv7 3.2MB → ~1MB）
+[profile.release]
+strip = true
+
+[workspace.dependencies]
+# 异步运行时
+tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "signal"] }
+# CAN 总线（仅 Linux，由 dji-esc-socketcan 按 target 引入）
+socketcan = { version = "4", features = ["tokio"] }
+# 错误定义与结构化日志
+thiserror = "2"
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter"] }
+# 配置与命令行（chassisd）
+serde = { version = "1", features = ["derive"] }
+toml = "0.9"
+clap = { version = "4", features = ["derive"] }
+# 测试
+proptest = "1"
+approx = "0.5"
+# workspace 内部 crate
+motor-core = { path = "crates/motor-core" }
+can-link = { path = "crates/can-link" }
+dji-esc = { path = "crates/dji-esc" }
+dji-esc-socketcan = { path = "crates/dji-esc-socketcan" }
+mecanum = { path = "crates/mecanum" }
+
+[workspace.lints.rust]
+unsafe_code = "forbid"
+
+[workspace.lints.clippy]
+pedantic = { level = "warn", priority = -1 }
+unwrap_used = "deny"
+expect_used = "deny"
+dbg_macro = "deny"
+# 协议编解码与嵌入式数值转换中大量的 as 转换靠测试保证正确性
+cast_possible_truncation = "allow"
+cast_precision_loss = "allow"
+cast_sign_loss = "allow"
+# 字节 ↔ 有符号整数的补码重解释是协议解码的本意
+cast_possible_wrap = "allow"
+# 中文文档中的品牌 / 型号词（RoboMaster、GM3508 等）不需要反引号
+doc_markdown = "allow"
+# 以下 pedantic 项对内部库收益低
+module_name_repetitions = "allow"
+missing_errors_doc = "allow"
+missing_panics_doc = "allow"
+must_use_candidate = "allow"