[workspace]
resolver = "3"
members = [
    "crates/contract/can",
    "crates/contract/imu",
    "crates/protocol/motor",
    "crates/protocol/imu",
    "crates/transport/can",
    "crates/transport/serial",
    "crates/device/imu",
    "crates/device/motor",
    "crates/device/esc",
    "crates/control/algorithm",
    "crates/control/motor",
    "crates/control/chassis",
    "crates/protocol/remote",
    "crates/device/remote",
    "crates/model/motor",
    "crates/experiment/trace",
    "crates/simulation/motor",
    "crates/tooling/tuning",
    "crates/config/chassis",
    "crates/application/bench",
    "crates/application/daemon",
    "crates/application/tools",
    "crates/application/tuning",
    "crates/verification/integration",
]

[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 socketcan 按 target 引入）
socketcan-rs = { package = "socketcan", version = "4", features = ["tokio"] }
# SLCAN 串口适配器（CANable 等，用户态 Lawicel 协议）
slcan-proto = { package = "slcan", version = "0.1.3" }
serial = "0.4"
# 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
serde = { version = "1", features = ["derive"] }
toml = "0.9"
clap = { version = "4", features = ["derive"] }
# 测试
proptest = "1"
approx = "0.5"
# 自动整定工具
#
# `rand` 对齐 argmin 依赖的 0.9，避免依赖树里出现两个 rand 大版本；
# `argmin-math` 必须显式开启 `vec`（argmin 自身只启 `primitives`），
# 否则 `Vec<f64>` 参数向量没有 ArgminAdd/Sub/Mul 实现。
argmin = { version = "0.11", default-features = false, features = ["rand"] }
argmin-math = { version = "0.5", features = ["vec"] }
rand = "0.9"
rayon = "1"
csv = "1.4"
serde_json = "1"
indicatif = "0.18"
anyhow = "1"
# 仅在 chassis-tune 的 `plot` feature 下引入：只要 SVG 后端与折线系列，
# 但文字标签需要 `ttf`（字体加载），因此不能用纯 svg_backend 最小集。
plotters = { version = "0.3", default-features = false, features = ["svg_backend", "line_series", "ttf"] }

# ---- 职责型内部 crate ----
can = { path = "crates/contract/can" }
imu = { path = "crates/contract/imu" }
motor-protocol = { path = "crates/protocol/motor" }
delta10-protocol = { path = "crates/protocol/imu" }
socketcan = { path = "crates/transport/can" }
slcan = { path = "crates/transport/serial" }
delta10 = { path = "crates/device/imu" }
motor = { path = "crates/device/motor" }
esc-bus = { path = "crates/device/esc" }
pid = { path = "crates/control/algorithm" }
motor-control = { path = "crates/control/motor" }
mecanum = { path = "crates/control/chassis" }
dr16-protocol = { path = "crates/protocol/remote" }
dr16 = { path = "crates/device/remote" }
motor-model = { path = "crates/model/motor" }
experiment = { path = "crates/experiment/trace" }
sim-harness = { path = "crates/simulation/motor" }
tuning = { path = "crates/tooling/tuning" }
chassis-config = { path = "crates/config/chassis" }
bench = { path = "crates/application/bench" }
chassisd = { path = "crates/application/daemon" }
spin = { path = "crates/application/tools" }
chassis-tune = { path = "crates/application/tuning" }
integration-tests = { path = "crates/verification/integration" }

[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"