123 lines
4.2 KiB
TOML
123 lines
4.2 KiB
TOML
[workspace]
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resolver = "3"
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members = [
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"crates/contract/can",
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"crates/contract/imu",
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"crates/protocol/motor",
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"crates/protocol/imu",
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"crates/transport/can",
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"crates/transport/serial",
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"crates/device/imu",
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"crates/device/motor",
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"crates/device/esc",
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"crates/control/algorithm",
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"crates/control/motor",
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"crates/control/chassis",
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"crates/protocol/remote",
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"crates/device/remote",
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"crates/model/motor",
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"crates/experiment/trace",
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"crates/simulation/motor",
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"crates/tooling/tuning",
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"crates/config/chassis",
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"crates/application/bench",
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"crates/application/daemon",
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"crates/application/tools",
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"crates/application/tuning",
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"crates/verification/integration",
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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 socketcan 按 target 引入）
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socketcan-rs = { package = "socketcan", version = "4", features = ["tokio"] }
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# SLCAN 串口适配器（CANable 等，用户态 Lawicel 协议）
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slcan-proto = { package = "slcan", version = "0.1.3" }
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serial = "0.4"
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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
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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
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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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# ---- 职责型内部 crate ----
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can = { path = "crates/contract/can" }
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imu = { path = "crates/contract/imu" }
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motor-protocol = { path = "crates/protocol/motor" }
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delta10-protocol = { path = "crates/protocol/imu" }
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socketcan = { path = "crates/transport/can" }
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slcan = { path = "crates/transport/serial" }
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delta10 = { path = "crates/device/imu" }
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motor = { path = "crates/device/motor" }
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esc-bus = { path = "crates/device/esc" }
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pid = { path = "crates/control/algorithm" }
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motor-control = { path = "crates/control/motor" }
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mecanum = { path = "crates/control/chassis" }
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dr16-protocol = { path = "crates/protocol/remote" }
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dr16 = { path = "crates/device/remote" }
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motor-model = { path = "crates/model/motor" }
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experiment = { path = "crates/experiment/trace" }
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sim-harness = { path = "crates/simulation/motor" }
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tuning = { path = "crates/tooling/tuning" }
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chassis-config = { path = "crates/config/chassis" }
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bench = { path = "crates/application/bench" }
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chassisd = { path = "crates/application/daemon" }
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spin = { path = "crates/application/tools" }
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chassis-tune = { path = "crates/application/tuning" }
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integration-tests = { path = "crates/verification/integration" }
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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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