diff --git a/Cargo.lock b/Cargo.lock index b81abbf5..4f451701 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -46,7 +46,7 @@ version = "1.1.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916" dependencies = [ - "memchr 2.7.1", + "memchr", ] [[package]] @@ -158,18 +158,18 @@ checksum = "16e62a023e7c117e27523144c5d2459f4397fcc3cab0085af8e2224f643a0193" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] name = "async-trait" -version = "0.1.78" +version = "0.1.79" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "461abc97219de0eaaf81fe3ef974a540158f3d079c2ab200f891f1a2ef201e85" +checksum = "a507401cad91ec6a857ed5513a2073c82a9b9048762b885bb98655b306964681" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -195,15 +195,15 @@ checksum = "62af46d040ba9df09edc6528dae9d8e49f5f3e82f55b7d2ec31a733c38dbc49d" [[package]] name = "autocfg" -version = "1.1.0" +version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa" +checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80" [[package]] name = "backtrace" -version = "0.3.70" +version = "0.3.71" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "95d8e92cac0961e91dbd517496b00f7e9b92363dbe6d42c3198268323798860c" +checksum = "26b05800d2e817c8b3b4b54abd461726265fa9789ae34330622f2db9ee696f9d" dependencies = [ "addr2line", "cc", @@ -279,9 +279,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b" [[package]] name = "bytes" -version = "1.5.0" +version = "1.6.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a2bd12c1caf447e69cd4528f47f94d203fd2582878ecb9e9465484c4148a8223" +checksum = "514de17de45fdb8dc022b1a7975556c53c86f9f0aa5f534b98977b171857c2c9" [[package]] name = "bzip2" @@ -322,9 +322,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd" [[package]] name = "chrono" -version = "0.4.35" +version = "0.4.37" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a" +checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e" dependencies = [ "android-tzdata", "iana-time-zone", @@ -359,9 +359,9 @@ dependencies = [ [[package]] name = "clap" -version = "4.5.3" +version = "4.5.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "949626d00e063efc93b6dca932419ceb5432f99769911c0b995f7e884c778813" +checksum = "90bc066a67923782aa8515dbaea16946c5bcc5addbd668bb80af688e53e548a0" dependencies = [ "clap_builder", "clap_derive", @@ -381,14 +381,14 @@ dependencies = [ [[package]] name = "clap_derive" -version = "4.5.3" +version = "4.5.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "90239a040c80f5e14809ca132ddc4176ab33d5e17e49691793296e3fcb34d72f" +checksum = "528131438037fd55894f62d6e9f068b8f45ac57ffa77517819645d10aed04f64" dependencies = [ "heck", "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -411,9 +411,9 @@ checksum = "245097e9a4535ee1e3e3931fcfcd55a796a44c643e8596ff6566d68f09b87bbc" [[package]] name = "cookie" -version = "0.18.0" +version = "0.18.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3cd91cf61412820176e137621345ee43b3f4423e589e7ae4e50d601d93e35ef8" +checksum = "4ddef33a339a91ea89fb53151bd0a4689cfce27055c291dfa69945475d22c747" dependencies = [ "percent-encoding", "time", @@ -559,7 +559,7 @@ dependencies = [ "proc-macro2", "proc-macro2-diagnostics", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -569,6 +569,7 @@ dependencies = [ "anyhow", "chrono", "clap", + "dies-control", "dies-core", "dies-protos", "dies-python-rt", @@ -579,13 +580,22 @@ dependencies = [ "dies-world", "dirs", "nalgebra", - "npy", "tokio", "tracing", "tracing-appender", "tracing-subscriber", ] +[[package]] +name = "dies-control" +version = "0.1.0" +dependencies = [ + "dies-core", + "log", + "nalgebra", + "num-traits", +] + [[package]] name = "dies-core" version = "0.1.0" @@ -630,7 +640,7 @@ dependencies = [ "toml", "tracing", "zip", - "zstd 0.13.0", + "zstd 0.13.1", ] [[package]] @@ -802,9 +812,9 @@ dependencies = [ [[package]] name = "fastrand" -version = "2.0.1" +version = "2.0.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "25cbce373ec4653f1a01a31e8a5e5ec0c622dc27ff9c4e6606eefef5cbbed4a5" +checksum = "658bd65b1cf4c852a3cc96f18a8ce7b5640f6b703f905c7d74532294c2a63984" [[package]] name = "figment" @@ -916,7 +926,7 @@ checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -943,7 +953,7 @@ dependencies = [ "futures-macro", "futures-sink", "futures-task", - "memchr 2.7.1", + "memchr", "pin-project-lite", "pin-utils", "slab", @@ -1012,9 +1022,9 @@ checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b" [[package]] name = "h2" -version = "0.3.25" +version = "0.3.26" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4fbd2820c5e49886948654ab546d0688ff24530286bdcf8fca3cefb16d4618eb" +checksum = "81fe527a889e1532da5c525686d96d4c2e74cdd345badf8dfef9f6b39dd5f5e8" dependencies = [ "bytes", "fnv", @@ -1022,7 +1032,7 @@ dependencies = [ "futures-sink", "futures-util", "http", - "indexmap 2.2.5", + "indexmap 2.2.6", "slab", "tokio", "tokio-util", @@ -1198,9 +1208,9 @@ dependencies = [ [[package]] name = "indexmap" -version = "2.2.5" +version = "2.2.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7b0b929d511467233429c45a44ac1dcaa21ba0f5ba11e4879e6ed28ddb4f9df4" +checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26" dependencies = [ "equivalent", "hashbrown 0.14.3", @@ -1209,9 +1219,9 @@ dependencies = [ [[package]] name = "indoc" -version = "2.0.4" +version = "2.0.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1e186cfbae8084e513daff4240b4797e342f988cecda4fb6c939150f96315fd8" +checksum = "b248f5224d1d606005e02c97f5aa4e88eeb230488bcc03bc9ca4d7991399f2b5" [[package]] name = "inlinable_string" @@ -1263,9 +1273,9 @@ dependencies = [ [[package]] name = "itoa" -version = "1.0.10" +version = "1.0.11" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c" +checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b" [[package]] name = "jobserver" @@ -1319,13 +1329,12 @@ checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058" [[package]] name = "libredox" -version = "0.0.1" +version = "0.1.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "85c833ca1e66078851dba29046874e38f08b2c883700aa29a03ddd3b23814ee8" +checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d" dependencies = [ "bitflags 2.5.0", "libc", - "redox_syscall", ] [[package]] @@ -1441,18 +1450,9 @@ dependencies = [ [[package]] name = "memchr" -version = "1.0.2" +version = "2.7.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "148fab2e51b4f1cfc66da2a7c32981d1d3c083a803978268bb11fe4b86925e7a" -dependencies = [ - "libc", -] - -[[package]] -name = "memchr" -version = "2.7.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149" +checksum = "6c8640c5d730cb13ebd907d8d04b52f55ac9a2eec55b440c8892f40d56c76c1d" [[package]] name = "mime" @@ -1492,7 +1492,7 @@ dependencies = [ "http", "httparse", "log", - "memchr 2.7.1", + "memchr", "mime", "spin", "tokio", @@ -1502,9 +1502,9 @@ dependencies = [ [[package]] name = "nalgebra" -version = "0.32.4" +version = "0.32.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4541eb06dce09c0241ebbaab7102f0a01a0c8994afed2e5d0d66775016e25ac2" +checksum = "3ea4908d4f23254adda3daa60ffef0f1ac7b8c3e9a864cf3cc154b251908a2ef" dependencies = [ "approx", "matrixmultiply", @@ -1557,25 +1557,6 @@ dependencies = [ "libc", ] -[[package]] -name = "nom" -version = "3.2.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "05aec50c70fd288702bcd93284a8444607f3292dbdf2a30de5ea5dcdbe72287b" -dependencies = [ - "memchr 1.0.2", -] - -[[package]] -name = "npy" -version = "0.4.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "428bbb4dd63ca4318d430b61e64e9ba7809d11525605905eaa88c73b01d91ed4" -dependencies = [ - "byteorder", - "nom", -] - [[package]] name = "nu-ansi-term" version = "0.46.0" @@ -1610,7 +1591,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -1659,7 +1640,7 @@ version = "0.32.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a6a622008b6e321afc04970976f62ee297fdbaa6f95318ca343e3eebb9648441" dependencies = [ - "memchr 2.7.1", + "memchr", ] [[package]] @@ -1691,7 +1672,7 @@ checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -1702,9 +1683,9 @@ checksum = "ff011a302c396a5197692431fc1948019154afc178baf7d8e37367442a4601cf" [[package]] name = "openssl-sys" -version = "0.9.101" +version = "0.9.102" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "dda2b0f344e78efc2facf7d195d098df0dd72151b26ab98da807afc26c198dff" +checksum = "c597637d56fbc83893a35eb0dd04b2b8e7a50c91e64e9493e398b5df4fb45fa2" dependencies = [ "cc", "libc", @@ -1749,9 +1730,9 @@ dependencies = [ [[package]] name = "parry3d" -version = "0.13.6" +version = "0.13.7" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "13d0bdaf533851feec5cba9af11cefcc753ecefba05f758cf6abe886086bc3f5" +checksum = "6ccba18a65dba56c08dadfa936e0c9efbc883b3a26dc77d2685f78be10f7667c" dependencies = [ "approx", "arrayvec", @@ -1824,7 +1805,7 @@ dependencies = [ "proc-macro2", "proc-macro2-diagnostics", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -1844,9 +1825,9 @@ checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e" [[package]] name = "pin-project-lite" -version = "0.2.13" +version = "0.2.14" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58" +checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02" [[package]] name = "pin-utils" @@ -1889,7 +1870,7 @@ checksum = "af066a9c399a26e020ada66a034357a868728e72cd426f3adcd35f80d88d88c8" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", "version_check", "yansi", ] @@ -2040,9 +2021,9 @@ dependencies = [ [[package]] name = "redox_users" -version = "0.4.4" +version = "0.4.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a18479200779601e498ada4e8c1e1f50e3ee19deb0259c25825a98b5603b2cb4" +checksum = "bd283d9651eeda4b2a83a43c1c91b266c40fd76ecd39a50a8c630ae69dc72891" dependencies = [ "getrandom", "libredox", @@ -2066,19 +2047,19 @@ checksum = "5fddb4f8d99b0a2ebafc65a87a69a7b9875e4b1ae1f00db265d300ef7f28bccc" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] name = "regex" -version = "1.10.3" +version = "1.10.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b62dbe01f0b06f9d8dc7d49e05a0785f153b00b2c227856282f671e0318c9b15" +checksum = "c117dbdfde9c8308975b6a18d71f3f385c89461f7b3fb054288ecf2a2058ba4c" dependencies = [ "aho-corasick", - "memchr 2.7.1", + "memchr", "regex-automata 0.4.6", - "regex-syntax 0.8.2", + "regex-syntax 0.8.3", ] [[package]] @@ -2097,7 +2078,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "59b23e92ee4318893fa3fe3e6fb365258efbfe6ac6ab30f090cdcbb7aa37efa9" dependencies = [ "aho-corasick", - "memchr 2.7.1", + "memchr", "regex-syntax 0.7.5", ] @@ -2108,8 +2089,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "86b83b8b9847f9bf95ef68afb0b8e6cdb80f498442f5179a29fad448fcc1eaea" dependencies = [ "aho-corasick", - "memchr 2.7.1", - "regex-syntax 0.8.2", + "memchr", + "regex-syntax 0.8.3", ] [[package]] @@ -2126,9 +2107,9 @@ checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da" [[package]] name = "regex-syntax" -version = "0.8.2" +version = "0.8.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f" +checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56" [[package]] name = "reqwest" @@ -2192,9 +2173,9 @@ dependencies = [ "either", "figment", "futures", - "indexmap 2.2.5", + "indexmap 2.2.6", "log", - "memchr 2.7.1", + "memchr", "multer", "num_cpus", "parking_lot", @@ -2224,11 +2205,11 @@ checksum = "896efc56a554a4e1fd03df1d8186c955b803aa652bbe8725a731f64e20f9cee8" dependencies = [ "devise", "glob", - "indexmap 2.2.5", + "indexmap 2.2.6", "proc-macro2", "quote", "rocket_http", - "syn 2.0.53", + "syn 2.0.58", "unicode-xid", "version_check", ] @@ -2244,9 +2225,9 @@ dependencies = [ "futures", "http", "hyper", - "indexmap 2.2.5", + "indexmap 2.2.6", "log", - "memchr 2.7.1", + "memchr", "pear", "percent-encoding", "pin-project-lite", @@ -2347,9 +2328,9 @@ checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49" [[package]] name = "security-framework" -version = "2.9.2" +version = "2.10.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "05b64fb303737d99b81884b2c63433e9ae28abebe5eb5045dcdd175dc2ecf4de" +checksum = "770452e37cad93e0a50d5abc3990d2bc351c36d0328f86cefec2f2fb206eaef6" dependencies = [ "bitflags 1.3.2", "core-foundation", @@ -2360,9 +2341,9 @@ dependencies = [ [[package]] name = "security-framework-sys" -version = "2.9.1" +version = "2.10.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e932934257d3b408ed8f30db49d85ea163bfe74961f017f405b025af298f0c7a" +checksum = "41f3cc463c0ef97e11c3461a9d3787412d30e8e7eb907c79180c4a57bf7c04ef" dependencies = [ "core-foundation-sys", "libc", @@ -2385,14 +2366,14 @@ checksum = "7eb0b34b42edc17f6b7cac84a52a1c5f0e1bb2227e997ca9011ea3dd34e8610b" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] name = "serde_json" -version = "1.0.114" +version = "1.0.115" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c5f09b1bd632ef549eaa9f60a1f8de742bdbc698e6cee2095fc84dde5f549ae0" +checksum = "12dc5c46daa8e9fdf4f5e71b6cf9a53f2487da0e86e55808e2d35539666497dd" dependencies = [ "itoa", "ryu", @@ -2542,7 +2523,7 @@ version = "0.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4564168c00635f88eaed410d5efa8131afa8d8699a612c80c455a0ba05c21045" dependencies = [ - "memchr 2.7.1", + "memchr", ] [[package]] @@ -2569,9 +2550,9 @@ dependencies = [ [[package]] name = "strsim" -version = "0.11.0" +version = "0.11.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5ee073c9e4cd00e28217186dbe12796d692868f432bf2e97ee73bed0c56dfa01" +checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f" [[package]] name = "subtle" @@ -2592,9 +2573,9 @@ dependencies = [ [[package]] name = "syn" -version = "2.0.53" +version = "2.0.58" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032" +checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687" dependencies = [ "proc-macro2", "quote", @@ -2670,7 +2651,7 @@ checksum = "c8f546451eaa38373f549093fe9fd05e7d2bade739e2ddf834b9968621d60107" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -2690,7 +2671,7 @@ checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -2751,9 +2732,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20" [[package]] name = "tokio" -version = "1.36.0" +version = "1.37.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "61285f6515fa018fb2d1e46eb21223fff441ee8db5d0f1435e8ab4f5cdb80931" +checksum = "1adbebffeca75fcfd058afa480fb6c0b81e165a0323f9c9d39c9697e37c46787" dependencies = [ "backtrace", "bytes", @@ -2775,7 +2756,7 @@ checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -2840,7 +2821,7 @@ version = "0.22.9" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "8e40bb779c5187258fd7aad0eb68cb8706a0a81fa712fbea808ab43c4b8374c4" dependencies = [ - "indexmap 2.2.5", + "indexmap 2.2.6", "serde", "serde_spanned", "toml_datetime", @@ -2884,7 +2865,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -3087,7 +3068,7 @@ dependencies = [ "once_cell", "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", "wasm-bindgen-shared", ] @@ -3121,7 +3102,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", "wasm-bindgen-backend", "wasm-bindgen-shared", ] @@ -3364,7 +3345,7 @@ version = "0.6.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "dffa400e67ed5a4dd237983829e66475f0a4a26938c4b04c21baede6262215b8" dependencies = [ - "memchr 2.7.1", + "memchr", ] [[package]] @@ -3414,7 +3395,7 @@ checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6" dependencies = [ "proc-macro2", "quote", - "syn 2.0.53", + "syn 2.0.58", ] [[package]] @@ -3448,11 +3429,11 @@ dependencies = [ [[package]] name = "zstd" -version = "0.13.0" +version = "0.13.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bffb3309596d527cfcba7dfc6ed6052f1d39dfbd7c867aa2e865e4a449c10110" +checksum = "2d789b1514203a1120ad2429eae43a7bd32b90976a7bb8a05f7ec02fa88cc23a" dependencies = [ - "zstd-safe 7.0.0", + "zstd-safe 7.1.0", ] [[package]] @@ -3467,18 +3448,18 @@ dependencies = [ [[package]] name = "zstd-safe" -version = "7.0.0" +version = "7.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "43747c7422e2924c11144d5229878b98180ef8b06cca4ab5af37afc8a8d8ea3e" +checksum = "1cd99b45c6bc03a018c8b8a86025678c87e55526064e38f9df301989dce7ec0a" dependencies = [ "zstd-sys", ] [[package]] name = "zstd-sys" -version = "2.0.9+zstd.1.5.5" +version = "2.0.10+zstd.1.5.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9e16efa8a874a0481a574084d34cc26fdb3b99627480f785888deb6386506656" +checksum = "c253a4914af5bafc8fa8c86ee400827e83cf6ec01195ec1f1ed8441bf00d65aa" dependencies = [ "cc", "pkg-config", diff --git a/crates/dies-cli/Cargo.toml b/crates/dies-cli/Cargo.toml index ada69329..c633effe 100644 --- a/crates/dies-cli/Cargo.toml +++ b/crates/dies-cli/Cargo.toml @@ -21,4 +21,4 @@ tracing-subscriber = { version = "0.3.18", features = ["json"] } tracing-appender = "0.2.3" nalgebra = "0.32.4" dies-protos = { version = "0.1.0", path = "../dies-protos" } -npy = "0.4.0" +dies-control = { version = "0.1.0", path = "../dies-control" } diff --git a/crates/dies-cli/src/executor.rs b/crates/dies-cli/src/executor.rs index 83f83188..b3598f71 100644 --- a/crates/dies-cli/src/executor.rs +++ b/crates/dies-cli/src/executor.rs @@ -6,12 +6,14 @@ use std::{ use anyhow::{Context, Result}; -use dies_core::PlayerCmd; +use dies_control::TeamController; +use dies_core::{PlayerCmd, WorldData}; use dies_python_rt::{PyRuntime, PyRuntimeConfig, RuntimeEvent, RuntimeMsg}; use dies_serial_client::{SerialClient, SerialClientConfig}; use dies_ssl_client::{VisionClient, VisionClientConfig}; use dies_webui::spawn_webui; use dies_world::{WorldConfig, WorldTracker}; +use nalgebra::Vector2; pub struct ExecutorConfig { pub py_config: Option, @@ -49,6 +51,8 @@ pub async fn run(config: ExecutorConfig) -> Result<()> { }; let robot_ids = config.robot_ids; + let mut team_controller = TeamController::new(); + // Launch webui let (webui_sender, mut webui_cmd_rx, webui_handle) = if config.webui { let (webui_sender, webui_cmd_rx, webui_handle) = spawn_webui(); @@ -62,6 +66,7 @@ pub async fn run(config: ExecutorConfig) -> Result<()> { let fail: HashMap = HashMap::new(); let mut robots: HashSet = HashSet::new(); + let mut world_data: Option = None; loop { let runtime_msg_fut = async { if let Some(runtime) = &mut runtime { @@ -96,7 +101,8 @@ pub async fn run(config: ExecutorConfig) -> Result<()> { match vision_msg { Ok(vision_msg) => { tracker.update_from_vision(&vision_msg); - if let Some(world_data) = tracker.get() { + if let Some(new_world_data) = tracker.get() { + world_data = Some(new_world_data.clone()); // Failsafe: if one of our robots is not detected, we send stop to runtime // for player in world_data.own_players.iter() { // if SystemTime::now().duration_since(UNIX_EPOCH).unwrap().as_secs() as f64 - player.timestamp > 0.5 { @@ -138,12 +144,14 @@ pub async fn run(config: ExecutorConfig) -> Result<()> { // Send update to runtime if let Some(runtime) = &mut runtime { - let _ = runtime.send(&RuntimeMsg::World(world_data.clone())).await; + if let Some(world_data) = &world_data { + let _ = runtime.send(&RuntimeMsg::World(world_data.clone())).await; + } } // Send update to webui if let Some(ref webui_sender) = webui_sender { - if let Err(err) = webui_sender.send(world_data) { + if let Err(err) = webui_sender.send(new_world_data) { tracing::error!("Failed to send world data to webui: {}", err); } } @@ -171,6 +179,11 @@ pub async fn run(config: ExecutorConfig) -> Result<()> { tracing::error!("Received player cmd but serial is not configured"); } } + Ok(RuntimeEvent::PlayerPosCmd(cmd)) => { + let rid = *robot_ids.get(&cmd.id).unwrap_or(&0); + robots.insert(rid); + team_controller.set_target_pos(cmd.id, Vector2::new(cmd.x, cmd.y)); + } Ok(RuntimeEvent::Debug { msg }) => { tracing::debug!("Runtime debug: {}", msg); } diff --git a/crates/dies-cli/src/main.rs b/crates/dies-cli/src/main.rs index 45eb37d5..a0cb825d 100644 --- a/crates/dies-cli/src/main.rs +++ b/crates/dies-cli/src/main.rs @@ -56,7 +56,7 @@ struct Args { #[clap(long, default_value = "224.5.23.2:10006")] vision_addr: SocketAddr, - #[clap(long, default_value = "info")] + #[clap(long, default_value = "debug")] log_level: String, #[clap(long, default_value = "auto")] diff --git a/crates/dies-control/Cargo.toml b/crates/dies-control/Cargo.toml new file mode 100644 index 00000000..2d77444a --- /dev/null +++ b/crates/dies-control/Cargo.toml @@ -0,0 +1,12 @@ +[package] +name = "dies-control" +version = "0.1.0" +edition.workspace = true + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +dies-core = { version = "0.1.0", path = "../dies-core" } +log = "0.4.20" +nalgebra = "0.32.4" +num-traits = "0.2.18" diff --git a/crates/dies-control/src/lib.rs b/crates/dies-control/src/lib.rs new file mode 100644 index 00000000..6bbe7e36 --- /dev/null +++ b/crates/dies-control/src/lib.rs @@ -0,0 +1,7 @@ +mod pid; +mod player_controller; +mod team_controller; +mod variable; + +pub use player_controller::PlayerController; +pub use team_controller::TeamController; diff --git a/crates/dies-control/src/pid.rs b/crates/dies-control/src/pid.rs new file mode 100644 index 00000000..20dbe01b --- /dev/null +++ b/crates/dies-control/src/pid.rs @@ -0,0 +1,85 @@ +use std::time::Instant; + +use crate::variable::Variable; + +pub struct PID { + kp: f32, + ki: f32, + kd: f32, + setpoint: Option, + integral: T, + last_error: Option, + last_time: Instant, +} + +impl PID +where + T: Variable, +{ + pub fn new(kp: f32, ki: f32, kd: f32) -> Self { + Self { + kp, + ki, + kd, + setpoint: None, + integral: T::zero(), + last_error: None, + last_time: Instant::now(), + } + } + + pub fn set_setpoint(&mut self, setpoint: T) { + self.setpoint = Some(setpoint); + } + + pub fn update(&mut self, input: T) -> T { + if let Some(setpoint) = self.setpoint { + let error = setpoint - input; + let dt = self.last_time.elapsed().as_secs_f32(); + self.last_time = Instant::now(); + + self.integral += error * dt; + + let last_error = self.last_error.unwrap_or(error); + let derivative = (error - last_error) / dt; + self.last_error = Some(error); + + error * self.kp + self.integral * self.ki + derivative * self.kd + } else { + T::zero() + } + } +} + +#[cfg(test)] +mod tests { + use super::*; + use nalgebra::Vector2; + + #[test] + fn test_pid_update_without_setpoint() { + let mut pid = PID::::new(1.0, 1.0, 1.0); + + let output = pid.update(1.0); + + assert_eq!(output, 0.0); + } + + #[test] + fn test_pid_update_with_setpoint() { + let mut pid = PID::::new(1.0, 1.0, 1.0); + pid.set_setpoint(2.0); + + let output = pid.update(1.0); + assert_ne!(output, 0.0); + } + + #[test] + fn test_update_with_vector() { + let mut pid = PID::new(1.0, 1.0, 1.0); + pid.set_setpoint(Vector2::new(2.0, 2.0)); + + let output = pid.update(Vector2::new(1.0, 1.0)); + assert_ne!(output, Vector2::zeros()); + } +} diff --git a/crates/dies-control/src/player_controller.rs b/crates/dies-control/src/player_controller.rs new file mode 100644 index 00000000..eda38fc8 --- /dev/null +++ b/crates/dies-control/src/player_controller.rs @@ -0,0 +1,135 @@ +use crate::pid::PID; +use dies_core::{FieldGeometry, GameState, PlayerCmd, PlayerData}; +use nalgebra::Vector2; +use std::time::{Duration, Instant}; + +pub struct PlayerController { + id: u32, + position_pid: PID>, + heading_pid: PID, + kick_timer: Option, + last_pos: Vector2, + last_orientation: f32, + frame_missings: u32, +} + +impl PlayerController { + /// Create a new player controller with the given ID. + pub fn new(id: u32) -> Self { + let mut heading_pid = PID::new(2.0, 0.002, 0.0); + // Fix the heading for now + heading_pid.set_setpoint(0.0); + Self { + id, + position_pid: PID::new(0.7, 0.0, 0.0), + heading_pid, + kick_timer: None, + last_pos: Vector2::new(0.0, 0.0), + last_orientation: 0.0, + frame_missings: 0, + } + } + + /// Increment the missing frame count, return whether it's missing for too long + pub fn increment_frame_missings(&mut self) -> bool { + let threshold: u32 = 100; // for example 1.5s + self.frame_missings += 1; + self.frame_missings > threshold + } + + /// Set the target position for the player. + pub fn set_target_pos(&mut self, setpoint: Vector2) { + self.position_pid.set_setpoint(setpoint); + } + + /// Keep track of current position from the frame + pub fn update_current_pos(&mut self, state: &PlayerData) { + self.frame_missings = 0; + self.last_pos = state.position; + self.last_orientation = state.orientation; + } + + /// Update the controller with the current state of the player. + pub fn update( + &mut self, + state: &PlayerData, + is_dribbling: bool, + is_kicking: bool, + ) -> PlayerCmd { + let mut cmd: PlayerCmd = PlayerCmd { + id: self.id, + ..Default::default() + }; + self.set_speed(&mut cmd); + + self.handle_dribbling(&mut cmd, is_dribbling); + self.handle_kicking(&mut cmd, is_kicking); + + cmd + } + + /// set speed of the robot based on pids + pub fn set_speed(&mut self, cmd: &mut PlayerCmd) { + let pos_u = self.position_pid.update(self.last_pos); + let head_u = self.heading_pid.update(self.last_orientation); + let local_u = rotate_vector(Vector2::new(pos_u.x, pos_u.y), -self.last_orientation); + cmd.sx = local_u.x; + cmd.sy = local_u.y; + cmd.w = head_u; + } + + /// handle the dribbling. + pub fn handle_dribbling(&mut self, cmd: &mut PlayerCmd, is_dribbling: bool) { + // for example, 60 rad/s + if is_dribbling { + cmd.dribble_speed = 60.0; + } + } + + /// handle the kicking. + pub fn handle_kicking(&mut self, cmd: &mut PlayerCmd, is_kicking: bool) { + if !is_kicking { + return; + } + if self.kick_timer.is_none() { + self.kick_timer = Some(Instant::now()); + cmd.arm = true; + } else { + let elapsed = self.kick_timer.unwrap().elapsed(); + if elapsed >= Duration::from_millis(1000) { + cmd.kick = true; + self.kick_timer = None; + } + } + } + + /// speed limit check + pub fn speed_limit_check(&self, cmd: &mut PlayerCmd, velocity: Vector2) { + // for example 1500 mm/s + let max_speed = 1500.0; + let speed = (velocity.x.powi(2) + velocity.y.powi(2)).sqrt(); + if speed > max_speed { + let scale = max_speed / speed; + cmd.sx *= scale; + cmd.sy *= scale; + } + } + + /// out of bound detection + pub fn out_of_bound_detection( + &self, + cmd: &mut PlayerCmd, + game_state: GameState, + field_geometry: FieldGeometry, + ) { + // TODO: + // what is the excepted behavior of this?? I think pid will drag it back when + // it is out of bound, and since pid is the only way to control the robot, it may be unnecessary + // to do this check. + } +} + +fn rotate_vector(v: Vector2, angle: f32) -> Vector2 { + let rot = nalgebra::Rotation2::new(angle); + rot * v +} diff --git a/crates/dies-control/src/team_controller.rs b/crates/dies-control/src/team_controller.rs new file mode 100644 index 00000000..d065009b --- /dev/null +++ b/crates/dies-control/src/team_controller.rs @@ -0,0 +1,124 @@ +use std::collections::HashMap; + +use crate::player_controller::PlayerController; +use dies_core::GameState; +use dies_core::{PlayerCmd, WorldData}; +use nalgebra::{Vector2, Vector3}; +use std::cell::RefCell; +use std::rc::Rc; + +pub struct HaltController { + players: Rc>>, +} +impl HaltController { + /// everyone stops, notice that this only interrupts the players, so if the game + ///recovers the players will head to their original goal. + pub fn new(players: Rc>>) -> Self { + Self { players } + } + + pub fn update(&mut self) -> Vec { + self.players + .borrow() + .iter() + .map(|(id, _)| PlayerCmd::zero(*id)) + .collect() + } +} + +pub struct StopController { + players: Rc>>, +} +impl StopController { + /// After generating the commands, everyone's speed is capped at 1.5m/s. + /// and if the player is less than 500mm from the ball, the goal is set to the point 500mm away from the ball. + /// and in the opposite of the ball's speed direction. + /// dribbler is also stopped. + /// we only issue commands for players in the current frame, + /// and we assume the world covers every player's state in a long enough time. + pub fn new(players: Rc>>) -> Self { + Self { players } + } + + pub fn update(&mut self, world_data: WorldData) -> Vec { + let mut commands = Vec::new(); + let ball_pos = world_data.ball.clone().unwrap().position; + let ball_speed = world_data.ball.clone().unwrap().velocity; + let ball_pos_v2 = Vector2::new(ball_pos.x, ball_pos.y); + let ball_speed_v2 = Vector2::new(ball_speed.x, ball_speed.y); + let ball_speed_norm = ball_speed_v2.norm(); + let mut players_borrow_mut = self.players.borrow_mut(); + + for playerData in world_data.own_players { + let id = playerData.id; + let player_controller = players_borrow_mut.get_mut(&id).unwrap(); + + if ball_speed_norm > 0.1 { + let ball_speed_dir: Vector2 = ball_speed_v2 / ball_speed_norm; + let target_pos: Vector2 = ball_pos_v2 - ball_speed_dir * 500.0; + player_controller.set_target_pos(target_pos); + } else { + let target_pos_dir: Vector2 = (playerData.position - ball_pos_v2).normalize(); + let target_pos: Vector2 = ball_pos_v2 + target_pos_dir * 500.0; + player_controller.set_target_pos(target_pos); + } + let mut cmd = player_controller.update(&playerData, false, false); + let player_speed = (cmd.sx * cmd.sx + cmd.sy * cmd.sy).sqrt(); + if player_speed > 1500.0 { + cmd.sx = cmd.sx * 1500.0 / player_speed; + cmd.sy = cmd.sy * 1500.0 / player_speed; + } + commands.push(cmd); + } + commands + } +} + +pub struct TeamController { + players: Rc>>, + halt_controller: HaltController, + stop_controller: StopController, +} + +impl TeamController { + /// Create a new team controller. + pub fn new() -> Self { + let players = Rc::new(RefCell::new(HashMap::new())); + Self { + halt_controller: HaltController::new(Rc::clone(&players)), + stop_controller: StopController::new(Rc::clone(&players)), + players, + } + } + + /// Set the target position for the player with the given ID. + pub fn set_target_pos(&mut self, id: u32, setpoint: Vector2) { + let mut players = self.players.borrow_mut(); + if let Some(player) = players.get_mut(&id) { + player.set_target_pos(setpoint); + } + } + + /// Update the controllers with the current state of the players. + pub fn update(&mut self, world_data: WorldData) -> Vec { + let mut players = self.players.borrow_mut(); + let tracked_ids: Vec = world_data.own_players.iter().map(|p| p.id).collect(); + for player in &world_data.own_players { + let id = player.id; + let player_controller = players + .entry(id) + .or_insert_with(|| PlayerController::new(id)); + player_controller.update_current_pos(&player); + } + for (id, player_controller) in players.iter_mut() { + if !tracked_ids.contains(id) { + player_controller.increment_frame_missings(); + } + } + match world_data.current_game_state { + GameState::Halt | GameState::Timeout => self.halt_controller.update(), + GameState::Stop => self.stop_controller.update(world_data), + _ => Vec::new(), + } + } +} diff --git a/crates/dies-control/src/variable.rs b/crates/dies-control/src/variable.rs new file mode 100644 index 00000000..64a18450 --- /dev/null +++ b/crates/dies-control/src/variable.rs @@ -0,0 +1,34 @@ +use std::ops::{Add, AddAssign, Div, Mul, Sub}; + +use nalgebra::{Vector2, Vector3}; + +/// A trait for types that can be used as variables in a PID controller. +pub trait Variable: + Copy + + Add + + AddAssign + + Mul + + Sub + + Div +{ + /// Returns the zero value for this type. + fn zero() -> Self; +} + +impl Variable for f32 { + fn zero() -> Self { + 0.0 + } +} + +impl Variable for Vector2 { + fn zero() -> Self { + Vector2::zeros() + } +} + +impl Variable for Vector3 { + fn zero() -> Self { + Vector3::zeros() + } +} diff --git a/crates/dies-core/src/lib.rs b/crates/dies-core/src/lib.rs index b54d359e..70b578a8 100644 --- a/crates/dies-core/src/lib.rs +++ b/crates/dies-core/src/lib.rs @@ -46,3 +46,12 @@ impl PlayerCmd { } } } + +/// A position command to one of our players +#[derive(Clone, Copy, Debug, Serialize, Deserialize)] +pub struct PlayerPosCmd { + pub id: u32, + pub x: f32, + pub y: f32, + pub orientation: f32, +} diff --git a/crates/dies-python-rt/src/messages.rs b/crates/dies-python-rt/src/messages.rs index 5a2a025e..0a5f7cf4 100644 --- a/crates/dies-python-rt/src/messages.rs +++ b/crates/dies-python-rt/src/messages.rs @@ -1,4 +1,4 @@ -use dies_core::{PlayerCmd, WorldData}; +use dies_core::{PlayerCmd, PlayerPosCmd, WorldData}; use serde::{Deserialize, Serialize}; /// A message to the runtime @@ -15,6 +15,8 @@ pub enum RuntimeMsg { #[derive(Debug, Clone, Deserialize)] #[serde(tag = "type")] pub enum RuntimeEvent { + /// A position command to one of our players + PlayerPosCmd(PlayerPosCmd), /// A command to one of our players PlayerCmd(PlayerCmd), /// A debug message diff --git a/docs/src/dev.md b/docs/src/dev.md index c055a308..5eb68195 100644 --- a/docs/src/dev.md +++ b/docs/src/dev.md @@ -57,7 +57,7 @@ Throughout the codebase, the [`anyhow`](https://docs.rs/anyhow/latest/anyhow/) c Logging is really important for Dies, as it is the only way to debug issues that occured during a match. Logs should contain all the information needed to replay matches, including all the data we receive from the vision system, the world state, and the commands we send to the robots. -Dies uses the [`log`](https://docs.rs/log/latest/log/) crate for logging. The following log levels should be used: +Dies uses the [`tracing`](https://docs.rs/tracing/latest/tracing/) crate for logging. The following log levels should be used: - `error`: should be used only for fatal errors, which cause the executor to stop, ie. errors should only be logged in the executor - `warn`: should be used for unexpected events or recoverable errors, which do not cause the executor to stop and do not get propagated up diff --git a/py/dies-py/src/dies_py/bridge.py b/py/dies-py/src/dies_py/bridge.py index 7d95ca86..e4c5290c 100644 --- a/py/dies-py/src/dies_py/bridge.py +++ b/py/dies-py/src/dies_py/bridge.py @@ -33,10 +33,8 @@ def init(): recv_thread = Thread(target=_recv_loop, daemon=True) recv_thread.start() - # Set signal handler for SIGTERM, SIGINT, and SIGHUP - signal.signal(signal.SIGTERM, _sig_handler) + # Set signal handler for SIGINT signal.signal(signal.SIGINT, _sig_handler) - signal.signal(signal.SIGHUP, _sig_handler) def next_world() -> bool: @@ -78,22 +76,17 @@ def should_stop(): def _recv_loop(): global _world_state, _world_update_ev, _stop, _sock + buf = bytearray(4096) while not _stop: - try: - data = _sock.recv(4096) - msg: Msg = msg_dec.decode(data) - if isinstance(msg, Term): - _world_update_ev.set() - _stop = True - break - elif isinstance(msg, World): - _world_state = msg - _world_update_ev.set() - except socket.timeout: - pass - except msgspec.DecodeError: - sys.stderr.write("Error decoding message\n") - sys.stderr.flush() + n = _sock.recv_into(buf) + msg: Msg = msg_dec.decode(buf[:n]) + if isinstance(msg, Term): + _world_update_ev.set() + _stop = True + break + elif isinstance(msg, World): + _world_state = msg + _world_update_ev.set() def _sig_handler(signum, frame): diff --git a/py/dies-py/src/dies_py/messages.py b/py/dies-py/src/dies_py/messages.py index 17e347fc..6109c0c3 100644 --- a/py/dies-py/src/dies_py/messages.py +++ b/py/dies-py/src/dies_py/messages.py @@ -79,6 +79,13 @@ class PlayerCmd(Struct, tag=True): kick: bool = False +class PlayerPosCmd(Struct, tag=True): + id: int + x: float + y: float + orientation: float = 0.0 + + class Debug(Struct, tag=True): message: str @@ -87,4 +94,4 @@ class Ping(Struct, tag=True): pass -Cmd = Union[Debug, PlayerCmd, Ping] +Cmd = Union[Debug, PlayerCmd, Ping, PlayerPosCmd] diff --git a/webui/src/App.svelte b/webui/src/App.svelte index 9e70f2f3..48445b8a 100644 --- a/webui/src/App.svelte +++ b/webui/src/App.svelte @@ -243,6 +243,39 @@ data.push(velocityMagnitude); velocityChart.update(); } + if (state?.own_players.length > 0) { + let selectedPlayer = state.own_players[0]; + if (selectedPlayerId === null) { + selectedPlayerId = state.own_players[0].id; + } else { + const _selectedPlayer = state.own_players.find( + (player) => player.id === selectedPlayerId + ); + if (_selectedPlayer) { + selectedPlayer = _selectedPlayer; + } else { + selectedPlayerId = selectedPlayer.id; + } + } + + const velocityMagnitude = Math.sqrt( + selectedPlayer.velocity[0] ** 2 + selectedPlayer.velocity[1] ** 2 + ); + if (firstTs === null) { + firstTs = selectedPlayer.timestamp; + } + const ts = selectedPlayer.timestamp - firstTs; + + const labels = velocityChart.data.labels!; + const data = velocityChart.data.datasets[0].data; + if (data.length > 100) { + labels.shift(); + data.shift(); + } + labels.push(ts); + data.push(velocityMagnitude); + velocityChart.update(); + } }; @@ -250,6 +283,9 @@
+
+ +