92 lines
3.0 KiB
TOML
92 lines
3.0 KiB
TOML
[workspace]
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resolver = "3"
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members = [
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"crates/motor-core",
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"crates/can-link",
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"crates/dji-esc",
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"crates/dji-esc-sim",
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"crates/dji-esc-socketcan",
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"crates/dji-esc-slcan",
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"crates/mecanum",
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"crates/chassis-config",
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"crates/chassis-bench",
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"crates/chassis-tune",
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"crates/chassisd",
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]
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[workspace.package]
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version = "0.1.0"
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edition = "2024"
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rust-version = "1.89"
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license = "MIT"
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# 部署二进制去符号表（armv7 3.2MB → ~1MB）
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[profile.release]
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strip = true
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[workspace.dependencies]
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# 异步运行时
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tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "signal"] }
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# CAN 总线（仅 Linux，由 dji-esc-socketcan 按 target 引入）
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socketcan = { version = "4", features = ["tokio"] }
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# 错误定义与结构化日志
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thiserror = "2"
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tracing = "0.1"
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tracing-subscriber = { version = "0.3", features = ["env-filter"] }
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# 配置与命令行（chassisd）
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serde = { version = "1", features = ["derive"] }
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toml = "0.9"
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clap = { version = "4", features = ["derive"] }
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# 测试
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proptest = "1"
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approx = "0.5"
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# 自动整定工具（chassis-tune）
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#
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# `rand` 对齐 argmin 依赖的 0.9，避免依赖树里出现两个 rand 大版本；
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# `argmin-math` 必须显式开启 `vec`（argmin 自身只启 `primitives`），
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# 否则 `Vec<f64>` 参数向量没有 ArgminAdd/Sub/Mul 实现。
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argmin = { version = "0.11", default-features = false, features = ["rand"] }
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argmin-math = { version = "0.5", features = ["vec"] }
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rand = "0.9"
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rayon = "1"
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csv = "1.4"
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serde_json = "1"
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indicatif = "0.18"
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anyhow = "1"
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# 仅在 chassis-tune 的 `plot` feature 下引入：只要 SVG 后端与折线系列，
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# 但文字标签需要 `ttf`（字体加载），因此不能用纯 svg_backend 最小集。
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plotters = { version = "0.3", default-features = false, features = ["svg_backend", "line_series", "ttf"] }
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# workspace 内部 crate
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motor-core = { path = "crates/motor-core" }
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can-link = { path = "crates/can-link" }
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dji-esc = { path = "crates/dji-esc" }
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dji-esc-sim = { path = "crates/dji-esc-sim" }
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dji-esc-socketcan = { path = "crates/dji-esc-socketcan" }
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dji-esc-slcan = { path = "crates/dji-esc-slcan" }
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mecanum = { path = "crates/mecanum" }
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chassis-config = { path = "crates/chassis-config" }
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chassis-bench = { path = "crates/chassis-bench" }
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chassis-tune = { path = "crates/chassis-tune" }
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[workspace.lints.rust]
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unsafe_code = "forbid"
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[workspace.lints.clippy]
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pedantic = { level = "warn", priority = -1 }
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unwrap_used = "deny"
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expect_used = "deny"
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dbg_macro = "deny"
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# 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
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cast_possible_truncation = "allow"
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cast_precision_loss = "allow"
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cast_sign_loss = "allow"
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# 字节 ↔ 有符号整数的补码重解释是协议解码的本意
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cast_possible_wrap = "allow"
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# 中文文档中的品牌 / 型号词（RoboMaster、GM3508 等）不需要反引号
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doc_markdown = "allow"
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# 以下 pedantic 项对内部库收益低
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module_name_repetitions = "allow"
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missing_errors_doc = "allow"
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missing_panics_doc = "allow"
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must_use_candidate = "allow"
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