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f2fe686b0e
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f2fe686b0e | ||
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b9437480e1 |
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.gitignore
vendored
1
.gitignore
vendored
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@ -1 +1,2 @@
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/target
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output.log
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653
Cargo.lock
generated
653
Cargo.lock
generated
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@ -4,9 +4,9 @@ version = 3
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]
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@ -19,21 +19,100 @@ checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
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@ -46,9 +125,9 @@ dependencies = [
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@ -58,9 +137,9 @@ checksum = "514de17de45fdb8dc022b1a7975556c53c86f9f0aa5f534b98977b171857c2c9"
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|
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|
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|
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|
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|
||||
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|
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|
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@ -119,16 +344,22 @@ dependencies = [
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@ -142,15 +373,37 @@ dependencies = [
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"adler",
|
||||
]
|
||||
|
|
@ -188,6 +441,16 @@ dependencies = [
|
|||
"minimal-lexical",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
"overload",
|
||||
"winapi",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
|
|
@ -200,18 +463,30 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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|
||||
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|
||||
"lock_api",
|
||||
"parking_lot_core",
|
||||
|
|
@ -230,6 +505,32 @@ dependencies = [
|
|||
"windows-targets 0.52.5",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"pin-project-internal",
|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.68",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "pin-project-lite"
|
||||
version = "0.2.14"
|
||||
|
|
@ -237,10 +538,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"unicode-ident",
|
||||
]
|
||||
|
|
@ -259,28 +566,45 @@ name = "radomctld"
|
|||
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|
||||
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|
||||
"anyhow",
|
||||
"axum",
|
||||
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|
||||
"humantime",
|
||||
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|
||||
"nom",
|
||||
"serde_json",
|
||||
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|
||||
"tokio-macros 0.2.6",
|
||||
"tower-http",
|
||||
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|
||||
"tracing-subscriber",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
|
|
@ -288,6 +612,68 @@ version = "1.2.0"
|
|||
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||||
[[package]]
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||||
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||||
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|
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|
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|
||||
|
||||
[[package]]
|
||||
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||||
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||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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|
||||
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|
||||
"ryu",
|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
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||||
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|
||||
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|
||||
|
|
@ -305,12 +691,12 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
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|
||||
[[package]]
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||||
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|
||||
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|
||||
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|
||||
"windows-sys 0.52.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -326,9 +712,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
|
|
@ -336,10 +722,32 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
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|
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|
||||
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||||
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|
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|
|
@ -350,7 +758,7 @@ dependencies = [
|
|||
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|
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|
||||
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|
||||
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|
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|
|
@ -367,13 +775,146 @@ dependencies = [
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|
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|
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||||
|
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dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.68",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tracing-core"
|
||||
version = "0.1.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
|
||||
dependencies = [
|
||||
"once_cell",
|
||||
"valuable",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tracing-log"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
|
||||
dependencies = [
|
||||
"log",
|
||||
"once_cell",
|
||||
"tracing-core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tracing-subscriber"
|
||||
version = "0.3.18"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
|
||||
dependencies = [
|
||||
"nu-ansi-term",
|
||||
"sharded-slab",
|
||||
"smallvec",
|
||||
"thread_local",
|
||||
"tracing-core",
|
||||
"tracing-log",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicase"
|
||||
version = "2.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f7d2d4dafb69621809a81864c9c1b864479e1235c0dd4e199924b9742439ed89"
|
||||
dependencies = [
|
||||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -382,6 +923,18 @@ version = "1.0.12"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[package]]
|
||||
name = "valuable"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||
|
||||
[[package]]
|
||||
name = "wasi"
|
||||
version = "0.11.0+wasi-snapshot-preview1"
|
||||
|
|
|
|||
|
|
@ -5,9 +5,14 @@ edition = "2021"
|
|||
|
||||
[dependencies]
|
||||
anyhow = "1.0.83"
|
||||
axum = { version = "0.7.5", features = ["macros"] }
|
||||
fern = { version = "0.6.2", features = ["colored"] }
|
||||
humantime = "2.1.0"
|
||||
log = "0.4.21"
|
||||
nom = "7.1.3"
|
||||
serde_json = "1.0.118"
|
||||
tokio = {version = "1.37.0", features = ["full"]}
|
||||
tokio-macros = { version = "0.2.0-alpha.6" }
|
||||
tower-http = { version = "0.5.2", features = ["fs", "trace"] }
|
||||
tracing = "0.1.40"
|
||||
tracing-subscriber = "0.3.18"
|
||||
|
|
|
|||
12
assets/index.html
Normal file
12
assets/index.html
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<title>radomctl</title>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
<h1>This is a Heading</h1>
|
||||
<p>This is a paragraph.</p>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
33
src/logger.rs
Normal file
33
src/logger.rs
Normal file
|
|
@ -0,0 +1,33 @@
|
|||
use anyhow::Result;
|
||||
use fern::colors::{Color, ColoredLevelConfig};
|
||||
use log::{debug, error, info, warn};
|
||||
use std::io;
|
||||
|
||||
pub fn setup_logger() -> Result<()> {
|
||||
let colors = ColoredLevelConfig::new()
|
||||
.info(Color::Green)
|
||||
.error(Color::Red)
|
||||
.warn(Color::Yellow)
|
||||
.debug(Color::Blue);
|
||||
|
||||
fern::Dispatch::new()
|
||||
// Perform allocation-free log formatting
|
||||
.format(move |out, message, record| {
|
||||
out.finish(format_args!(
|
||||
"[{} {} {}] {}",
|
||||
humantime::format_rfc3339_millis(std::time::SystemTime::now()),
|
||||
colors.color(record.level()),
|
||||
record.target(),
|
||||
message
|
||||
))
|
||||
})
|
||||
// Add blanket level filter -
|
||||
.level(log::LevelFilter::Debug)
|
||||
// - and per-module overrides
|
||||
.chain(std::io::stdout())
|
||||
.chain(fern::log_file("output.log")?)
|
||||
// Apply globally
|
||||
.apply()?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
143
src/main.rs
143
src/main.rs
|
|
@ -1,18 +1,35 @@
|
|||
mod rotctl;
|
||||
mod logger;
|
||||
mod rotctlprotocol;
|
||||
mod rotor;
|
||||
|
||||
use anyhow::Result;
|
||||
use fern::colors::{Color, ColoredLevelConfig};
|
||||
use log::{debug, error, info, warn};
|
||||
use std::io;
|
||||
use log::{debug, error, info, warn, Level};
|
||||
use serde_json::{json, Value};
|
||||
use std::{borrow::Borrow, io};
|
||||
use tokio::{
|
||||
self,
|
||||
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
|
||||
net::{TcpListener, TcpStream},
|
||||
sync::{self, mpsc, watch},
|
||||
time,
|
||||
sync::{mpsc, watch},
|
||||
task::JoinSet,
|
||||
};
|
||||
|
||||
use rotctl::Command;
|
||||
use axum::{
|
||||
extract::State,
|
||||
http::StatusCode,
|
||||
routing::{get, post},
|
||||
Json, Router,
|
||||
};
|
||||
use tower_http::{
|
||||
services::{ServeDir, ServeFile},
|
||||
trace::TraceLayer,
|
||||
};
|
||||
|
||||
use logger::setup_logger;
|
||||
use rotor::control_rotor;
|
||||
|
||||
use rotctlprotocol::{parse_command, Command};
|
||||
|
||||
async fn process_socket(
|
||||
socket: TcpStream,
|
||||
|
|
@ -31,7 +48,7 @@ async fn process_socket(
|
|||
|
||||
debug!("Received: {}", line.strip_suffix("\n").unwrap());
|
||||
|
||||
match rotctl::parse_command(&line) {
|
||||
match parse_command(&line) {
|
||||
Ok(cmd) => match cmd {
|
||||
Command::GetPos => {
|
||||
let (az, el) = pos_rx.borrow().clone();
|
||||
|
|
@ -67,72 +84,9 @@ async fn process_socket(
|
|||
}
|
||||
}
|
||||
|
||||
async fn control_rotor(mut rx_cmd: mpsc::Receiver<Command>, pos_tx: watch::Sender<(f32, f32)>) {
|
||||
let mut actual_az = 0.0;
|
||||
let mut actual_el = 0.0;
|
||||
|
||||
let mut target_az = 0.0;
|
||||
let mut target_el = 0.0;
|
||||
|
||||
loop {
|
||||
tokio::select! {
|
||||
Some(command) = rx_cmd.recv() => {
|
||||
match command {
|
||||
Command::SetPos(az, el) => {
|
||||
info!("Received set pos {} {}", az, el);
|
||||
target_az = az;
|
||||
target_el = el;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
},
|
||||
_ = time::sleep(time::Duration::from_millis(100)) => {
|
||||
if target_az < actual_az {
|
||||
actual_az -= 1.0;
|
||||
} else if target_az > actual_az {
|
||||
actual_az += 1.0;
|
||||
}
|
||||
|
||||
if target_el < actual_el {
|
||||
actual_el -= 1.0;
|
||||
} else if target_el > actual_el {
|
||||
actual_el += 1.0;
|
||||
}
|
||||
|
||||
pos_tx.send((actual_az, actual_el)).unwrap();
|
||||
},
|
||||
else => return
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
fn setup_logger() -> Result<()> {
|
||||
let colors = ColoredLevelConfig::new()
|
||||
.info(Color::Green)
|
||||
.error(Color::Red)
|
||||
.warn(Color::Yellow)
|
||||
.debug(Color::Blue);
|
||||
|
||||
fern::Dispatch::new()
|
||||
// Perform allocation-free log formatting
|
||||
.format(move |out, message, record| {
|
||||
out.finish(format_args!(
|
||||
"[{} {} {}] {}",
|
||||
humantime::format_rfc3339_millis(std::time::SystemTime::now()),
|
||||
colors.color(record.level()),
|
||||
record.target(),
|
||||
message
|
||||
))
|
||||
})
|
||||
// Add blanket level filter -
|
||||
.level(log::LevelFilter::Debug)
|
||||
// - and per-module overrides
|
||||
.chain(std::io::stdout())
|
||||
.chain(fern::log_file("output.log")?)
|
||||
// Apply globally
|
||||
.apply()?;
|
||||
|
||||
Ok(())
|
||||
#[derive(Clone)]
|
||||
struct AxumAppState {
|
||||
pos_rx: watch::Receiver<(f32, f32)>,
|
||||
}
|
||||
|
||||
#[tokio::main]
|
||||
|
|
@ -140,14 +94,31 @@ async fn main() -> Result<()> {
|
|||
setup_logger()?;
|
||||
|
||||
let (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
|
||||
|
||||
let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
|
||||
|
||||
tokio::spawn(async move {
|
||||
control_rotor(cmd_rx, pos_tx).await;
|
||||
let mut tasks = JoinSet::new();
|
||||
|
||||
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
|
||||
|
||||
let state = AxumAppState {
|
||||
pos_rx: pos_rx.clone(),
|
||||
};
|
||||
|
||||
tasks.spawn(async move {
|
||||
let app = Router::new()
|
||||
.route_service("/", ServeFile::new("assets/index.html"))
|
||||
.route("/state", get(get_state))
|
||||
.with_state(state)
|
||||
.layer(TraceLayer::new_for_http());
|
||||
|
||||
let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
|
||||
axum::serve(listener, app).await?;
|
||||
|
||||
Ok(())
|
||||
});
|
||||
|
||||
let listener = TcpListener::bind("127.0.0.1:8080").await?;
|
||||
tasks.spawn(async move {
|
||||
let listener = TcpListener::bind("127.0.0.1:1337").await?;
|
||||
|
||||
loop {
|
||||
let (socket, _) = listener.accept().await?;
|
||||
|
|
@ -158,4 +129,22 @@ async fn main() -> Result<()> {
|
|||
process_socket(socket, cmd_tx, pos_rx).await;
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
while let Some(res) = tasks.join_next().await {
|
||||
res.unwrap();
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn get_state(State(state): State<AxumAppState>) -> Json<Value> {
|
||||
let (az, el) = state.pos_rx.borrow().clone();
|
||||
|
||||
Json(json!({
|
||||
"position" : {
|
||||
"az": az,
|
||||
"el": el
|
||||
}
|
||||
}))
|
||||
}
|
||||
|
|
|
|||
53
src/rotor.rs
Normal file
53
src/rotor.rs
Normal file
|
|
@ -0,0 +1,53 @@
|
|||
use anyhow::Result;
|
||||
use log::{debug, error, info, warn};
|
||||
use tokio::{
|
||||
self,
|
||||
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
|
||||
net::{TcpListener, TcpStream},
|
||||
sync::{self, mpsc, watch},
|
||||
time,
|
||||
};
|
||||
|
||||
use crate::rotctlprotocol::{parse_command, Command};
|
||||
|
||||
pub async fn control_rotor(
|
||||
mut rx_cmd: mpsc::Receiver<Command>,
|
||||
pos_tx: watch::Sender<(f32, f32)>,
|
||||
) -> Result<()> {
|
||||
let mut actual_az = 0.0;
|
||||
let mut actual_el = 0.0;
|
||||
|
||||
let mut target_az = 0.0;
|
||||
let mut target_el = 0.0;
|
||||
|
||||
loop {
|
||||
tokio::select! {
|
||||
Some(command) = rx_cmd.recv() => {
|
||||
match command {
|
||||
Command::SetPos(az, el) => {
|
||||
info!("Received set pos {} {}", az, el);
|
||||
target_az = az;
|
||||
target_el = el;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
},
|
||||
_ = time::sleep(time::Duration::from_millis(100)) => {
|
||||
if target_az < actual_az {
|
||||
actual_az -= 1.0;
|
||||
} else if target_az > actual_az {
|
||||
actual_az += 1.0;
|
||||
}
|
||||
|
||||
if target_el < actual_el {
|
||||
actual_el -= 1.0;
|
||||
} else if target_el > actual_el {
|
||||
actual_el += 1.0;
|
||||
}
|
||||
|
||||
pos_tx.send((actual_az, actual_el)).unwrap();
|
||||
},
|
||||
else => return Ok(())
|
||||
};
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue