diff --git a/Cargo.lock b/Cargo.lock index e069447da7..ee18f3aedb 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -159,9 +159,9 @@ dependencies = [ [[package]] name = "allocator-api2" -version = "0.2.18" +version = "0.2.21" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5c6cb57a04249c6480766f7f7cef5467412af1490f8d1e243141daddada3264f" +checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923" [[package]] name = "alsa" @@ -237,7 +237,7 @@ dependencies = [ name = "annotato" version = "0.1.0" dependencies = [ - "clap 4.5.20", + "clap 4.5.22", "color-eyre", "eframe", "egui_extras", @@ -271,9 +271,9 @@ dependencies = [ [[package]] name = "anstream" -version = "0.6.17" +version = "0.6.18" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "23a1e53f0f5d86382dafe1cf314783b2044280f406e7e1506368220ad11b1338" +checksum = "8acc5369981196006228e28809f761875c0327210a891e941f4c683b3a99529b" dependencies = [ "anstyle", "anstyle-parse", @@ -320,9 +320,9 @@ dependencies = [ [[package]] name = "anyhow" -version = "1.0.92" +version = "1.0.94" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "74f37166d7d48a0284b99dd824694c26119c700b53bf0d1540cdb147dbdaaf13" +checksum = "c1fd03a028ef38ba2276dce7e33fcd6369c158a1bca17946c4b1b701891c1ff7" [[package]] name = "approx" @@ -340,7 +340,7 @@ dependencies = [ "proc-macro-error", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -425,8 +425,8 @@ checksum = "30ca9a001c1e8ba5149f91a74362376cc6bc5b919d92d988668657bd570bdcec" dependencies = [ "async-task", "concurrent-queue", - "fastrand 2.1.1", - "futures-lite 2.4.0", + "fastrand 2.2.0", + "futures-lite 2.5.0", "slab", ] @@ -464,18 +464,18 @@ dependencies = [ [[package]] name = "async-io" -version = "2.3.4" +version = "2.4.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "444b0228950ee6501b3568d3c93bf1176a1fdbc3b758dcd9475046d30f4dc7e8" +checksum = "43a2b323ccce0a1d90b449fd71f2a06ca7faa7c54c2751f06c9bd851fc061059" dependencies = [ "async-lock 3.4.0", "cfg-if", "concurrent-queue", "futures-io", - "futures-lite 2.4.0", + "futures-lite 2.5.0", "parking", - "polling 3.7.3", - "rustix 0.38.38", + "polling 3.7.4", + "rustix 0.38.41", "slab", "tracing", "windows-sys 0.59.0", @@ -520,7 +520,7 @@ dependencies = [ "cfg-if", "event-listener 3.1.0", "futures-lite 1.13.0", - "rustix 0.38.38", + "rustix 0.38.41", "windows-sys 0.48.0", ] @@ -532,7 +532,7 @@ checksum = "3b43422f69d8ff38f95f1b2bb76517c91589a924d1559a0e935d7c8ce0274c11" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -541,13 +541,13 @@ version = "0.2.10" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "637e00349800c0bdf8bfc21ebbc0b6524abea702b0da4168ac00d070d0c0b9f3" dependencies = [ - "async-io 2.3.4", + "async-io 2.4.0", "async-lock 3.4.0", "atomic-waker", "cfg-if", "futures-core", "futures-io", - "rustix 0.38.38", + "rustix 0.38.41", "signal-hook-registry", "slab", "windows-sys 0.59.0", @@ -567,7 +567,7 @@ checksum = "721cae7de5c34fbb2acd27e21e6d2cf7b886dce0c27388d46c4e6c47ea4318dd" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -722,7 +722,7 @@ dependencies = [ "shell-words", "syntect", "thiserror", - "unicode-width", + "unicode-width 0.1.14", ] [[package]] @@ -786,7 +786,7 @@ checksum = "3fbfc33a4c6b80760bb8bf850a2cc65a1e031da62fd3ca8b552189104dc98514" dependencies = [ "bevy_macro_utils", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -833,7 +833,7 @@ dependencies = [ "bevy_macro_utils", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -913,7 +913,7 @@ checksum = "bfc65e570012e64a21f3546df68591aaede8349e6174fb500071677f54f06630" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", "toml_edit 0.22.22", ] @@ -964,7 +964,7 @@ dependencies = [ "bevy_macro_utils", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", "uuid", ] @@ -975,7 +975,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "77865f310b1fc48fb05b7c4adbe76607ec01d0c14f8ab4caba4d714c86439946" dependencies = [ "async-executor", - "futures-lite 2.4.0", + "futures-lite 2.5.0", "wasm-bindgen-futures", ] @@ -1030,7 +1030,7 @@ checksum = "38f1ab8f2f6f58439d260081d89a42b02690e5fdd64f814edc9417d33fcf2857" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -1058,7 +1058,7 @@ dependencies = [ "bincode", "buffered_watch", "chrono", - "clap 4.5.20", + "clap 4.5.22", "code_generation", "color-eyre", "communication", @@ -1143,7 +1143,7 @@ dependencies = [ "regex", "rustc-hash", "shlex", - "syn 2.0.86", + "syn 2.0.90", "which", ] @@ -1166,7 +1166,7 @@ dependencies = [ "regex", "rustc-hash", "shlex", - "syn 2.0.86", + "syn 2.0.90", "which", ] @@ -1277,7 +1277,7 @@ dependencies = [ "async-channel", "async-task", "futures-io", - "futures-lite 2.4.0", + "futures-lite 2.5.0", "piper", ] @@ -1292,12 +1292,12 @@ dependencies = [ [[package]] name = "bstr" -version = "1.10.0" +version = "1.11.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "40723b8fb387abc38f4f4a37c09073622e41dd12327033091ef8950659e6dc0c" +checksum = "1a68f1f47cdf0ec8ee4b941b2eee2a80cb796db73118c0dd09ac63fbe405be22" dependencies = [ "memchr", - "regex-automata 0.4.8", + "regex-automata 0.4.9", "serde", ] @@ -1323,9 +1323,9 @@ checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c" [[package]] name = "bytemuck" -version = "1.19.0" +version = "1.20.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8334215b81e418a0a7bdb8ef0849474f40bb10c8b71f1c4ed315cff49f32494d" +checksum = "8b37c88a63ffd85d15b406896cc343916d7cf57838a847b3a6f2ca5d39a5695a" dependencies = [ "bytemuck_derive", ] @@ -1338,7 +1338,7 @@ checksum = "bcfcc3cd946cb52f0bbfdbbcfa2f4e24f75ebb6c0e1002f7c25904fada18b9ec" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -1355,9 +1355,9 @@ checksum = "8f1fe948ff07f4bd06c30984e69f5b4899c516a3ef74f34df92a2df2ab535495" [[package]] name = "bytes" -version = "1.8.0" +version = "1.9.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9ac0150caa2ae65ca5bd83f25c7de183dea78d4d366469f148435e2acfbad0da" +checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b" [[package]] name = "bytesize" @@ -1389,8 +1389,8 @@ checksum = "fba7adb4dd5aa98e5553510223000e7148f621165ec5f9acd7113f6ca4995298" dependencies = [ "bitflags 2.6.0", "log", - "polling 3.7.3", - "rustix 0.38.38", + "polling 3.7.4", + "rustix 0.38.41", "slab", "thiserror", ] @@ -1403,8 +1403,8 @@ checksum = "b99da2f8558ca23c71f4fd15dc57c906239752dd27ff3c00a1d56b685b7cbfec" dependencies = [ "bitflags 2.6.0", "log", - "polling 3.7.3", - "rustix 0.38.38", + "polling 3.7.4", + "rustix 0.38.41", "slab", "thiserror", ] @@ -1416,7 +1416,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0f0ea9b9476c7fad82841a8dbb380e2eae480c21910feba80725b46931ed8f02" dependencies = [ "calloop 0.12.4", - "rustix 0.38.38", + "rustix 0.38.41", "wayland-backend", "wayland-client", ] @@ -1428,7 +1428,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "95a66a987056935f7efce4ab5668920b5d0dac4a7c99991a67395f13702ddd20" dependencies = [ "calloop 0.13.0", - "rustix 0.38.38", + "rustix 0.38.41", "wayland-backend", "wayland-client", ] @@ -1446,9 +1446,9 @@ dependencies = [ [[package]] name = "cc" -version = "1.1.33" +version = "1.2.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e3788d6ac30243803df38a3e9991cf37e41210232916d41a8222ae378f912624" +checksum = "f34d93e62b03caf570cccc334cbc6c2fceca82f39211051345108adcba3eebdc" dependencies = [ "jobserver", "libc", @@ -1519,7 +1519,7 @@ checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4" dependencies = [ "glob", "libc", - "libloading 0.8.5", + "libloading 0.8.6", ] [[package]] @@ -1533,15 +1533,15 @@ dependencies = [ "bitflags 1.3.2", "strsim 0.8.0", "textwrap", - "unicode-width", + "unicode-width 0.1.14", "vec_map", ] [[package]] name = "clap" -version = "4.5.20" +version = "4.5.22" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b97f376d85a664d5837dbae44bf546e6477a679ff6610010f17276f686d867e8" +checksum = "69371e34337c4c984bbe322360c2547210bf632eb2814bbe78a6e87a2935bd2b" dependencies = [ "clap_builder", "clap_derive", @@ -1549,9 +1549,9 @@ dependencies = [ [[package]] name = "clap_builder" -version = "4.5.20" +version = "4.5.22" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "19bc80abd44e4bed93ca373a0704ccbd1b710dc5749406201bb018272808dc54" +checksum = "6e24c1b4099818523236a8ca881d2b45db98dadfb4625cf6608c12069fcbbde1" dependencies = [ "anstream", "anstyle", @@ -1561,11 +1561,11 @@ dependencies = [ [[package]] name = "clap_complete" -version = "4.5.36" +version = "4.5.38" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "86bc73de94bc81e52f3bebec71bc4463e9748f7a59166663e32044669577b0e2" +checksum = "d9647a559c112175f17cf724dc72d3645680a883c58481332779192b0d8e7a01" dependencies = [ - "clap 4.5.20", + "clap 4.5.22", ] [[package]] @@ -1577,14 +1577,14 @@ dependencies = [ "heck 0.5.0", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] name = "clap_lex" -version = "0.7.2" +version = "0.7.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1462739cb27611015575c0c11df5df7601141071f07518d56fcc1be504cbec97" +checksum = "afb84c814227b90d6895e01398aee0d8033c00e7466aca416fb6a8e0eb19d8a7" [[package]] name = "clipboard-win" @@ -1609,9 +1609,9 @@ dependencies = [ [[package]] name = "cmake" -version = "0.1.51" +version = "0.1.52" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fb1e43aa7fd152b1f968787f7dbcdeb306d1867ff373c69955211876c053f91a" +checksum = "c682c223677e0e5b6b7f63a64b9351844c3f1b1678a68b7ee617e30fb082620e" dependencies = [ "cc", ] @@ -1626,7 +1626,7 @@ dependencies = [ "proc-macro2", "quote", "source_analyzer", - "syn 2.0.86", + "syn 2.0.90", "thiserror", ] @@ -1637,7 +1637,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3538270d33cc669650c4b093848450d380def10c331d38c768e34cac80576e6e" dependencies = [ "termcolor", - "unicode-width", + "unicode-width 0.1.14", ] [[package]] @@ -1791,7 +1791,7 @@ dependencies = [ "encode_unicode", "lazy_static", "libc", - "unicode-width", + "unicode-width 0.1.14", "windows-sys 0.52.0", ] @@ -1836,7 +1836,7 @@ dependencies = [ "proc-macro-error", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -1952,9 +1952,9 @@ dependencies = [ [[package]] name = "cpufeatures" -version = "0.2.14" +version = "0.2.16" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "608697df725056feaccfa42cffdaeeec3fccc4ffc38358ecd19b243e716a78e0" +checksum = "16b80225097f2e5ae4e7179dd2266824648f3e2f49d9134d584b76389d31c4c3" dependencies = [ "libc", ] @@ -2088,7 +2088,7 @@ dependencies = [ "proc-macro2", "quote", "rustc_version", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2137,13 +2137,24 @@ version = "0.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "bd0c93bb4b0c6d9b77f4435b0ae98c24d17f1c45b2ff844c6151a07256ca923b" +[[package]] +name = "displaydoc" +version = "0.2.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.90", +] + [[package]] name = "dlib" version = "0.5.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412" dependencies = [ - "libloading 0.8.5", + "libloading 0.8.6", ] [[package]] @@ -2199,7 +2210,7 @@ dependencies = [ "glow", "glutin", "glutin-winit", - "image 0.25.4", + "image 0.25.5", "js-sys", "log", "objc2 0.5.2", @@ -2295,7 +2306,7 @@ dependencies = [ "ahash", "egui", "enum-map", - "image 0.25.4", + "image 0.25.5", "log", "mime_guess2", "serde", @@ -2451,7 +2462,7 @@ checksum = "a1ab991c1362ac86c61ab6f556cff143daa22e5a15e4e189df818b2fd19fe65b" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2472,7 +2483,7 @@ checksum = "f282cfdfe92516eb26c2af8589c274c7c17681f5ecc03c18255fe741c6aa64eb" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2484,7 +2495,7 @@ dependencies = [ "once_cell", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2505,7 +2516,7 @@ checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2516,7 +2527,7 @@ checksum = "2f9ed6b3789237c8a0c1c505af1c7eb2c560df6186f01b098c3a1064ea532f38" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2576,12 +2587,12 @@ dependencies = [ [[package]] name = "errno" -version = "0.3.9" +version = "0.3.10" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "534c5cf6194dfab3db3242765c03bbe257cf92f22b38f6bc0c58d59108a820ba" +checksum = "33d852cb9b869c2a9b3df2f71a3074817f01e1844f839a144f5fcef059a4eb5d" dependencies = [ "libc", - "windows-sys 0.52.0", + "windows-sys 0.59.0", ] [[package]] @@ -2620,9 +2631,9 @@ dependencies = [ [[package]] name = "event-listener-strategy" -version = "0.5.2" +version = "0.5.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0f214dc438f977e6d4e3500aaa277f5ad94ca83fbbd9b1a15713ce2344ccc5a1" +checksum = "3c3e4e0dd3673c1139bf041f3008816d9cf2946bbfac2945c09e523b8d7b05b2" dependencies = [ "event-listener 5.3.1", "pin-project-lite", @@ -2657,7 +2668,7 @@ dependencies = [ name = "fanta" version = "0.1.0" dependencies = [ - "clap 4.5.20", + "clap 4.5.22", "color-eyre", "communication", "fern", @@ -2687,9 +2698,9 @@ dependencies = [ [[package]] name = "fastrand" -version = "2.1.1" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e8c02a5121d4ea3eb16a80748c74f5549a5665e4c21333c6098f283870fbdea6" +checksum = "486f806e73c5707928240ddc295403b1b93c96a02038563881c4a2fd84b81ac4" [[package]] name = "fdeflate" @@ -2740,9 +2751,9 @@ checksum = "1d674e81391d1e1ab681a28d99df07927c6d4aa5b027d7da16ba32d1d21ecd99" [[package]] name = "flate2" -version = "1.0.34" +version = "1.0.35" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a1b589b4dc103969ad3cf85c950899926ec64300a1a46d76c03a6072957036f0" +checksum = "c936bfdafb507ebbf50b8074c54fa31c5be9a1e7e5f467dd659697041407d07c" dependencies = [ "crc32fast", "miniz_oxide 0.8.0", @@ -2781,7 +2792,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -2854,11 +2865,11 @@ dependencies = [ [[package]] name = "futures-lite" -version = "2.4.0" +version = "2.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3f1fa2f9765705486b33fd2acf1577f8ec449c2ba1f318ae5447697b7c08d210" +checksum = "cef40d21ae2c515b51041df9ed313ed21e572df340ea58a922a0aefe7e8891a1" dependencies = [ - "fastrand 2.1.1", + "fastrand 2.2.0", "futures-core", "futures-io", "parking", @@ -2873,7 +2884,7 @@ checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -3045,9 +3056,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "15f1ce686646e7f1e19bf7d5533fe443a45dbfb990e00629110797578b42fb19" dependencies = [ "aho-corasick", - "bstr 1.10.0", + "bstr 1.11.0", "log", - "regex-automata 0.4.8", + "regex-automata 0.4.9", "regex-syntax 0.8.5", ] @@ -3078,7 +3089,7 @@ dependencies = [ "glutin_glx_sys", "glutin_wgl_sys", "icrate", - "libloading 0.8.5", + "libloading 0.8.6", "objc2 0.4.1", "once_cell", "raw-window-handle 0.5.2", @@ -3186,7 +3197,7 @@ version = "0.1.11" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "47f1288f0e06f279f84926fa4c17e3fcd2a22b357927a82f2777f7be26e4cec0" dependencies = [ - "bstr 1.10.0", + "bstr 1.11.0", "globset", "libc", "log", @@ -3206,7 +3217,7 @@ dependencies = [ "futures-sink", "futures-util", "http", - "indexmap 2.6.0", + "indexmap 2.7.0", "slab", "tokio", "tokio-util", @@ -3250,9 +3261,9 @@ dependencies = [ [[package]] name = "hashbrown" -version = "0.15.0" +version = "0.15.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1e087f84d4f86bf4b218b927129862374b72199ae7d8657835f1e89000eea4fb" +checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289" [[package]] name = "hassle-rs" @@ -3263,7 +3274,7 @@ dependencies = [ "bitflags 2.6.0", "com", "libc", - "libloading 0.8.5", + "libloading 0.8.6", "thiserror", "widestring", "winapi", @@ -3456,7 +3467,7 @@ dependencies = [ "alsa", "ball_filter", "chrono", - "clap 4.5.20", + "clap 4.5.22", "color-eyre", "constants", "ctrlc", @@ -3574,7 +3585,7 @@ dependencies = [ "httpdate", "itoa", "pin-project-lite", - "socket2 0.5.7", + "socket2 0.5.8", "tokio", "tower-service", "tracing", @@ -3640,14 +3651,143 @@ dependencies = [ "objc2 0.4.1", ] +[[package]] +name = "icu_collections" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "db2fa452206ebee18c4b5c2274dbf1de17008e874b4dc4f0aea9d01ca79e4526" +dependencies = [ + "displaydoc", + "yoke", + "zerofrom", + "zerovec", +] + +[[package]] +name = "icu_locid" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "13acbb8371917fc971be86fc8057c41a64b521c184808a698c02acc242dbf637" +dependencies = [ + "displaydoc", + "litemap", + "tinystr", + "writeable", + "zerovec", +] + +[[package]] +name = "icu_locid_transform" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "01d11ac35de8e40fdeda00d9e1e9d92525f3f9d887cdd7aa81d727596788b54e" +dependencies = [ + "displaydoc", + "icu_locid", + "icu_locid_transform_data", + "icu_provider", + "tinystr", + "zerovec", +] + +[[package]] +name = "icu_locid_transform_data" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fdc8ff3388f852bede6b579ad4e978ab004f139284d7b28715f773507b946f6e" + +[[package]] +name = "icu_normalizer" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "19ce3e0da2ec68599d193c93d088142efd7f9c5d6fc9b803774855747dc6a84f" +dependencies = [ + "displaydoc", + "icu_collections", + "icu_normalizer_data", + "icu_properties", + "icu_provider", + "smallvec", + "utf16_iter", + "utf8_iter", + "write16", + "zerovec", +] + +[[package]] +name = "icu_normalizer_data" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f8cafbf7aa791e9b22bec55a167906f9e1215fd475cd22adfcf660e03e989516" + +[[package]] +name = "icu_properties" +version = "1.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "93d6020766cfc6302c15dbbc9c8778c37e62c14427cb7f6e601d849e092aeef5" +dependencies = [ + "displaydoc", + "icu_collections", + "icu_locid_transform", + "icu_properties_data", + "icu_provider", + "tinystr", + "zerovec", +] + +[[package]] +name = "icu_properties_data" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "67a8effbc3dd3e4ba1afa8ad918d5684b8868b3b26500753effea8d2eed19569" + +[[package]] +name = "icu_provider" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6ed421c8a8ef78d3e2dbc98a973be2f3770cb42b606e3ab18d6237c4dfde68d9" +dependencies = [ + "displaydoc", + "icu_locid", + "icu_provider_macros", + "stable_deref_trait", + "tinystr", + "writeable", + "yoke", + "zerofrom", + "zerovec", +] + +[[package]] +name = "icu_provider_macros" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1ec89e9337638ecdc08744df490b221a7399bf8d164eb52a665454e60e075ad6" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.90", +] + [[package]] name = "idna" -version = "0.5.0" +version = "1.0.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "634d9b1461af396cad843f47fdba5597a4f9e6ddd4bfb6ff5d85028c25cb12f6" +checksum = "686f825264d630750a544639377bae737628043f20d38bbc029e8f29ea968a7e" dependencies = [ - "unicode-bidi", - "unicode-normalization", + "idna_adapter", + "smallvec", + "utf8_iter", +] + +[[package]] +name = "idna_adapter" +version = "1.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "daca1df1c957320b2cf139ac61e7bd64fed304c5040df000a745aa1de3b4ef71" +dependencies = [ + "icu_normalizer", + "icu_properties", ] [[package]] @@ -3670,9 +3810,9 @@ dependencies = [ [[package]] name = "image" -version = "0.25.4" +version = "0.25.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bc144d44a31d753b02ce64093d532f55ff8dc4ebf2ffb8a63c0dda691385acae" +checksum = "cd6f44aed642f18953a158afeb30206f4d50da59fbc66ecb53c66488de73563b" dependencies = [ "bytemuck", "byteorder-lite", @@ -3698,25 +3838,25 @@ dependencies = [ [[package]] name = "indexmap" -version = "2.6.0" +version = "2.7.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "707907fe3c25f5424cce2cb7e1cbcafee6bdbe735ca90ef77c29e84591e5b9da" +checksum = "62f822373a4fe84d4bb149bf54e584a7f4abec90e072ed49cda0edea5b95471f" dependencies = [ "equivalent", - "hashbrown 0.15.0", + "hashbrown 0.15.2", ] [[package]] name = "indicatif" -version = "0.17.8" +version = "0.17.9" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "763a5a8f45087d6bcea4222e7b72c291a054edf80e4ef6efd2a4979878c7bea3" +checksum = "cbf675b85ed934d3c67b5c5469701eec7db22689d0a2139d856e0925fa28b281" dependencies = [ "console", - "instant", "number_prefix", "portable-atomic", - "unicode-width", + "unicode-width 0.2.0", + "web-time 1.1.0", ] [[package]] @@ -3812,9 +3952,9 @@ dependencies = [ [[package]] name = "itoa" -version = "1.0.11" +version = "1.0.14" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b" +checksum = "d75a2a4b1b190afb6f5425f10f6a8f959d2ea0b9c2b1d79553551850539e4674" [[package]] name = "ittapi" @@ -3878,10 +4018,11 @@ dependencies = [ [[package]] name = "js-sys" -version = "0.3.72" +version = "0.3.74" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6a88f1bda2bd75b0452a14784937d796722fdebfe50df998aeb3f0b7603019a9" +checksum = "a865e038f7f6ed956f788f0d7d60c541fff74c7bd74272c5d4cf15c63743e705" dependencies = [ + "once_cell", "wasm-bindgen", ] @@ -3892,7 +4033,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "6aae1df220ece3c0ada96b8153459b67eebe9ae9212258bb0134ae60416fdf76" dependencies = [ "libc", - "libloading 0.8.5", + "libloading 0.8.6", "pkg-config", ] @@ -3944,9 +4085,9 @@ dependencies = [ [[package]] name = "libc" -version = "0.2.161" +version = "0.2.167" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8e9489c2807c139ffd9c1794f4af0ebe86a828db53ecdc7fea2111d0fed085d1" +checksum = "09d6582e104315a817dff97f75133544b2e094ee22447d2acf4a74e189ba06fc" [[package]] name = "libloading" @@ -3960,9 +4101,9 @@ dependencies = [ [[package]] name = "libloading" -version = "0.8.5" +version = "0.8.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4979f22fdb869068da03c9f7528f8297c6fd2606bc3a4affe42e6a823fdb8da4" +checksum = "fc2f4eb4bc735547cfed7c0a4922cbd04a4655978c09b54f1f7b228750664c34" dependencies = [ "cfg-if", "windows-targets 0.52.6", @@ -4036,6 +4177,12 @@ version = "0.4.14" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89" +[[package]] +name = "litemap" +version = "0.7.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4ee93343901ab17bd981295f2cf0026d4ad018c7c31ba84549a4ddbb47a45104" + [[package]] name = "litrs" version = "0.4.1" @@ -4195,11 +4342,10 @@ dependencies = [ [[package]] name = "mio" -version = "1.0.2" +version = "1.0.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "80e04d1dcff3aae0704555fe5fee3bcfaf3d1fdf8a7e521d5b9d2b42acb52cec" +checksum = "2886843bf800fba2e3377cff24abf6379b4c4d5c6681eaf9ea5b0d15090450bd" dependencies = [ - "hermit-abi 0.3.9", "libc", "wasi", "windows-sys 0.52.0", @@ -4247,7 +4393,7 @@ dependencies = [ "bitflags 2.6.0", "codespan-reporting", "hexf-parse", - "indexmap 2.6.0", + "indexmap 2.7.0", "log", "num-traits", "rustc-hash", @@ -4282,7 +4428,7 @@ checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -4493,7 +4639,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -4543,7 +4689,7 @@ dependencies = [ "proc-macro-crate 3.2.0", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -4785,7 +4931,7 @@ checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -4833,7 +4979,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1d70e8103d2b9b52236efd8d785ef5fed04963ebfcfd7fbfa35aeea9d7d79f92" dependencies = [ "env_logger", - "libloading 0.8.5", + "libloading 0.8.6", "once_cell", "openvino-finder", ] @@ -5000,7 +5146,7 @@ dependencies = [ "proc-macro-error", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -5016,7 +5162,7 @@ dependencies = [ "aliveness", "argument_parsers", "bat", - "clap 4.5.20", + "clap 4.5.22", "clap_complete", "color-eyre", "constants", @@ -5049,7 +5195,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b4c5cc86750666a3ed20bdaf5ca2a0344f9c67674cae0515bec2da16fbaa47db" dependencies = [ "fixedbitset 0.4.2", - "indexmap 2.6.0", + "indexmap 2.7.0", ] [[package]] @@ -5071,7 +5217,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "96c8c490f422ef9a4efd2cb5b42b76c8613d7e7dfc1caf667b8a3350a5acc066" dependencies = [ "atomic-waker", - "fastrand 2.1.1", + "fastrand 2.2.0", "futures-io", ] @@ -5088,7 +5234,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "42cf17e9a1800f5f396bc67d193dc9411b59012a5876445ef450d449881e1016" dependencies = [ "base64 0.22.1", - "indexmap 2.6.0", + "indexmap 2.7.0", "quick-xml 0.32.0", "serde", "time", @@ -5125,24 +5271,24 @@ dependencies = [ [[package]] name = "polling" -version = "3.7.3" +version = "3.7.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cc2790cd301dec6cd3b7a025e4815cf825724a51c98dccfe6a3e55f05ffb6511" +checksum = "a604568c3202727d1507653cb121dbd627a58684eb09a820fd746bee38b4442f" dependencies = [ "cfg-if", "concurrent-queue", "hermit-abi 0.4.0", "pin-project-lite", - "rustix 0.38.38", + "rustix 0.38.41", "tracing", "windows-sys 0.59.0", ] [[package]] name = "portable-atomic" -version = "1.9.0" +version = "1.10.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cc9c68a3f6da06753e9335d63e27f6b9754dd1920d941135b7ea8224f141adb2" +checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6" [[package]] name = "powerfmt" @@ -5172,7 +5318,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "64d1ec885c64d0457d564db4ec299b2dae3f9c02808b8ad9c3a089c591b18033" dependencies = [ "proc-macro2", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -5229,9 +5375,9 @@ dependencies = [ [[package]] name = "proc-macro2" -version = "1.0.89" +version = "1.0.92" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f139b0662de085916d1fb67d2b4169d1addddda1919e696f3252b740b629986e" +checksum = "37d3544b3f2748c54e147655edb5025752e2303145b5aefb3c3ea2c78b973bb0" dependencies = [ "unicode-ident", ] @@ -5421,7 +5567,7 @@ checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191" dependencies = [ "aho-corasick", "memchr", - "regex-automata 0.4.8", + "regex-automata 0.4.9", "regex-syntax 0.8.5", ] @@ -5436,9 +5582,9 @@ dependencies = [ [[package]] name = "regex-automata" -version = "0.4.8" +version = "0.4.9" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "368758f23274712b504848e9d5a6f010445cc8b87a7cdb4d7cbee666c1288da3" +checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908" dependencies = [ "aho-corasick", "memchr", @@ -5597,9 +5743,9 @@ dependencies = [ [[package]] name = "rustix" -version = "0.38.38" +version = "0.38.41" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "aa260229e6538e52293eeb577aabd09945a09d6d9cc0fc550ed7529056c2e32a" +checksum = "d7f649912bc1495e167a6edee79151c84b1bad49748cb4f1f1167f459f6224f6" dependencies = [ "bitflags 2.6.0", "errno", @@ -5648,14 +5794,14 @@ dependencies = [ "proc-macro-error", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] name = "schannel" -version = "0.1.26" +version = "0.1.27" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "01227be5826fa0690321a2ba6c5cd57a19cf3f6a09e76973b58e61de6ab9d1c1" +checksum = "1f29ebaa345f945cec9fbbc532eb307f0fdad8161f281b6369539c8d84876b3d" dependencies = [ "windows-sys 0.59.0", ] @@ -5700,9 +5846,9 @@ dependencies = [ [[package]] name = "security-framework-sys" -version = "2.12.0" +version = "2.12.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ea4a292869320c0272d7bc55a5a6aafaff59b4f63404a003887b679a2e05b4b6" +checksum = "fa39c7303dc58b5543c94d22c1766b0d31f2ee58306363ea622b10bbc075eaa2" dependencies = [ "core-foundation-sys", "libc", @@ -5729,7 +5875,7 @@ source = "git+https://github.com/HULKs/serde.git?rev=73d5e8e404a874ad90023810d63 dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -5743,9 +5889,9 @@ dependencies = [ [[package]] name = "serde_json" -version = "1.0.132" +version = "1.0.133" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d726bfaff4b320266d395898905d0eba0345aae23b54aee3a737e260fd46db03" +checksum = "c7fceb2473b9166b2294ef05efcb65a3db80803f0b03ef86a5fc88a2b85ee377" dependencies = [ "itoa", "memchr", @@ -5761,7 +5907,7 @@ checksum = "6c64451ba24fc7a6a2d60fc75dd9c83c90903b19028d4eff35e88fc1e86564e9" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -5905,7 +6051,7 @@ dependencies = [ "libc", "log", "memmap2", - "rustix 0.38.38", + "rustix 0.38.41", "thiserror", "wayland-backend", "wayland-client", @@ -5930,7 +6076,7 @@ dependencies = [ "libc", "log", "memmap2", - "rustix 0.38.38", + "rustix 0.38.41", "thiserror", "wayland-backend", "wayland-client", @@ -5974,9 +6120,9 @@ dependencies = [ [[package]] name = "socket2" -version = "0.5.7" +version = "0.5.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c" +checksum = "c970269d99b64e60ec3bd6ad27270092a5394c4e309314b18ae3fe575695fbe8" dependencies = [ "libc", "windows-sys 0.52.0", @@ -5990,7 +6136,7 @@ dependencies = [ "proc-macro2", "quote", "serde", - "syn 2.0.86", + "syn 2.0.90", "thiserror", "threadbound", "toposort-scc", @@ -6048,6 +6194,12 @@ dependencies = [ "serde", ] +[[package]] +name = "stable_deref_trait" +version = "1.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3" + [[package]] name = "static_assertions" version = "1.1.0" @@ -6121,9 +6273,9 @@ dependencies = [ [[package]] name = "syn" -version = "2.0.86" +version = "2.0.90" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e89275301d38033efb81a6e60e3497e734dfcc62571f2854bf4b16690398824c" +checksum = "919d3b74a5dd0ccd15aeb8f93e7006bd9e14c295087c9896a110f490752bcf31" dependencies = [ "proc-macro2", "quote", @@ -6136,6 +6288,17 @@ version = "0.1.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2047c6ded9c721764247e62cd3b03c09ffc529b2ba5b10ec482ae507a4a70160" +[[package]] +name = "synstructure" +version = "0.13.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.90", +] + [[package]] name = "syntect" version = "5.2.0" @@ -6194,14 +6357,14 @@ dependencies = [ [[package]] name = "tempfile" -version = "3.13.0" +version = "3.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f0f2c9fc62d0beef6951ccffd757e241266a2c833136efbe35af6cd2567dca5b" +checksum = "28cce251fcbc87fac86a866eeb0d6c2d536fc16d06f184bb61aeae11aa4cee0c" dependencies = [ "cfg-if", - "fastrand 2.1.1", + "fastrand 2.2.0", "once_cell", - "rustix 0.38.38", + "rustix 0.38.41", "windows-sys 0.59.0", ] @@ -6220,27 +6383,27 @@ version = "0.11.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060" dependencies = [ - "unicode-width", + "unicode-width 0.1.14", ] [[package]] name = "thiserror" -version = "1.0.66" +version = "1.0.69" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5d171f59dbaa811dbbb1aee1e73db92ec2b122911a48e1390dfe327a821ddede" +checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52" dependencies = [ "thiserror-impl", ] [[package]] name = "thiserror-impl" -version = "1.0.66" +version = "1.0.69" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b08be0f17bd307950653ce45db00cd31200d82b624b36e181337d9c7d92765b5" +checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -6272,9 +6435,9 @@ dependencies = [ [[package]] name = "time" -version = "0.3.36" +version = "0.3.37" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885" +checksum = "35e7868883861bd0e56d9ac6efcaaca0d6d5d82a2a7ec8209ff492c07cf37b21" dependencies = [ "deranged", "itoa", @@ -6293,9 +6456,9 @@ checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3" [[package]] name = "time-macros" -version = "0.2.18" +version = "0.2.19" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3f252a68540fde3a3877aeea552b832b40ab9a69e318efd078774a01ddee1ccf" +checksum = "2834e6017e3e5e4b9834939793b282bc03b37a3336245fa820e35e233e2a85de" dependencies = [ "num-conv", "time-core", @@ -6327,25 +6490,20 @@ dependencies = [ ] [[package]] -name = "tinyvec" -version = "1.8.0" +name = "tinystr" +version = "0.7.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "445e881f4f6d382d5f27c034e25eb92edd7c784ceab92a0937db7f2e9471b938" +checksum = "9117f5d4db391c1cf6927e7bea3db74b9a1c1add8f7eda9ffd5364f40f57b82f" dependencies = [ - "tinyvec_macros", + "displaydoc", + "zerovec", ] -[[package]] -name = "tinyvec_macros" -version = "0.1.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20" - [[package]] name = "tokio" -version = "1.41.0" +version = "1.42.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "145f3413504347a2be84393cc8a7d2fb4d863b375909ea59f2158261aa258bbb" +checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551" dependencies = [ "backtrace", "bytes", @@ -6354,7 +6512,7 @@ dependencies = [ "parking_lot", "pin-project-lite", "signal-hook-registry", - "socket2 0.5.7", + "socket2 0.5.8", "tokio-macros", "windows-sys 0.52.0", ] @@ -6367,7 +6525,7 @@ checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -6394,9 +6552,9 @@ dependencies = [ [[package]] name = "tokio-util" -version = "0.7.12" +version = "0.7.13" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "61e7c3654c13bcd040d4a03abee2c75b1d14a37b423cf5a813ceae1cc903ec6a" +checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078" dependencies = [ "bytes", "futures-core", @@ -6432,7 +6590,7 @@ version = "0.19.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421" dependencies = [ - "indexmap 2.6.0", + "indexmap 2.7.0", "toml_datetime", "winnow 0.5.40", ] @@ -6443,7 +6601,7 @@ version = "0.22.22" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4ae48d6208a266e853d946088ed816055e556cc6028c5e8e2b84d9fa5dd7c7f5" dependencies = [ - "indexmap 2.6.0", + "indexmap 2.7.0", "serde", "serde_spanned", "toml_datetime", @@ -6464,9 +6622,9 @@ checksum = "8df9b6e13f2d32c91b9bd719c00d1958837bc7dec474d94952798cc8e69eeec3" [[package]] name = "tracing" -version = "0.1.40" +version = "0.1.41" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef" +checksum = "784e0ac535deb450455cbfa28a6f0df145ea1bb7ae51b821cf5e7927fdcfbdd0" dependencies = [ "pin-project-lite", "tracing-attributes", @@ -6475,20 +6633,20 @@ dependencies = [ [[package]] name = "tracing-attributes" -version = "0.1.27" +version = "0.1.28" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7" +checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] name = "tracing-core" -version = "0.1.32" +version = "0.1.33" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54" +checksum = "e672c95779cf947c5311f83787af4fa8fffd12fb27e4993211a84bdfd9610f9c" dependencies = [ "once_cell", "valuable", @@ -6496,9 +6654,9 @@ dependencies = [ [[package]] name = "tracing-error" -version = "0.2.0" +version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d686ec1c0f384b1277f097b2f279a2ecc11afe8c133c1aabf036a27cb4cd206e" +checksum = "8b1581020d7a273442f5b45074a6a57d5757ad0a47dac0e9f0bd57b81936f3db" dependencies = [ "tracing", "tracing-subscriber", @@ -6517,9 +6675,9 @@ dependencies = [ [[package]] name = "tracing-subscriber" -version = "0.3.18" +version = "0.3.19" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b" +checksum = "e8189decb5ac0fa7bc8b96b7cb9b2701d60d48805aca84a238004d665fcc4008" dependencies = [ "matchers", "nu-ansi-term 0.46.0", @@ -6562,9 +6720,9 @@ checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b" [[package]] name = "ttf-parser" -version = "0.25.0" +version = "0.25.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5902c5d130972a0000f60860bfbf46f7ca3db5391eddfedd1b8728bd9dc96c0e" +checksum = "d2df906b07856748fa3f6e0ad0cbaa047052d4a7dd609e231c4f72cee8c36f31" [[package]] name = "tungstenite" @@ -6595,7 +6753,7 @@ dependencies = [ "bincode", "buffered_watch", "chrono", - "clap 4.5.20", + "clap 4.5.22", "color-eyre", "communication", "convert_case 0.6.0", @@ -6687,26 +6845,11 @@ version = "2.8.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7e51b68083f157f853b6379db119d1c1be0e6e4dec98101079dec41f6f5cf6df" -[[package]] -name = "unicode-bidi" -version = "0.3.17" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5ab17db44d7388991a428b2ee655ce0c212e862eff1768a455c58f9aad6e7893" - [[package]] name = "unicode-ident" -version = "1.0.13" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe" - -[[package]] -name = "unicode-normalization" -version = "0.1.24" +version = "1.0.14" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5033c97c4262335cded6d6fc3e5c18ab755e1a3dc96376350f3d8e9f009ad956" -dependencies = [ - "tinyvec", -] +checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83" [[package]] name = "unicode-segmentation" @@ -6720,6 +6863,12 @@ version = "0.1.14" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af" +[[package]] +name = "unicode-width" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1fc81956842c57dac11422a97c3b8195a1ff727f06e85c84ed2e8aa277c9a0fd" + [[package]] name = "unicode-xid" version = "0.2.6" @@ -6728,9 +6877,9 @@ checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853" [[package]] name = "url" -version = "2.5.2" +version = "2.5.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "22784dbdf76fdde8af1aeda5622b546b422b6fc585325248a2bf9f5e41e94d6c" +checksum = "32f8b686cadd1473f4bd0117a5d28d36b1ade384ea9b5069a1c40aefed7fda60" dependencies = [ "form_urlencoded", "idna", @@ -6743,12 +6892,24 @@ version = "0.7.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9" +[[package]] +name = "utf16_iter" +version = "1.0.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c8232dd3cdaed5356e0f716d285e4b40b932ac434100fe9b7e0e8e935b9e6246" + [[package]] name = "utf8-cstr" version = "0.1.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "55bcbb425141152b10d5693095950b51c3745d019363fc2929ffd8f61449b628" +[[package]] +name = "utf8_iter" +version = "1.0.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be" + [[package]] name = "utf8parse" version = "0.2.2" @@ -6864,9 +7025,9 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423" [[package]] name = "wasm-bindgen" -version = "0.2.95" +version = "0.2.97" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "128d1e363af62632b8eb57219c8fd7877144af57558fb2ef0368d0087bddeb2e" +checksum = "d15e63b4482863c109d70a7b8706c1e364eb6ea449b201a76c5b89cedcec2d5c" dependencies = [ "cfg-if", "once_cell", @@ -6875,36 +7036,37 @@ dependencies = [ [[package]] name = "wasm-bindgen-backend" -version = "0.2.95" +version = "0.2.97" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cb6dd4d3ca0ddffd1dd1c9c04f94b868c37ff5fac97c30b97cff2d74fce3a358" +checksum = "8d36ef12e3aaca16ddd3f67922bc63e48e953f126de60bd33ccc0101ef9998cd" dependencies = [ "bumpalo", "log", "once_cell", "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", "wasm-bindgen-shared", ] [[package]] name = "wasm-bindgen-futures" -version = "0.4.45" +version = "0.4.47" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cc7ec4f8827a71586374db3e87abdb5a2bb3a15afed140221307c3ec06b1f63b" +checksum = "9dfaf8f50e5f293737ee323940c7d8b08a66a95a419223d9f41610ca08b0833d" dependencies = [ "cfg-if", "js-sys", + "once_cell", "wasm-bindgen", "web-sys", ] [[package]] name = "wasm-bindgen-macro" -version = "0.2.95" +version = "0.2.97" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e79384be7f8f5a9dd5d7167216f022090cf1f9ec128e6e6a482a2cb5c5422c56" +checksum = "705440e08b42d3e4b36de7d66c944be628d579796b8090bfa3471478a2260051" dependencies = [ "quote", "wasm-bindgen-macro-support", @@ -6912,22 +7074,22 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro-support" -version = "0.2.95" +version = "0.2.97" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "26c6ab57572f7a24a4985830b120de1594465e5d500f24afe89e16b4e833ef68" +checksum = "98c9ae5a76e46f4deecd0f0255cc223cfa18dc9b261213b8aa0c7b36f61b3f1d" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", "wasm-bindgen-backend", "wasm-bindgen-shared", ] [[package]] name = "wasm-bindgen-shared" -version = "0.2.95" +version = "0.2.97" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "65fc09f10666a9f147042251e0dda9c18f166ff7de300607007e96bdebc1068d" +checksum = "6ee99da9c5ba11bd675621338ef6fa52296b76b83305e9b6e5c77d4c286d6d49" [[package]] name = "watch" @@ -6943,7 +7105,7 @@ checksum = "056535ced7a150d45159d3a8dc30f91a2e2d588ca0b23f70e56033622b8016f6" dependencies = [ "cc", "downcast-rs", - "rustix 0.38.38", + "rustix 0.38.41", "scoped-tls", "smallvec", "wayland-sys", @@ -6956,7 +7118,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b66249d3fc69f76fd74c82cc319300faa554e9d865dab1f7cd66cc20db10b280" dependencies = [ "bitflags 2.6.0", - "rustix 0.38.38", + "rustix 0.38.41", "wayland-backend", "wayland-scanner", ] @@ -6978,7 +7140,7 @@ version = "0.31.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "32b08bc3aafdb0035e7fe0fdf17ba0c09c268732707dca4ae098f60cb28c9e4c" dependencies = [ - "rustix 0.38.38", + "rustix 0.38.41", "wayland-client", "xcursor", ] @@ -7071,9 +7233,9 @@ dependencies = [ [[package]] name = "web-sys" -version = "0.3.72" +version = "0.3.74" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f6488b90108c040df0fe62fa815cbdee25124641df01814dd7282749234c6112" +checksum = "a98bc3c33f0fe7e59ad7cd041b89034fa82a7c2d4365ca538dda6cdaf513863c" dependencies = [ "js-sys", "wasm-bindgen", @@ -7101,9 +7263,9 @@ dependencies = [ [[package]] name = "webbrowser" -version = "1.0.2" +version = "1.0.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2e5f07fb9bc8de2ddfe6b24a71a75430673fd679e568c48b52716cef1cfae923" +checksum = "ea9fe1ebb156110ff855242c1101df158b822487e4957b0556d9ffce9db0f535" dependencies = [ "block2 0.5.1", "core-foundation 0.10.0", @@ -7180,7 +7342,7 @@ dependencies = [ "cfg_aliases 0.1.1", "codespan-reporting", "document-features", - "indexmap 2.6.0", + "indexmap 2.7.0", "log", "naga", "once_cell", @@ -7216,7 +7378,7 @@ dependencies = [ "js-sys", "khronos-egl", "libc", - "libloading 0.8.5", + "libloading 0.8.6", "log", "metal", "naga", @@ -7256,14 +7418,14 @@ dependencies = [ "either", "home", "once_cell", - "rustix 0.38.38", + "rustix 0.38.41", ] [[package]] name = "wide" -version = "0.7.28" +version = "0.7.30" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b828f995bf1e9622031f8009f8481a85406ce1f4d4588ff746d872043e855690" +checksum = "58e6db2670d2be78525979e9a5f9c69d296fd7d670549fe9ebf70f8708cb5019" dependencies = [ "bytemuck", "safe_arch", @@ -7378,7 +7540,7 @@ checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -7400,7 +7562,7 @@ checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", ] [[package]] @@ -7666,7 +7828,7 @@ dependencies = [ "raw-window-handle 0.5.2", "raw-window-handle 0.6.2", "redox_syscall 0.3.5", - "rustix 0.38.38", + "rustix 0.38.41", "sctk-adwaita", "smithay-client-toolkit 0.18.1", "smol_str", @@ -7713,6 +7875,18 @@ dependencies = [ "windows-sys 0.48.0", ] +[[package]] +name = "write16" +version = "1.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d1890f4022759daae28ed4fe62859b1236caebfc61ede2f63ed4e695f3f6d936" + +[[package]] +name = "writeable" +version = "0.5.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1e9df38ee2d2c3c5948ea468a8406ff0db0b29ae1ffde1bcf20ef305bcc95c51" + [[package]] name = "x11-dl" version = "2.21.0" @@ -7733,9 +7907,9 @@ dependencies = [ "as-raw-xcb-connection", "gethostname", "libc", - "libloading 0.8.5", + "libloading 0.8.6", "once_cell", - "rustix 0.38.38", + "rustix 0.38.41", "x11rb-protocol", ] @@ -7782,9 +7956,9 @@ checksum = "b9cc00251562a284751c9973bace760d86c0276c471b4be569fe6b068ee97a56" [[package]] name = "xml-rs" -version = "0.8.22" +version = "0.8.24" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "af4e2e2f7cba5a093896c1e150fbfe177d1883e7448200efb81d40b9d339ef26" +checksum = "ea8b391c9a790b496184c29f7f93b9ed5b16abb306c05415b68bcc16e4d06432" [[package]] name = "yaml-rust" @@ -7795,6 +7969,30 @@ dependencies = [ "linked-hash-map", ] +[[package]] +name = "yoke" +version = "0.7.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "120e6aef9aa629e3d4f52dc8cc43a015c7724194c97dfaf45180d2daf2b77f40" +dependencies = [ + "serde", + "stable_deref_trait", + "yoke-derive", + "zerofrom", +] + +[[package]] +name = "yoke-derive" +version = "0.7.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2380878cad4ac9aac1e2435f3eb4020e8374b5f13c296cb75b4620ff8e229154" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.90", + "synstructure", +] + [[package]] name = "zbus" version = "3.15.2" @@ -7879,7 +8077,50 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e" dependencies = [ "proc-macro2", "quote", - "syn 2.0.86", + "syn 2.0.90", +] + +[[package]] +name = "zerofrom" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cff3ee08c995dee1859d998dea82f7374f2826091dd9cd47def953cae446cd2e" +dependencies = [ + "zerofrom-derive", +] + +[[package]] +name = "zerofrom-derive" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "595eed982f7d355beb85837f651fa22e90b3c044842dc7f2c2842c086f295808" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.90", + "synstructure", +] + +[[package]] +name = "zerovec" +version = "0.10.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "aa2b893d79df23bfb12d5461018d408ea19dfafe76c2c7ef6d4eba614f8ff079" +dependencies = [ + "yoke", + "zerofrom", + "zerovec-derive", +] + +[[package]] +name = "zerovec-derive" +version = "0.10.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.90", ] [[package]] diff --git a/crates/code_generation/src/cyclers.rs b/crates/code_generation/src/cyclers.rs index 6939302903..6acb04e3c3 100644 --- a/crates/code_generation/src/cyclers.rs +++ b/crates/code_generation/src/cyclers.rs @@ -58,7 +58,7 @@ fn generate_module(cycler: &Cycler, cyclers: &Cyclers, mode: CyclerMode) -> Toke let cycler_implementation = generate_implementation(cycler, cyclers, mode); quote! { - #[allow(dead_code, unused_mut, unused_variables, clippy::too_many_arguments, clippy::needless_question_mark, clippy::borrow_deref_ref)] + #[allow(dead_code, unused_mut, unused_variables, clippy::too_many_arguments, clippy::needless_question_mark, clippy::borrow_deref_ref, clippy::explicit_auto_deref)] pub(crate) mod #module_name { use color_eyre::eyre::WrapErr; use crate::structs::#module_name::{MainOutputs, AdditionalOutputs}; diff --git a/crates/control/src/behavior/dribble.rs b/crates/control/src/behavior/dribble.rs index 02fa323a23..b0b0059e79 100644 --- a/crates/control/src/behavior/dribble.rs +++ b/crates/control/src/behavior/dribble.rs @@ -2,13 +2,14 @@ use coordinate_systems::{Ground, UpcomingSupport}; use geometry::look_at::LookAt; use linear_algebra::{Isometry2, Point, Pose2}; use spl_network_messages::GamePhase; +use std::time::{Duration, SystemTime}; use types::{ camera_position::CameraPosition, filtered_game_controller_state::FilteredGameControllerState, motion_command::{ ArmMotion, HeadMotion, ImageRegion, MotionCommand, OrientationMode, WalkSpeed, }, - parameters::{DribblingParameters, InWalkKickInfoParameters, InWalkKicksParameters}, + parameters::{DribblingParameters, InWalkKicksParameters}, planned_path::PathSegment, world_state::WorldState, }; @@ -23,6 +24,9 @@ pub fn execute( parameters: &DribblingParameters, dribble_path: Option>, mut walk_speed: WalkSpeed, + precision_kick_timeout: Duration, + bigger_threshold_start_time: Option, + cycle_start_time: SystemTime, ) -> Option { let ball_position = world_state.ball?.ball_in_ground; let distance_to_ball = ball_position.coords().norm(); @@ -39,6 +43,11 @@ pub fn execute( }; let kick_decisions = world_state.kick_decisions.as_ref()?; let instant_kick_decisions = world_state.instant_kick_decisions.as_ref()?; + let abort_precision_kick = abort_precision_kick( + precision_kick_timeout, + bigger_threshold_start_time, + cycle_start_time, + ); let available_kick = kick_decisions .iter() @@ -46,7 +55,11 @@ pub fn execute( .find(|decision| { is_kick_pose_reached( decision.kick_pose, - &in_walk_kicks[decision.variant], + if !abort_precision_kick { + in_walk_kicks[decision.variant].precision_kick_reached_thresholds + } else { + in_walk_kicks[decision.variant].reached_thresholds + }, world_state.robot.ground_to_upcoming_support, ) }); @@ -102,15 +115,31 @@ pub fn execute( } } -fn is_kick_pose_reached( +pub fn is_kick_pose_reached( kick_pose: Pose2, - kick_info: &InWalkKickInfoParameters, + thresholds: nalgebra::Vector3, ground_to_upcoming_support: Isometry2, ) -> bool { let upcoming_kick_pose = ground_to_upcoming_support * kick_pose; - let is_x_reached = upcoming_kick_pose.position().x().abs() < kick_info.reached_thresholds.x; - let is_y_reached = upcoming_kick_pose.position().y().abs() < kick_info.reached_thresholds.y; - let is_orientation_reached = - upcoming_kick_pose.orientation().angle().abs() < kick_info.reached_thresholds.z; + + let is_x_reached = upcoming_kick_pose.position().x().abs() < thresholds.x; + let is_y_reached = upcoming_kick_pose.position().y().abs() < thresholds.y; + let is_orientation_reached = upcoming_kick_pose.orientation().angle().abs() < thresholds.z; + is_x_reached && is_y_reached && is_orientation_reached } + +pub fn abort_precision_kick( + precision_kick_timeout: Duration, + bigger_threshold_start_time: Option, + cycle_start_time: SystemTime, +) -> bool { + if bigger_threshold_start_time.is_some() { + let time_difference = cycle_start_time + .duration_since(bigger_threshold_start_time.unwrap()) + .expect("Time ran back"); + time_difference > precision_kick_timeout + } else { + false + } +} diff --git a/crates/control/src/behavior/mod.rs b/crates/control/src/behavior/mod.rs index c29029c489..a8f96e9e98 100644 --- a/crates/control/src/behavior/mod.rs +++ b/crates/control/src/behavior/mod.rs @@ -1,7 +1,7 @@ mod animation; mod calibrate; mod defend; -mod dribble; +pub mod dribble; mod fall_safely; mod head; mod initial; diff --git a/crates/control/src/behavior/node.rs b/crates/control/src/behavior/node.rs index b9700bb8b0..30a51217d9 100644 --- a/crates/control/src/behavior/node.rs +++ b/crates/control/src/behavior/node.rs @@ -1,4 +1,4 @@ -use std::time::SystemTime; +use std::time::{Duration, SystemTime}; use color_eyre::Result; use serde::{Deserialize, Serialize}; @@ -32,7 +32,8 @@ use crate::dribble_path_planner; use super::{ animation, calibrate, defend::Defend, - dribble, fall_safely, + dribble::{self, is_kick_pose_reached}, + fall_safely, head::LookAction, initial, intercept_ball, jump, look_around, lost_ball, no_ground_contact, penalize, prepare_jump, search, sit_down, stand, stand_up, support, unstiff, walk_to_kick_off, @@ -46,6 +47,7 @@ pub struct Behavior { last_known_ball_position: Point2, active_since: Option, previous_role: Role, + unprecise_threshold_start_time: Option, } #[context] @@ -62,7 +64,6 @@ pub struct CycleContext { world_state: Input, cycle_time: Input, is_localization_converged: Input, - parameters: Parameter, in_walk_kicks: Parameter, field_dimensions: Parameter, @@ -82,6 +83,7 @@ pub struct CycleContext { support_walk_speed: Parameter, walk_to_kickoff_walk_speed: Parameter, walk_to_penalty_kick_walk_speed: Parameter, + precision_kick_timeout: Parameter, } #[context] @@ -98,6 +100,7 @@ impl Behavior { last_known_ball_position: point![0.0, 0.0], active_since: None, previous_role: Role::Searcher, + unprecise_threshold_start_time: None, }) } @@ -275,6 +278,51 @@ impl Behavior { .dribble_path_obstacles_output .fill_if_subscribed(|| dribble_path_obstacles.clone().unwrap_or_default()); + if let (Some(kick_decisions), Some(instant_kick_decisions)) = ( + world_state.kick_decisions.as_ref(), + world_state.instant_kick_decisions.as_ref(), + ) { + let available_unprecise_kicks = kick_decisions + .iter() + .chain(instant_kick_decisions.iter()) + .find(|decision| { + is_kick_pose_reached( + decision.kick_pose, + context.in_walk_kicks[decision.variant].reached_thresholds, + world_state.robot.ground_to_upcoming_support, + ) + }); + let available_precise_kicks = kick_decisions + .iter() + .chain(instant_kick_decisions.iter()) + .find(|decision| { + is_kick_pose_reached( + decision.kick_pose, + context.in_walk_kicks[decision.variant].precision_kick_reached_thresholds, + world_state.robot.ground_to_upcoming_support, + ) + }); + + match ( + available_unprecise_kicks, + available_precise_kicks, + self.unprecise_threshold_start_time.is_none(), + ) { + (Some(available_unprecise_kicks), None, true) => { + if is_kick_pose_reached( + available_unprecise_kicks.kick_pose, + context.in_walk_kicks[available_unprecise_kicks.variant].reached_thresholds, + world_state.robot.ground_to_upcoming_support, + ) { + self.unprecise_threshold_start_time = Some(context.cycle_time.start_time); + } + } + (_, Some(_), false) => { + self.unprecise_threshold_start_time = Some(context.cycle_time.start_time); + } + _ => {} + } + } let (action, motion_command) = actions .iter() .find_map(|action| { @@ -376,6 +424,9 @@ impl Behavior { &context.parameters.dribbling, dribble_path.clone(), *context.dribble_walk_speed, + *context.precision_kick_timeout, + self.unprecise_threshold_start_time, + context.cycle_time.start_time, ), Action::Jump => jump::execute(world_state), Action::PrepareJump => prepare_jump::execute(world_state), diff --git a/crates/control/src/kick_selector.rs b/crates/control/src/kick_selector.rs index b720053c5a..d6ef4ed50b 100644 --- a/crates/control/src/kick_selector.rs +++ b/crates/control/src/kick_selector.rs @@ -108,6 +108,12 @@ impl KickSelector { context.in_walk_kicks, ); + kick_decisions.retain(|target| match target.variant { + KickVariant::Forward => context.in_walk_kicks.forward.enabled, + KickVariant::Turn => context.in_walk_kicks.turn.enabled, + KickVariant::Side => context.in_walk_kicks.side.enabled, + }); + kick_decisions.sort_by(|left, right| { compare_decisions( left, @@ -359,6 +365,7 @@ fn generate_decisions_for_instant_kicks( struct TargetAlignedBall; struct KickPose; let position: Point2 = Point2::wrap(kick_info.position); + let parameter_kick_pose = Pose2::from_parts(position, Orientation2::new(kick_info.orientation)); let target_aligned_ball_to_kick_pose = match kicking_side { diff --git a/crates/types/src/parameters.rs b/crates/types/src/parameters.rs index 3a1812eb21..2c1b235610 100644 --- a/crates/types/src/parameters.rs +++ b/crates/types/src/parameters.rs @@ -129,6 +129,7 @@ pub struct InWalkKickInfoParameters { pub position_offset: nalgebra::Vector2, pub orientation: f32, pub reached_thresholds: nalgebra::Vector3, + pub precision_kick_reached_thresholds: nalgebra::Vector3, pub shot_distance: f32, pub enabled: bool, } diff --git a/etc/parameters/default.json b/etc/parameters/default.json index 0a1962db22..e152c04b6d 100644 --- a/etc/parameters/default.json +++ b/etc/parameters/default.json @@ -7,7 +7,7 @@ "minimum_overall_keypoint_confidence": 0.5, "minimum_visual_referee_keypoint_confidence": 0.8, "minimum_shoulder_angle": 0.2, - "foot_z_offset": 0.025, + "foot_z_offset": 0.1, "referee_pose_queue_length": 8, "minimum_number_poses_before_message": 3, "override_pose_detection": false @@ -1071,15 +1071,17 @@ "position": [-0.22, -0.04], "position_offset": [0.0, 0.0], "orientation": 0.0, - "reached_thresholds": [0.04, 0.02, 0.05], + "reached_thresholds": [0.06, 0.04, 0.07], + "precision_kick_reached_thresholds": [0.04, 0.02, 0.05], "shot_distance": 4.0, "enabled": true }, "turn": { - "position": [-0.15, -0.11], - "position_offset": [0.0, 0.0], + "position": [-0.145, -0.08], "orientation": 0.9, - "reached_thresholds": [0.04, 0.04, 0.1], + "position_offset": [0.0, 0.0], + "reached_thresholds": [0.06, 0.06, 0.12], + "precision_kick_reached_thresholds": [0.04, 0.04, 0.1], "shot_distance": 3.5, "enabled": true }, @@ -1087,11 +1089,13 @@ "position": [-0.15, 0.03], "position_offset": [0.0, 0.0], "orientation": -1.57, - "reached_thresholds": [0.05, 0.06, 0.1], + "reached_thresholds": [0.07, 0.08, 0.12], + "precision_kick_reached_thresholds": [0.05, 0.06, 0.1], "shot_distance": 0.8, "enabled": true } }, + "precision_kick_timeout": { "nanos": 0, "secs": 2}, "kick_selector": { "distance_to_corner": 1.5, "corner_kick_target_distance_to_goal": 1.3,