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[INFO] running `Command { std: "git" "-c" "credential.helper=" "-c" "credential.helper=/workspace/cargo-home/bin/git-credential-null" "clone" "--bare" "https://github.com/blechdavier/xavier-robot" "/workspace/cache/git-repos/https%3A%2F%2Fgithub.com%2Fblechdavier%2Fxavier-robot", kill_on_drop: false }`
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[INFO] checking blechdavier/xavier-robot against master#485ec3fbcc12fa14ef6596dabb125ad710499c9e for pr-157710
[INFO] running `Command { std: "git" "clone" "/workspace/cache/git-repos/https%3A%2F%2Fgithub.com%2Fblechdavier%2Fxavier-robot" "/workspace/builds/worker-7-tc1/source", kill_on_drop: false }`
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[INFO] removed /workspace/builds/worker-7-tc1/source/rust-toolchain
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[INFO] finished tweaking git repo https://github.com/blechdavier/xavier-robot
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[INFO] validating manifest of git repo https://github.com/blechdavier/xavier-robot on toolchain 485ec3fbcc12fa14ef6596dabb125ad710499c9e
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[INFO] crate git repo https://github.com/blechdavier/xavier-robot already has a lockfile, it will not be regenerated
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[INFO] [stdout] warning: unused import: `std::f64::consts::PI`
[INFO] [stdout]  --> src/odometry.rs:1:5
[INFO] [stdout]   |
[INFO] [stdout] 1 | use std::f64::consts::PI;
[INFO] [stdout]   |     ^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout]   |
[INFO] [stdout]   = note: `#[warn(unused_imports)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `f64::consts::PI`
[INFO] [stdout]  --> src/geometry.rs:1:11
[INFO] [stdout]   |
[INFO] [stdout] 1 | use std::{f64::consts::PI, fmt::Debug, ops::{Add, AddAssign, Mul, Neg}};
[INFO] [stdout]   |           ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `Twist2d`
[INFO] [stdout]  --> src/pose_estimator.rs:3:37
[INFO] [stdout]   |
[INFO] [stdout] 3 | use crate::{geometry::{Transform2d, Twist2d}, odometry::WheelOdometry, utils::{Interpolate, TimeInterpolatableBuffer}};
[INFO] [stdout]   |                                     ^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `std::f64::consts::PI`
[INFO] [stdout]  --> src/pose_graph.rs:1:5
[INFO] [stdout]   |
[INFO] [stdout] 1 | use std::f64::consts::PI;
[INFO] [stdout]   |     ^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `crate::icp::icp_least_squares`
[INFO] [stdout]  --> src/pose_graph.rs:8:5
[INFO] [stdout]   |
[INFO] [stdout] 8 | use crate::icp::icp_least_squares;
[INFO] [stdout]   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `assert_approx_eq::assert_approx_eq`
[INFO] [stdout]  --> src/utils.rs:3:5
[INFO] [stdout]   |
[INFO] [stdout] 3 | use assert_approx_eq::assert_approx_eq;
[INFO] [stdout]   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused imports: `Receiver`, `Sender`, and `self`
[INFO] [stdout]  --> src/drivetrain.rs:4:16
[INFO] [stdout]   |
[INFO] [stdout] 4 |         mpsc::{self, Receiver, Sender},
[INFO] [stdout]   |                ^^^^  ^^^^^^^^  ^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `serde::Serialize`
[INFO] [stdout]   --> src/lidar.rs:36:5
[INFO] [stdout]    |
[INFO] [stdout] 36 | use serde::Serialize;
[INFO] [stdout]    |     ^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `ErrorKind`
[INFO] [stdout]   --> src/lidar.rs:38:44
[INFO] [stdout]    |
[INFO] [stdout] 38 | use tokio_serial::{available_ports, Error, ErrorKind, SerialPort, SerialPortBuilderExt, SerialPortType};
[INFO] [stdout]    |                                            ^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `PoseGraphUpdateResult`
[INFO] [stdout]   --> src/main.rs:16:34
[INFO] [stdout]    |
[INFO] [stdout] 16 | use pose_graph::{LidarPoseGraph, PoseGraphUpdateResult};
[INFO] [stdout]    |                                  ^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `WsPoseGraphNode`
[INFO] [stdout]   --> src/main.rs:18:24
[INFO] [stdout]    |
[INFO] [stdout] 18 | use ws::{DriveCommand, WsPoseGraphNode};
[INFO] [stdout]    |                        ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `Twist2d`
[INFO] [stdout]  --> src/pose_estimator.rs:3:37
[INFO] [stdout]   |
[INFO] [stdout] 3 | use crate::{geometry::{Transform2d, Twist2d}, odometry::WheelOdometry, utils::{Interpolate, TimeInterpolatableBuffer}};
[INFO] [stdout]   |                                     ^^^^^^^
[INFO] [stdout]   |
[INFO] [stdout]   = note: `#[warn(unused_imports)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `std::f64::consts::PI`
[INFO] [stdout]  --> src/pose_graph.rs:1:5
[INFO] [stdout]   |
[INFO] [stdout] 1 | use std::f64::consts::PI;
[INFO] [stdout]   |     ^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `crate::icp::icp_least_squares`
[INFO] [stdout]  --> src/pose_graph.rs:8:5
[INFO] [stdout]   |
[INFO] [stdout] 8 | use crate::icp::icp_least_squares;
[INFO] [stdout]   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused imports: `Receiver`, `Sender`, and `self`
[INFO] [stdout]  --> src/drivetrain.rs:4:16
[INFO] [stdout]   |
[INFO] [stdout] 4 |         mpsc::{self, Receiver, Sender},
[INFO] [stdout]   |                ^^^^  ^^^^^^^^  ^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `serde::Serialize`
[INFO] [stdout]   --> src/lidar.rs:36:5
[INFO] [stdout]    |
[INFO] [stdout] 36 | use serde::Serialize;
[INFO] [stdout]    |     ^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `ErrorKind`
[INFO] [stdout]   --> src/lidar.rs:38:44
[INFO] [stdout]    |
[INFO] [stdout] 38 | use tokio_serial::{available_ports, Error, ErrorKind, SerialPort, SerialPortBuilderExt, SerialPortType};
[INFO] [stdout]    |                                            ^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `PoseGraphUpdateResult`
[INFO] [stdout]   --> src/main.rs:16:34
[INFO] [stdout]    |
[INFO] [stdout] 16 | use pose_graph::{LidarPoseGraph, PoseGraphUpdateResult};
[INFO] [stdout]    |                                  ^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused import: `WsPoseGraphNode`
[INFO] [stdout]   --> src/main.rs:18:24
[INFO] [stdout]    |
[INFO] [stdout] 18 | use ws::{DriveCommand, WsPoseGraphNode};
[INFO] [stdout]    |                        ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `std_x`
[INFO] [stdout]   --> src/pose_estimator.rs:48:9
[INFO] [stdout]    |
[INFO] [stdout] 48 |         std_x: f64,
[INFO] [stdout]    |         ^^^^^ help: if this is intentional, prefix it with an underscore: `_std_x`
[INFO] [stdout]    |
[INFO] [stdout]    = note: `#[warn(unused_variables)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `std_y`
[INFO] [stdout]   --> src/pose_estimator.rs:49:9
[INFO] [stdout]    |
[INFO] [stdout] 49 |         std_y: f64,
[INFO] [stdout]    |         ^^^^^ help: if this is intentional, prefix it with an underscore: `_std_y`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `std_theta`
[INFO] [stdout]   --> src/pose_estimator.rs:50:9
[INFO] [stdout]    |
[INFO] [stdout] 50 |         std_theta: f64,
[INFO] [stdout]    |         ^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_std_theta`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `data_type`
[INFO] [stdout]    --> src/lidar.rs:446:13
[INFO] [stdout]     |
[INFO] [stdout] 446 |         let data_type = response_descriptor[6];
[INFO] [stdout]     |             ^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_data_type`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `send_mode`
[INFO] [stdout]    --> src/lidar.rs:447:13
[INFO] [stdout]     |
[INFO] [stdout] 447 |         let send_mode = response_descriptor[5] & 0b11;
[INFO] [stdout]     |             ^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_send_mode`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `length`
[INFO] [stdout]    --> src/lidar.rs:448:13
[INFO] [stdout]     |
[INFO] [stdout] 448 |         let length = ((response_descriptor[5] as u32) << 8) | response_descriptor[4] as u32;
[INFO] [stdout]     |             ^^^^^^ help: if this is intentional, prefix it with an underscore: `_length`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `socket`
[INFO] [stdout]   --> src/ws.rs:52:43
[INFO] [stdout]    |
[INFO] [stdout] 52 |     socket.on("pathfindToPosition", move |socket: SocketRef, state: State<WebsocketState>, Data::<Transform2d>(data)| {
[INFO] [stdout]    |                                           ^^^^^^ help: if this is intentional, prefix it with an underscore: `_socket`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `socket`
[INFO] [stdout]   --> src/ws.rs:49:40
[INFO] [stdout]    |
[INFO] [stdout] 49 |     socket.on("driveWithSpeeds", move |socket: SocketRef, state: State<WebsocketState>, Data::<Vec<f64>>(data)| {
[INFO] [stdout]    |                                        ^^^^^^ help: if this is intentional, prefix it with an underscore: `_socket`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `state`
[INFO] [stdout]   --> src/ws.rs:47:41
[INFO] [stdout]    |
[INFO] [stdout] 47 | pub async fn handler(socket: SocketRef, state: State<WebsocketState>) {
[INFO] [stdout]    |                                         ^^^^^ help: if this is intentional, prefix it with an underscore: `_state`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variable does not need to be mutable
[INFO] [stdout]   --> src/main.rs:30:9
[INFO] [stdout]    |
[INFO] [stdout] 30 |     let mut pose_graph = LidarPoseGraph::new();
[INFO] [stdout]    |         ----^^^^^^^^^^
[INFO] [stdout]    |         |
[INFO] [stdout]    |         help: remove this `mut`
[INFO] [stdout]    |
[INFO] [stdout]    = note: `#[warn(unused_mut)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `scan_rx`
[INFO] [stdout]   --> src/main.rs:26:10
[INFO] [stdout]    |
[INFO] [stdout] 26 |     let (scan_rx, lidar_health) = lidar::start_lidar_thread(io.clone()).await;
[INFO] [stdout]    |          ^^^^^^^ help: if this is intentional, prefix it with an underscore: `_scan_rx`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `lidar_health`
[INFO] [stdout]   --> src/main.rs:26:19
[INFO] [stdout]    |
[INFO] [stdout] 26 |     let (scan_rx, lidar_health) = lidar::start_lidar_thread(io.clone()).await;
[INFO] [stdout]    |                   ^^^^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_lidar_health`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `drivetrain_health`
[INFO] [stdout]   --> src/main.rs:27:54
[INFO] [stdout]    |
[INFO] [stdout] 27 |     let (commanded_speeds, heading, wheel_positions, drivetrain_health) = drivetrain::start_drivetrain_thread(io.clone()).await;
[INFO] [stdout]    |                                                      ^^^^^^^^^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_drivetrain_health`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `pose_graph`
[INFO] [stdout]   --> src/main.rs:30:9
[INFO] [stdout]    |
[INFO] [stdout] 30 |     let mut pose_graph = LidarPoseGraph::new();
[INFO] [stdout]    |         ^^^^^^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_pose_graph`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `reset_pose` is never used
[INFO] [stdout]  --> src/odometry.rs:8:8
[INFO] [stdout]   |
[INFO] [stdout] 5 | pub trait WheelOdometry<WheelPositions> {
[INFO] [stdout]   |           ------------- method in this trait
[INFO] [stdout] ...
[INFO] [stdout] 8 |     fn reset_pose(
[INFO] [stdout]   |        ^^^^^^^^^^
[INFO] [stdout]   |
[INFO] [stdout]   = note: `#[warn(dead_code)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: field `wheel_separation_meters` is never read
[INFO] [stdout]   --> src/odometry.rs:32:5
[INFO] [stdout]    |
[INFO] [stdout] 30 | pub struct DifferentialDriveOdometry {
[INFO] [stdout]    |            ------------------------- field in this struct
[INFO] [stdout] 31 |     pose: Transform2d,
[INFO] [stdout] 32 |     wheel_separation_meters: f64,
[INFO] [stdout]    |     ^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `DifferentialDriveOdometry` has a derived impl for the trait `Debug`, but this is intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `norm` is never used
[INFO] [stdout]   --> src/geometry.rs:29:12
[INFO] [stdout]    |
[INFO] [stdout] 20 | impl Transform2d {
[INFO] [stdout]    | ---------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 29 |     pub fn norm(&self) -> f64 {
[INFO] [stdout]    |            ^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `Transform3d` is never constructed
[INFO] [stdout]    --> src/geometry.rs:190:12
[INFO] [stdout]     |
[INFO] [stdout] 190 | pub struct Transform3d {
[INFO] [stdout]     |            ^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated items `new`, `from_slices`, `inverse`, `get_yaw`, and `to_transform_2d` are never used
[INFO] [stdout]    --> src/geometry.rs:196:18
[INFO] [stdout]     |
[INFO] [stdout] 195 | impl Transform3d {
[INFO] [stdout]     | ---------------- associated items in this implementation
[INFO] [stdout] 196 |     pub const fn new(rotation: Rotation3<f64>, translation: Vector3<f64>) -> Self {
[INFO] [stdout]     |                  ^^^
[INFO] [stdout] ...
[INFO] [stdout] 201 |     pub fn from_slices(rotation: &[f64; 9], translation: &[f64; 3]) -> Self {
[INFO] [stdout]     |            ^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 212 |     pub fn inverse(&self) -> Self {
[INFO] [stdout]     |            ^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 220 |     pub fn get_yaw(&self) -> f64 {
[INFO] [stdout]     |            ^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 224 |     pub fn to_transform_2d(&self) -> Transform2d {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: constant `BUFFER_SIZE` is never used
[INFO] [stdout]  --> src/pose_estimator.rs:5:7
[INFO] [stdout]   |
[INFO] [stdout] 5 | const BUFFER_SIZE: Duration = Duration::from_secs(2);
[INFO] [stdout]   |       ^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `PoseEstimator` is never constructed
[INFO] [stdout]  --> src/pose_estimator.rs:7:12
[INFO] [stdout]   |
[INFO] [stdout] 7 | pub struct PoseEstimator<T: WheelOdometry<U>, U> {
[INFO] [stdout]   |            ^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated items `new`, `update_odometry`, `reset_pose`, `add_vision_measurement`, and `sample_at` are never used
[INFO] [stdout]   --> src/pose_estimator.rs:15:12
[INFO] [stdout]    |
[INFO] [stdout] 14 | impl<T: WheelOdometry<U>, U> PoseEstimator<T, U> {
[INFO] [stdout]    | ------------------------------------------------ associated items in this implementation
[INFO] [stdout] 15 |     pub fn new(world_to_robot: Transform2d, odometry: T, time_since_program_start: Duration) -> Self {
[INFO] [stdout]    |            ^^^
[INFO] [stdout] ...
[INFO] [stdout] 27 |     pub fn update_odometry(&mut self, gyro_angle_radians: f64, wheel_positions: &U, time_since_program_start: Duration) {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 33 |     pub fn reset_pose(&mut self, world_to_robot: Transform2d, time_since_program_start: Duration) {
[INFO] [stdout]    |            ^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 44 |     pub fn add_vision_measurement(
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 61 |     pub fn sample_at(&self, timestamp: Duration) -> Result<Transform2d, ()> {
[INFO] [stdout]    |            ^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: fields `nodes`, `edges`, and `dirty` are never read
[INFO] [stdout]   --> src/pose_graph.rs:12:9
[INFO] [stdout]    |
[INFO] [stdout] 11 | pub struct PoseGraphBackend {
[INFO] [stdout]    |            ---------------- fields in this struct
[INFO] [stdout] 12 |     pub nodes: DVector<f64>,
[INFO] [stdout]    |         ^^^^^
[INFO] [stdout] 13 |     edges: Vec<PoseGraphEdge>,
[INFO] [stdout]    |     ^^^^^
[INFO] [stdout] 14 |     dirty: bool
[INFO] [stdout]    |     ^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `PoseGraphBackend` has a derived impl for the trait `Debug`, but this is intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `add_node_with_odometry`, `add_loop_closure`, and `optimize` are never used
[INFO] [stdout]   --> src/pose_graph.rs:25:12
[INFO] [stdout]    |
[INFO] [stdout] 17 | impl PoseGraphBackend {
[INFO] [stdout]    | --------------------- methods in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 25 |     pub fn add_node_with_odometry(&mut self, prev_node_to_new: Transform2d) {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 46 |     pub fn add_loop_closure(&mut self, i: usize, j: usize, i_to_j: Transform2d) {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 50 |     pub fn optimize(&mut self, max_iterations: usize) {
[INFO] [stdout]    |            ^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: fields `i`, `j`, and `i_to_j` are never read
[INFO] [stdout]    --> src/pose_graph.rs:122:5
[INFO] [stdout]     |
[INFO] [stdout] 121 | struct PoseGraphEdge {
[INFO] [stdout]     |        ------------- fields in this struct
[INFO] [stdout] 122 |     i: usize,
[INFO] [stdout]     |     ^
[INFO] [stdout] 123 |     j: usize,
[INFO] [stdout]     |     ^
[INFO] [stdout] 124 |     i_to_j: Transform2d
[INFO] [stdout]     |     ^^^^^^
[INFO] [stdout]     |
[INFO] [stdout]     = note: `PoseGraphEdge` has a derived impl for the trait `Debug`, but this is intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: fields `backend`, `node_scans`, `world_to_prev_odom`, and `scans_since_loop_closure` are never read
[INFO] [stdout]    --> src/pose_graph.rs:143:9
[INFO] [stdout]     |
[INFO] [stdout] 142 | pub struct LidarPoseGraph {
[INFO] [stdout]     |            -------------- fields in this struct
[INFO] [stdout] 143 |     pub backend: PoseGraphBackend,
[INFO] [stdout]     |         ^^^^^^^
[INFO] [stdout] 144 |     pub node_scans: Vec<Vec<Vector2<f64>>>,
[INFO] [stdout]     |         ^^^^^^^^^^
[INFO] [stdout] 145 |     world_to_prev_odom: Transform2d,
[INFO] [stdout]     |     ^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 146 |     scans_since_loop_closure: u16
[INFO] [stdout]     |     ^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: enum `PoseGraphUpdateResult` is never used
[INFO] [stdout]    --> src/pose_graph.rs:149:10
[INFO] [stdout]     |
[INFO] [stdout] 149 | pub enum PoseGraphUpdateResult {
[INFO] [stdout]     |          ^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `update` and `add_scan` are never used
[INFO] [stdout]    --> src/pose_graph.rs:159:12
[INFO] [stdout]     |
[INFO] [stdout] 155 | impl LidarPoseGraph {
[INFO] [stdout]     | ------------------- methods in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 159 |     pub fn update(&mut self, world_to_new_odom: Transform2d, new_scan: Vec<Vector2<f64>>) -> PoseGraphUpdateResult {
[INFO] [stdout]     |            ^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 170 |     fn add_scan(&mut self, world_to_new_odom: Transform2d, new_scan: Vec<Vector2<f64>>) {
[INFO] [stdout]     |        ^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `TimeInterpolatableBuffer` is never constructed
[INFO] [stdout]  --> src/utils.rs:5:12
[INFO] [stdout]   |
[INFO] [stdout] 5 | pub struct TimeInterpolatableBuffer<T> {
[INFO] [stdout]   |            ^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated items `new`, `add_sample`, `get_value`, `clear`, and `clean_up` are never used
[INFO] [stdout]   --> src/utils.rs:11:12
[INFO] [stdout]    |
[INFO] [stdout] 10 | impl<T: Interpolate + Clone> TimeInterpolatableBuffer<T> {
[INFO] [stdout]    | -------------------------------------------------------- associated items in this implementation
[INFO] [stdout] 11 |     pub fn new(history_size: Duration) -> Self {
[INFO] [stdout]    |            ^^^
[INFO] [stdout] ...
[INFO] [stdout] 17 |     pub fn add_sample(&mut self, time_since_program_start: Duration, value: T) {
[INFO] [stdout]    |            ^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 29 |     pub fn get_value(&self, time: Duration) -> Option<T> {
[INFO] [stdout]    |            ^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 47 |     pub fn clear(&mut self) {
[INFO] [stdout]    |            ^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 50 |     pub fn clean_up(&mut self, current_time: Duration) {
[INFO] [stdout]    |            ^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: trait `Interpolate` is never used
[INFO] [stdout]    --> src/utils.rs:103:11
[INFO] [stdout]     |
[INFO] [stdout] 103 | pub trait Interpolate {
[INFO] [stdout]     |           ^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variant `Disconnected` is never constructed
[INFO] [stdout]   --> src/drivetrain.rs:89:5
[INFO] [stdout]    |
[INFO] [stdout] 86 | pub enum DrivetrainStatus {
[INFO] [stdout]    |          ---------------- variant in this enum
[INFO] [stdout] ...
[INFO] [stdout] 89 |     Disconnected,
[INFO] [stdout]    |     ^^^^^^^^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `DrivetrainStatus` has derived impls for the traits `Clone` and `Debug`, but these are intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `set_kp` is never used
[INFO] [stdout]    --> src/drivetrain.rs:184:18
[INFO] [stdout]     |
[INFO] [stdout] 160 | impl XavierBotDrivetrain {
[INFO] [stdout]     | ------------------------ method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 184 |     pub async fn set_kp(&mut self, kp: f32) {
[INFO] [stdout]     |                  ^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: constant `ROBOT_TO_LIDAR` is never used
[INFO] [stdout]   --> src/lidar.rs:46:7
[INFO] [stdout]    |
[INFO] [stdout] 46 | const ROBOT_TO_LIDAR: Transform2d = Transform2d::new(-0.085, -0.01, PI / 2.0);
[INFO] [stdout]    |       ^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variant `ProtocolError` is never constructed
[INFO] [stdout]   --> src/lidar.rs:84:5
[INFO] [stdout]    |
[INFO] [stdout] 81 | pub enum LidarStatus {
[INFO] [stdout]    |          ----------- variant in this enum
[INFO] [stdout] ...
[INFO] [stdout] 84 |     ProtocolError,
[INFO] [stdout]    |     ^^^^^^^^^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `LidarStatus` has derived impls for the traits `Clone` and `Debug`, but these are intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `get_most_recent_scan` is never used
[INFO] [stdout]    --> src/lidar.rs:280:12
[INFO] [stdout]     |
[INFO] [stdout]  94 | impl LidarEngine {
[INFO] [stdout]     | ---------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 280 |     pub fn get_most_recent_scan(&self) -> Option<&LidarScan> {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: field `index` is never read
[INFO] [stdout]    --> src/lidar.rs:293:9
[INFO] [stdout]     |
[INFO] [stdout] 290 | pub struct LidarPoint {
[INFO] [stdout]     |            ---------- field in this struct
[INFO] [stdout] ...
[INFO] [stdout] 293 |     pub index: u8,
[INFO] [stdout]     |         ^^^^^
[INFO] [stdout]     |
[INFO] [stdout]     = note: `LidarPoint` has derived impls for the traits `Clone` and `Debug`, but these are intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `get_angle_degrees`, `get_angle_rad`, `get_angle_rad_f64`, `to_cartesian`, and `to_cartesian_ws` are never used
[INFO] [stdout]    --> src/lidar.rs:297:12
[INFO] [stdout]     |
[INFO] [stdout] 296 | impl LidarPoint {
[INFO] [stdout]     | --------------- methods in this implementation
[INFO] [stdout] 297 |     pub fn get_angle_degrees(&self) -> f32 {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 300 |     pub fn get_angle_rad(&self) -> f32 {
[INFO] [stdout]     |            ^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 303 |     pub fn get_angle_rad_f64(&self) -> f64 {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 306 |     pub fn to_cartesian(&self) -> Vector2<f64> {
[INFO] [stdout]     |            ^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 313 |     pub fn to_cartesian_ws(&self) -> [f64; 2] {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: fields `timestamp` and `start_bit` are never read
[INFO] [stdout]    --> src/lidar.rs:323:9
[INFO] [stdout]     |
[INFO] [stdout] 322 | pub struct ScanPacket {
[INFO] [stdout]     |            ---------- fields in this struct
[INFO] [stdout] 323 |     pub timestamp: Instant,
[INFO] [stdout]     |         ^^^^^^^^^
[INFO] [stdout] 324 |     pub start_bit: bool,
[INFO] [stdout]     |         ^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `get_start_angle_radians` is never used
[INFO] [stdout]    --> src/lidar.rs:372:8
[INFO] [stdout]     |
[INFO] [stdout] 334 | impl ScanPacket {
[INFO] [stdout]     | --------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 372 |     fn get_start_angle_radians(&self) -> f32 {
[INFO] [stdout]     |        ^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `to_cartesian_points` and `to_cartesian_points_ws` are never used
[INFO] [stdout]    --> src/lidar.rs:383:12
[INFO] [stdout]     |
[INFO] [stdout] 382 | impl LidarScan {
[INFO] [stdout]     | -------------- methods in this implementation
[INFO] [stdout] 383 |     pub fn to_cartesian_points(&self) -> Vec<Vector2<f64>> {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 389 |     pub fn to_cartesian_points_ws(&self) -> Vec<[f64; 2]> {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variants `Reset`, `GetDeviceInfo`, and `GetDeviceHealth` are never constructed
[INFO] [stdout]    --> src/lidar.rs:399:5
[INFO] [stdout]     |
[INFO] [stdout] 397 | pub enum LidarRequest {
[INFO] [stdout]     |          ------------ variants in this enum
[INFO] [stdout] 398 |     Stop,
[INFO] [stdout] 399 |     Reset,
[INFO] [stdout]     |     ^^^^^
[INFO] [stdout] 400 |     GetDeviceInfo,
[INFO] [stdout]     |     ^^^^^^^^^^^^^
[INFO] [stdout] 401 |     GetDeviceHealth,
[INFO] [stdout]     |     ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: enum `LidarResponse` is never used
[INFO] [stdout]    --> src/lidar.rs:405:10
[INFO] [stdout]     |
[INFO] [stdout] 405 | pub enum LidarResponse {
[INFO] [stdout]     |          ^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated function `read` is never used
[INFO] [stdout]    --> src/lidar.rs:437:18
[INFO] [stdout]     |
[INFO] [stdout] 435 | impl LidarResponse {
[INFO] [stdout]     | ------------------ associated function in this implementation
[INFO] [stdout] 436 |     /// doesn't work yet. this might not be necessary
[INFO] [stdout] 437 |     pub async fn read(port: &mut SerialStream) -> Result<Self, tokio_serial::Error> {
[INFO] [stdout]     |                  ^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `WsPoseGraphNode` is never constructed
[INFO] [stdout]   --> src/ws.rs:31:12
[INFO] [stdout]    |
[INFO] [stdout] 31 | pub struct WsPoseGraphNode {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: function `icp_least_squares` is never used
[INFO] [stdout]  --> src/icp.rs:5:8
[INFO] [stdout]   |
[INFO] [stdout] 5 | pub fn icp_least_squares(
[INFO] [stdout]   |        ^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: function `get_correspondence_indices` is never used
[INFO] [stdout]   --> src/icp.rs:34:4
[INFO] [stdout]    |
[INFO] [stdout] 34 | fn get_correspondence_indices(p: &[Vector2<f64>], q: &[Vector2<f64>]) -> Vec<usize> {
[INFO] [stdout]    |    ^^^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: function `error` is never used
[INFO] [stdout]   --> src/icp.rs:52:4
[INFO] [stdout]    |
[INFO] [stdout] 52 | fn error(x: &Vector3<f64>, p_point: &Vector2<f64>, q_point: &Vector2<f64>) -> Vector2<f64> {
[INFO] [stdout]    |    ^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: function `prepare_system` is never used
[INFO] [stdout]   --> src/icp.rs:59:4
[INFO] [stdout]    |
[INFO] [stdout] 59 | fn prepare_system(
[INFO] [stdout]    |    ^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: function `d_r` is never used
[INFO] [stdout]   --> src/icp.rs:80:4
[INFO] [stdout]    |
[INFO] [stdout] 80 | fn d_r(theta: f64) -> Matrix2<f64> {
[INFO] [stdout]    |    ^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: function `jacobian` is never used
[INFO] [stdout]   --> src/icp.rs:89:4
[INFO] [stdout]    |
[INFO] [stdout] 89 | fn jacobian(p: &Vector2<f64>) -> Matrix2x3<f64> {
[INFO] [stdout]    |    ^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `std_x`
[INFO] [stdout]   --> src/pose_estimator.rs:48:9
[INFO] [stdout]    |
[INFO] [stdout] 48 |         std_x: f64,
[INFO] [stdout]    |         ^^^^^ help: if this is intentional, prefix it with an underscore: `_std_x`
[INFO] [stdout]    |
[INFO] [stdout]    = note: `#[warn(unused_variables)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `std_y`
[INFO] [stdout]   --> src/pose_estimator.rs:49:9
[INFO] [stdout]    |
[INFO] [stdout] 49 |         std_y: f64,
[INFO] [stdout]    |         ^^^^^ help: if this is intentional, prefix it with an underscore: `_std_y`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `std_theta`
[INFO] [stdout]   --> src/pose_estimator.rs:50:9
[INFO] [stdout]    |
[INFO] [stdout] 50 |         std_theta: f64,
[INFO] [stdout]    |         ^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_std_theta`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `data_type`
[INFO] [stdout]    --> src/lidar.rs:446:13
[INFO] [stdout]     |
[INFO] [stdout] 446 |         let data_type = response_descriptor[6];
[INFO] [stdout]     |             ^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_data_type`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `send_mode`
[INFO] [stdout]    --> src/lidar.rs:447:13
[INFO] [stdout]     |
[INFO] [stdout] 447 |         let send_mode = response_descriptor[5] & 0b11;
[INFO] [stdout]     |             ^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_send_mode`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `length`
[INFO] [stdout]    --> src/lidar.rs:448:13
[INFO] [stdout]     |
[INFO] [stdout] 448 |         let length = ((response_descriptor[5] as u32) << 8) | response_descriptor[4] as u32;
[INFO] [stdout]     |             ^^^^^^ help: if this is intentional, prefix it with an underscore: `_length`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `socket`
[INFO] [stdout]   --> src/ws.rs:52:43
[INFO] [stdout]    |
[INFO] [stdout] 52 |     socket.on("pathfindToPosition", move |socket: SocketRef, state: State<WebsocketState>, Data::<Transform2d>(data)| {
[INFO] [stdout]    |                                           ^^^^^^ help: if this is intentional, prefix it with an underscore: `_socket`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `socket`
[INFO] [stdout]   --> src/ws.rs:49:40
[INFO] [stdout]    |
[INFO] [stdout] 49 |     socket.on("driveWithSpeeds", move |socket: SocketRef, state: State<WebsocketState>, Data::<Vec<f64>>(data)| {
[INFO] [stdout]    |                                        ^^^^^^ help: if this is intentional, prefix it with an underscore: `_socket`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `state`
[INFO] [stdout]   --> src/ws.rs:47:41
[INFO] [stdout]    |
[INFO] [stdout] 47 | pub async fn handler(socket: SocketRef, state: State<WebsocketState>) {
[INFO] [stdout]    |                                         ^^^^^ help: if this is intentional, prefix it with an underscore: `_state`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variable does not need to be mutable
[INFO] [stdout]   --> src/main.rs:30:9
[INFO] [stdout]    |
[INFO] [stdout] 30 |     let mut pose_graph = LidarPoseGraph::new();
[INFO] [stdout]    |         ----^^^^^^^^^^
[INFO] [stdout]    |         |
[INFO] [stdout]    |         help: remove this `mut`
[INFO] [stdout]    |
[INFO] [stdout]    = note: `#[warn(unused_mut)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `scan_rx`
[INFO] [stdout]   --> src/main.rs:26:10
[INFO] [stdout]    |
[INFO] [stdout] 26 |     let (scan_rx, lidar_health) = lidar::start_lidar_thread(io.clone()).await;
[INFO] [stdout]    |          ^^^^^^^ help: if this is intentional, prefix it with an underscore: `_scan_rx`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `lidar_health`
[INFO] [stdout]   --> src/main.rs:26:19
[INFO] [stdout]    |
[INFO] [stdout] 26 |     let (scan_rx, lidar_health) = lidar::start_lidar_thread(io.clone()).await;
[INFO] [stdout]    |                   ^^^^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_lidar_health`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `drivetrain_health`
[INFO] [stdout]   --> src/main.rs:27:54
[INFO] [stdout]    |
[INFO] [stdout] 27 |     let (commanded_speeds, heading, wheel_positions, drivetrain_health) = drivetrain::start_drivetrain_thread(io.clone()).await;
[INFO] [stdout]    |                                                      ^^^^^^^^^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_drivetrain_health`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: unused variable: `pose_graph`
[INFO] [stdout]   --> src/main.rs:30:9
[INFO] [stdout]    |
[INFO] [stdout] 30 |     let mut pose_graph = LidarPoseGraph::new();
[INFO] [stdout]    |         ^^^^^^^^^^^^^^ help: if this is intentional, prefix it with an underscore: `_pose_graph`
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: field `wheel_separation_meters` is never read
[INFO] [stdout]   --> src/odometry.rs:32:5
[INFO] [stdout]    |
[INFO] [stdout] 30 | pub struct DifferentialDriveOdometry {
[INFO] [stdout]    |            ------------------------- field in this struct
[INFO] [stdout] 31 |     pose: Transform2d,
[INFO] [stdout] 32 |     wheel_separation_meters: f64,
[INFO] [stdout]    |     ^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `DifferentialDriveOdometry` has a derived impl for the trait `Debug`, but this is intentionally ignored during dead code analysis
[INFO] [stdout]    = note: `#[warn(dead_code)]` (part of `#[warn(unused)]`) on by default
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `norm` is never used
[INFO] [stdout]   --> src/geometry.rs:29:12
[INFO] [stdout]    |
[INFO] [stdout] 20 | impl Transform2d {
[INFO] [stdout]    | ---------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 29 |     pub fn norm(&self) -> f64 {
[INFO] [stdout]    |            ^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `Transform3d` is never constructed
[INFO] [stdout]    --> src/geometry.rs:190:12
[INFO] [stdout]     |
[INFO] [stdout] 190 | pub struct Transform3d {
[INFO] [stdout]     |            ^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated items `new`, `from_slices`, `inverse`, `get_yaw`, and `to_transform_2d` are never used
[INFO] [stdout]    --> src/geometry.rs:196:18
[INFO] [stdout]     |
[INFO] [stdout] 195 | impl Transform3d {
[INFO] [stdout]     | ---------------- associated items in this implementation
[INFO] [stdout] 196 |     pub const fn new(rotation: Rotation3<f64>, translation: Vector3<f64>) -> Self {
[INFO] [stdout]     |                  ^^^
[INFO] [stdout] ...
[INFO] [stdout] 201 |     pub fn from_slices(rotation: &[f64; 9], translation: &[f64; 3]) -> Self {
[INFO] [stdout]     |            ^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 212 |     pub fn inverse(&self) -> Self {
[INFO] [stdout]     |            ^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 220 |     pub fn get_yaw(&self) -> f64 {
[INFO] [stdout]     |            ^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 224 |     pub fn to_transform_2d(&self) -> Transform2d {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: constant `BUFFER_SIZE` is never used
[INFO] [stdout]  --> src/pose_estimator.rs:5:7
[INFO] [stdout]   |
[INFO] [stdout] 5 | const BUFFER_SIZE: Duration = Duration::from_secs(2);
[INFO] [stdout]   |       ^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `PoseEstimator` is never constructed
[INFO] [stdout]  --> src/pose_estimator.rs:7:12
[INFO] [stdout]   |
[INFO] [stdout] 7 | pub struct PoseEstimator<T: WheelOdometry<U>, U> {
[INFO] [stdout]   |            ^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated items `new`, `update_odometry`, `reset_pose`, `add_vision_measurement`, and `sample_at` are never used
[INFO] [stdout]   --> src/pose_estimator.rs:15:12
[INFO] [stdout]    |
[INFO] [stdout] 14 | impl<T: WheelOdometry<U>, U> PoseEstimator<T, U> {
[INFO] [stdout]    | ------------------------------------------------ associated items in this implementation
[INFO] [stdout] 15 |     pub fn new(world_to_robot: Transform2d, odometry: T, time_since_program_start: Duration) -> Self {
[INFO] [stdout]    |            ^^^
[INFO] [stdout] ...
[INFO] [stdout] 27 |     pub fn update_odometry(&mut self, gyro_angle_radians: f64, wheel_positions: &U, time_since_program_start: Duration) {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 33 |     pub fn reset_pose(&mut self, world_to_robot: Transform2d, time_since_program_start: Duration) {
[INFO] [stdout]    |            ^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 44 |     pub fn add_vision_measurement(
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 61 |     pub fn sample_at(&self, timestamp: Duration) -> Result<Transform2d, ()> {
[INFO] [stdout]    |            ^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `add_loop_closure` is never used
[INFO] [stdout]   --> src/pose_graph.rs:46:12
[INFO] [stdout]    |
[INFO] [stdout] 17 | impl PoseGraphBackend {
[INFO] [stdout]    | --------------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 46 |     pub fn add_loop_closure(&mut self, i: usize, j: usize, i_to_j: Transform2d) {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: fields `backend`, `node_scans`, `world_to_prev_odom`, and `scans_since_loop_closure` are never read
[INFO] [stdout]    --> src/pose_graph.rs:143:9
[INFO] [stdout]     |
[INFO] [stdout] 142 | pub struct LidarPoseGraph {
[INFO] [stdout]     |            -------------- fields in this struct
[INFO] [stdout] 143 |     pub backend: PoseGraphBackend,
[INFO] [stdout]     |         ^^^^^^^
[INFO] [stdout] 144 |     pub node_scans: Vec<Vec<Vector2<f64>>>,
[INFO] [stdout]     |         ^^^^^^^^^^
[INFO] [stdout] 145 |     world_to_prev_odom: Transform2d,
[INFO] [stdout]     |     ^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 146 |     scans_since_loop_closure: u16
[INFO] [stdout]     |     ^^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: enum `PoseGraphUpdateResult` is never used
[INFO] [stdout]    --> src/pose_graph.rs:149:10
[INFO] [stdout]     |
[INFO] [stdout] 149 | pub enum PoseGraphUpdateResult {
[INFO] [stdout]     |          ^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `update` and `add_scan` are never used
[INFO] [stdout]    --> src/pose_graph.rs:159:12
[INFO] [stdout]     |
[INFO] [stdout] 155 | impl LidarPoseGraph {
[INFO] [stdout]     | ------------------- methods in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 159 |     pub fn update(&mut self, world_to_new_odom: Transform2d, new_scan: Vec<Vector2<f64>>) -> PoseGraphUpdateResult {
[INFO] [stdout]     |            ^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 170 |     fn add_scan(&mut self, world_to_new_odom: Transform2d, new_scan: Vec<Vector2<f64>>) {
[INFO] [stdout]     |        ^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `clear` is never used
[INFO] [stdout]   --> src/utils.rs:47:12
[INFO] [stdout]    |
[INFO] [stdout] 10 | impl<T: Interpolate + Clone> TimeInterpolatableBuffer<T> {
[INFO] [stdout]    | -------------------------------------------------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 47 |     pub fn clear(&mut self) {
[INFO] [stdout]    |            ^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variant `Disconnected` is never constructed
[INFO] [stdout]   --> src/drivetrain.rs:89:5
[INFO] [stdout]    |
[INFO] [stdout] 86 | pub enum DrivetrainStatus {
[INFO] [stdout]    |          ---------------- variant in this enum
[INFO] [stdout] ...
[INFO] [stdout] 89 |     Disconnected,
[INFO] [stdout]    |     ^^^^^^^^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `DrivetrainStatus` has derived impls for the traits `Clone` and `Debug`, but these are intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `set_kp` is never used
[INFO] [stdout]    --> src/drivetrain.rs:184:18
[INFO] [stdout]     |
[INFO] [stdout] 160 | impl XavierBotDrivetrain {
[INFO] [stdout]     | ------------------------ method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 184 |     pub async fn set_kp(&mut self, kp: f32) {
[INFO] [stdout]     |                  ^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: constant `ROBOT_TO_LIDAR` is never used
[INFO] [stdout]   --> src/lidar.rs:46:7
[INFO] [stdout]    |
[INFO] [stdout] 46 | const ROBOT_TO_LIDAR: Transform2d = Transform2d::new(-0.085, -0.01, PI / 2.0);
[INFO] [stdout]    |       ^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variant `ProtocolError` is never constructed
[INFO] [stdout]   --> src/lidar.rs:84:5
[INFO] [stdout]    |
[INFO] [stdout] 81 | pub enum LidarStatus {
[INFO] [stdout]    |          ----------- variant in this enum
[INFO] [stdout] ...
[INFO] [stdout] 84 |     ProtocolError,
[INFO] [stdout]    |     ^^^^^^^^^^^^^
[INFO] [stdout]    |
[INFO] [stdout]    = note: `LidarStatus` has derived impls for the traits `Clone` and `Debug`, but these are intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `get_most_recent_scan` is never used
[INFO] [stdout]    --> src/lidar.rs:280:12
[INFO] [stdout]     |
[INFO] [stdout]  94 | impl LidarEngine {
[INFO] [stdout]     | ---------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 280 |     pub fn get_most_recent_scan(&self) -> Option<&LidarScan> {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: field `index` is never read
[INFO] [stdout]    --> src/lidar.rs:293:9
[INFO] [stdout]     |
[INFO] [stdout] 290 | pub struct LidarPoint {
[INFO] [stdout]     |            ---------- field in this struct
[INFO] [stdout] ...
[INFO] [stdout] 293 |     pub index: u8,
[INFO] [stdout]     |         ^^^^^
[INFO] [stdout]     |
[INFO] [stdout]     = note: `LidarPoint` has derived impls for the traits `Clone` and `Debug`, but these are intentionally ignored during dead code analysis
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `get_angle_degrees`, `get_angle_rad`, `get_angle_rad_f64`, `to_cartesian`, and `to_cartesian_ws` are never used
[INFO] [stdout]    --> src/lidar.rs:297:12
[INFO] [stdout]     |
[INFO] [stdout] 296 | impl LidarPoint {
[INFO] [stdout]     | --------------- methods in this implementation
[INFO] [stdout] 297 |     pub fn get_angle_degrees(&self) -> f32 {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 300 |     pub fn get_angle_rad(&self) -> f32 {
[INFO] [stdout]     |            ^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 303 |     pub fn get_angle_rad_f64(&self) -> f64 {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 306 |     pub fn to_cartesian(&self) -> Vector2<f64> {
[INFO] [stdout]     |            ^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 313 |     pub fn to_cartesian_ws(&self) -> [f64; 2] {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: fields `timestamp` and `start_bit` are never read
[INFO] [stdout]    --> src/lidar.rs:323:9
[INFO] [stdout]     |
[INFO] [stdout] 322 | pub struct ScanPacket {
[INFO] [stdout]     |            ---------- fields in this struct
[INFO] [stdout] 323 |     pub timestamp: Instant,
[INFO] [stdout]     |         ^^^^^^^^^
[INFO] [stdout] 324 |     pub start_bit: bool,
[INFO] [stdout]     |         ^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: method `get_start_angle_radians` is never used
[INFO] [stdout]    --> src/lidar.rs:372:8
[INFO] [stdout]     |
[INFO] [stdout] 334 | impl ScanPacket {
[INFO] [stdout]     | --------------- method in this implementation
[INFO] [stdout] ...
[INFO] [stdout] 372 |     fn get_start_angle_radians(&self) -> f32 {
[INFO] [stdout]     |        ^^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: methods `to_cartesian_points` and `to_cartesian_points_ws` are never used
[INFO] [stdout]    --> src/lidar.rs:383:12
[INFO] [stdout]     |
[INFO] [stdout] 382 | impl LidarScan {
[INFO] [stdout]     | -------------- methods in this implementation
[INFO] [stdout] 383 |     pub fn to_cartesian_points(&self) -> Vec<Vector2<f64>> {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] ...
[INFO] [stdout] 389 |     pub fn to_cartesian_points_ws(&self) -> Vec<[f64; 2]> {
[INFO] [stdout]     |            ^^^^^^^^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: variants `Reset`, `GetDeviceInfo`, and `GetDeviceHealth` are never constructed
[INFO] [stdout]    --> src/lidar.rs:399:5
[INFO] [stdout]     |
[INFO] [stdout] 397 | pub enum LidarRequest {
[INFO] [stdout]     |          ------------ variants in this enum
[INFO] [stdout] 398 |     Stop,
[INFO] [stdout] 399 |     Reset,
[INFO] [stdout]     |     ^^^^^
[INFO] [stdout] 400 |     GetDeviceInfo,
[INFO] [stdout]     |     ^^^^^^^^^^^^^
[INFO] [stdout] 401 |     GetDeviceHealth,
[INFO] [stdout]     |     ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: enum `LidarResponse` is never used
[INFO] [stdout]    --> src/lidar.rs:405:10
[INFO] [stdout]     |
[INFO] [stdout] 405 | pub enum LidarResponse {
[INFO] [stdout]     |          ^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: associated function `read` is never used
[INFO] [stdout]    --> src/lidar.rs:437:18
[INFO] [stdout]     |
[INFO] [stdout] 435 | impl LidarResponse {
[INFO] [stdout]     | ------------------ associated function in this implementation
[INFO] [stdout] 436 |     /// doesn't work yet. this might not be necessary
[INFO] [stdout] 437 |     pub async fn read(port: &mut SerialStream) -> Result<Self, tokio_serial::Error> {
[INFO] [stdout]     |                  ^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stdout] warning: struct `WsPoseGraphNode` is never constructed
[INFO] [stdout]   --> src/ws.rs:31:12
[INFO] [stdout]    |
[INFO] [stdout] 31 | pub struct WsPoseGraphNode {
[INFO] [stdout]    |            ^^^^^^^^^^^^^^^
[INFO] [stdout] 
[INFO] [stdout] 
[INFO] [stderr]     Finished `dev` profile [unoptimized + debuginfo] target(s) in 44.29s
[INFO] running `Command { std: "docker" "inspect" "9ab0e38a8e71ae767baf691beba726f3a71ecd7c3cb6b444287716e13e75a09c", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "rm" "-f" "9ab0e38a8e71ae767baf691beba726f3a71ecd7c3cb6b444287716e13e75a09c", kill_on_drop: false }`
[INFO] [stdout] 9ab0e38a8e71ae767baf691beba726f3a71ecd7c3cb6b444287716e13e75a09c
