From 27d00e2b4d0fb2bb81ae23476411f8669ab06871 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 10:38:23 -0700
Subject: [PATCH 1/3] Add a basic mock implementation of generic traits

---
 Cargo.lock                 |  27 +++-
 Cargo.toml                 |   1 +
 roslibrust/src/lib.rs      |   6 +-
 roslibrust_mock/Cargo.toml |  16 +++
 roslibrust_mock/README.md  |   3 +
 roslibrust_mock/src/lib.rs | 259 +++++++++++++++++++++++++++++++++++++
 6 files changed, 308 insertions(+), 4 deletions(-)
 create mode 100644 roslibrust_mock/Cargo.toml
 create mode 100644 roslibrust_mock/README.md
 create mode 100644 roslibrust_mock/src/lib.rs

diff --git a/Cargo.lock b/Cargo.lock
index 6d8217b3..1c4a6b7b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
 name = "abort-on-drop"
@@ -165,6 +165,15 @@ version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
+[[package]]
+name = "bincode"
+version = "1.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1f45e9417d87227c7a56d22e471c6206462cba514c7590c09aff4cf6d1ddcad"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -1709,6 +1718,18 @@ dependencies = [
  "serde_json",
 ]
 
+[[package]]
+name = "roslibrust_mock"
+version = "0.1.0"
+dependencies = [
+ "bincode",
+ "log",
+ "roslibrust",
+ "roslibrust_codegen",
+ "roslibrust_codegen_macro",
+ "tokio",
+]
+
 [[package]]
 name = "roslibrust_serde_rosmsg"
 version = "0.3.0"
@@ -2227,9 +2248,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tokio"
-version = "1.39.2"
+version = "1.42.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "daa4fb1bc778bd6f04cbfc4bb2d06a7396a8f299dc33ea1900cedaa316f467b1"
+checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551"
 dependencies = [
  "backtrace",
  "bytes",
diff --git a/Cargo.toml b/Cargo.toml
index ebfd533d..885ceea8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,5 +8,6 @@ members = [
     "roslibrust_codegen_macro",
     "roslibrust_genmsg",
     "roslibrust_test",
+    "roslibrust_mock",
 ]
 resolver = "2"
diff --git a/roslibrust/src/lib.rs b/roslibrust/src/lib.rs
index 78927e8c..21423a37 100644
--- a/roslibrust/src/lib.rs
+++ b/roslibrust/src/lib.rs
@@ -100,7 +100,11 @@
 
 mod rosbridge;
 pub use rosbridge::*;
-use roslibrust_codegen::RosServiceType;
+
+// Re export the codegen traits so that crates that only interact with abstract messages
+// don't need to depend on the codegen crate
+pub use roslibrust_codegen::RosMessageType;
+pub use roslibrust_codegen::RosServiceType;
 
 #[cfg(feature = "rosapi")]
 pub mod rosapi;
diff --git a/roslibrust_mock/Cargo.toml b/roslibrust_mock/Cargo.toml
new file mode 100644
index 00000000..beba67ca
--- /dev/null
+++ b/roslibrust_mock/Cargo.toml
@@ -0,0 +1,16 @@
+[package]
+name = "roslibrust_mock"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+roslibrust = { path = "../roslibrust", features = ["topic_provider"] }
+tokio = { version = "1.41", features = ["sync", "rt-multi-thread", "macros"] }
+# Used for serializing messages
+bincode = "1.3"
+# We add logging to aid in debugging tests
+log = "0.4"
+
+[dev-dependencies]
+roslibrust_codegen = { path = "../roslibrust_codegen" }
+roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
diff --git a/roslibrust_mock/README.md b/roslibrust_mock/README.md
new file mode 100644
index 00000000..774c73a6
--- /dev/null
+++ b/roslibrust_mock/README.md
@@ -0,0 +1,3 @@
+# RosLibRust Mock
+
+A mock implementation of roslibrust's generic traits for use in building automated testing of nodes.
diff --git a/roslibrust_mock/src/lib.rs b/roslibrust_mock/src/lib.rs
new file mode 100644
index 00000000..b8f2ba4c
--- /dev/null
+++ b/roslibrust_mock/src/lib.rs
@@ -0,0 +1,259 @@
+use std::collections::BTreeMap;
+use std::sync::Arc;
+
+use roslibrust::topic_provider::*;
+use roslibrust::RosLibRustError;
+use roslibrust::RosLibRustResult;
+use roslibrust::RosMessageType;
+
+use roslibrust::RosServiceType;
+use roslibrust::ServiceFn;
+use tokio::sync::broadcast as Channel;
+use tokio::sync::RwLock;
+
+use log::*;
+
+type TypeErasedCallback = Arc<
+    dyn Fn(Vec<u8>) -> Result<Vec<u8>, Box<dyn std::error::Error + Send + Sync>>
+        + Send
+        + Sync
+        + 'static,
+>;
+
+pub struct MockRos {
+    // We could probably achieve some fancier type erasure than actually serializing the data
+    // but this ends up being pretty simple
+    topics: RwLock<BTreeMap<String, (Channel::Sender<Vec<u8>>, Channel::Receiver<Vec<u8>>)>>,
+    services: RwLock<BTreeMap<String, TypeErasedCallback>>,
+}
+
+impl MockRos {
+    pub fn new() -> Self {
+        Self {
+            topics: RwLock::new(BTreeMap::new()),
+            services: RwLock::new(BTreeMap::new()),
+        }
+    }
+}
+
+// This is a very basic mocking of sending and receiving messages over topics
+// It does not implement automatic shutdown of topics on dropping
+impl TopicProvider for MockRos {
+    type Publisher<T: RosMessageType> = MockPublisher<T>;
+    type Subscriber<T: RosMessageType> = MockSubscriber<T>;
+
+    async fn advertise<T: RosMessageType>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::Publisher<T>> {
+        // Check if we already have this channel
+        {
+            let topics = self.topics.read().await;
+            if let Some((sender, _)) = topics.get(topic) {
+                debug!("Issued new publisher to existing topic {}", topic);
+                return Ok(MockPublisher {
+                    sender: sender.clone(),
+                    _marker: Default::default(),
+                });
+            }
+        } // Drop read lock here
+          // Create a new channel
+        let tx_rx = Channel::channel(10);
+        let tx_copy = tx_rx.0.clone();
+        let mut topics = self.topics.write().await;
+        topics.insert(topic.to_string(), tx_rx);
+        debug!("Created new publisher and channel for topic {}", topic);
+        Ok(MockPublisher {
+            sender: tx_copy,
+            _marker: Default::default(),
+        })
+    }
+
+    async fn subscribe<T: RosMessageType>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::Subscriber<T>> {
+        // Check if we already have this channel
+        {
+            let topics = self.topics.read().await;
+            if let Some((_, receiver)) = topics.get(topic) {
+                debug!("Issued new subscriber to existing topic {}", topic);
+                return Ok(MockSubscriber {
+                    receiver: receiver.resubscribe(),
+                    _marker: Default::default(),
+                });
+            }
+        } // Drop read lock here
+          // Create a new channel
+        let tx_rx = Channel::channel(10);
+        let rx_copy = tx_rx.1.resubscribe();
+        let mut topics = self.topics.write().await;
+        topics.insert(topic.to_string(), tx_rx);
+        debug!("Created new subscriber and channel for topic {}", topic);
+        Ok(MockSubscriber {
+            receiver: rx_copy,
+            _marker: Default::default(),
+        })
+    }
+}
+
+pub struct MockServiceClient<T: RosServiceType> {
+    callback: TypeErasedCallback,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosServiceType> Service<T> for MockServiceClient<T> {
+    async fn call(&self, request: &T::Request) -> RosLibRustResult<T::Response> {
+        let data = bincode::serialize(request)
+            .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+        let response = (self.callback)(data)
+            .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+        let response = bincode::deserialize(&response[..])
+            .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+        Ok(response)
+    }
+}
+
+impl ServiceProvider for MockRos {
+    type ServiceClient<T: RosServiceType> = MockServiceClient<T>;
+    type ServiceServer = ();
+
+    async fn service_client<T: RosServiceType + 'static>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::ServiceClient<T>> {
+        let services = self.services.read().await;
+        if let Some(callback) = services.get(topic) {
+            return Ok(MockServiceClient {
+                callback: callback.clone(),
+                _marker: Default::default(),
+            });
+        }
+        Err(RosLibRustError::Disconnected)
+    }
+
+    async fn advertise_service<T: RosServiceType + 'static, F>(
+        &self,
+        topic: &str,
+        server: F,
+    ) -> RosLibRustResult<Self::ServiceServer>
+    where
+        F: ServiceFn<T>,
+    {
+        // Type erase the service function here
+        let erased_closure =
+            move |message: Vec<u8>| -> Result<Vec<u8>, Box<dyn std::error::Error + Send + Sync>> {
+                let request = bincode::deserialize(&message[..])
+                    .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+                let response = server(request)?;
+                let bytes = bincode::serialize(&response)
+                    .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+                Ok(bytes)
+            };
+        let erased_closure = Arc::new(erased_closure);
+        let mut services = self.services.write().await;
+        services.insert(topic.to_string(), erased_closure);
+
+        // We technically need to hand back a token that shuts the service down here
+        // But we haven't implemented that yet in this mock
+        Ok(())
+    }
+}
+
+pub struct MockPublisher<T: RosMessageType> {
+    sender: Channel::Sender<Vec<u8>>,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosMessageType> Publish<T> for MockPublisher<T> {
+    async fn publish(&self, data: &T) -> RosLibRustResult<()> {
+        let data = bincode::serialize(data)
+            .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+        self.sender
+            .send(data)
+            .map_err(|_e| RosLibRustError::Disconnected)?;
+        debug!("Sent data on topic {}", T::ROS_TYPE_NAME);
+        Ok(())
+    }
+}
+
+pub struct MockSubscriber<T: RosMessageType> {
+    receiver: Channel::Receiver<Vec<u8>>,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosMessageType> Subscribe<T> for MockSubscriber<T> {
+    async fn next(&mut self) -> RosLibRustResult<T> {
+        let data = self
+            .receiver
+            .recv()
+            .await
+            .map_err(|_| RosLibRustError::Disconnected)?;
+        let msg = bincode::deserialize(&data[..])
+            .map_err(|e| RosLibRustError::SerializationError(e.to_string()))?;
+        debug!("Received data on topic {}", T::ROS_TYPE_NAME);
+        Ok(msg)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    roslibrust_codegen_macro::find_and_generate_ros_messages!(
+        "assets/ros1_common_interfaces/std_msgs",
+        "assets/ros1_common_interfaces/ros_comm_msgs/std_srvs"
+    );
+
+    #[tokio::test(flavor = "multi_thread")]
+    async fn test_mock_topics() {
+        let mock_ros = MockRos::new();
+
+        let pub_handle = mock_ros
+            .advertise::<std_msgs::String>("test_topic")
+            .await
+            .unwrap();
+        let mut sub_handle = mock_ros
+            .subscribe::<std_msgs::String>("test_topic")
+            .await
+            .unwrap();
+
+        let msg = std_msgs::String {
+            data: "Hello, world!".to_string(),
+        };
+
+        pub_handle.publish(&msg).await.unwrap();
+
+        let received_msg = sub_handle.next().await.unwrap();
+
+        assert_eq!(msg, received_msg);
+    }
+
+    #[tokio::test(flavor = "multi_thread")]
+    async fn test_mock_services() {
+        let mock_topics = MockRos::new();
+
+        let server_fn = |request: std_srvs::SetBoolRequest| {
+            Ok(std_srvs::SetBoolResponse {
+                success: request.data,
+                message: "You set my bool!".to_string(),
+            })
+        };
+
+        mock_topics
+            .advertise_service::<std_srvs::SetBool, _>("test_service", server_fn)
+            .await
+            .unwrap();
+
+        let client = mock_topics
+            .service_client::<std_srvs::SetBool>("test_service")
+            .await
+            .unwrap();
+
+        let request = std_srvs::SetBoolRequest { data: true };
+
+        let response = client.call(&request).await.unwrap();
+        assert_eq!(response.success, true);
+        assert_eq!(response.message, "You set my bool!");
+    }
+}

From c79ed26829910a147f00e96d06cbcc8a5215c999 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 10:42:09 -0700
Subject: [PATCH 2/3] Update changelog for addition of mock

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 547687ac..b8ee1d4b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- roslibrust_mock now provides a basic mock implementation of roslibrust's generic traits for use in building automated testing of nodes.
+
 ### Fixed
 
 - Keeping a ros1::ServiceServer alive no longer keeps the underlying node alive past the last ros1::NodeHandle being dropped.

From af96da4fe42cfc21b7dece55b2de7121589af080 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 9 Dec 2024 13:45:55 -0700
Subject: [PATCH 3/3] Cleanup cargo lock

---
 Cargo.lock | 851 ++++++++++++++++++++++++++++++++++-------------------
 1 file changed, 543 insertions(+), 308 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 602f174d..e2a6fbef 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -13,18 +13,18 @@ dependencies = [
 
 [[package]]
 name = "addr2line"
-version = "0.22.0"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e4503c46a5c0c7844e948c9a4d6acd9f50cccb4de1c48eb9e291ea17470c678"
+checksum = "dfbe277e56a376000877090da837660b4427aad530e3028d44e0bffe4f89a1c1"
 dependencies = [
  "gimli",
 ]
 
 [[package]]
-name = "adler"
-version = "1.0.2"
+name = "adler2"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
+checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
 
 [[package]]
 name = "aes"
@@ -73,9 +73,9 @@ checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
 
 [[package]]
 name = "anstream"
-version = "0.6.15"
+version = "0.6.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64e15c1ab1f89faffbf04a634d5e1962e9074f2741eef6d97f3c4e322426d526"
+checksum = "8acc5369981196006228e28809f761875c0327210a891e941f4c683b3a99529b"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -88,43 +88,43 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.8"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1bec1de6f59aedf83baf9ff929c98f2ad654b97c9510f4e70cf6f661d49fd5b1"
+checksum = "55cc3b69f167a1ef2e161439aa98aed94e6028e5f9a59be9a6ffb47aef1651f9"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.5"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb47de1e80c2b463c735db5b217a0ddc39d612e7ac9e2e96a5aed1f57616c1cb"
+checksum = "3b2d16507662817a6a20a9ea92df6652ee4f94f914589377d69f3b21bc5798a9"
 dependencies = [
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle-query"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d36fc52c7f6c869915e99412912f22093507da8d9e942ceaf66fe4b7c14422a"
+checksum = "79947af37f4177cfead1110013d678905c37501914fba0efea834c3fe9a8d60c"
 dependencies = [
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "3.0.4"
+version = "3.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5bf74e1b6e971609db8ca7a9ce79fd5768ab6ae46441c572e46cf596f59e57f8"
+checksum = "2109dbce0e72be3ec00bed26e6a7479ca384ad226efdd66db8fa2e3a38c83125"
 dependencies = [
  "anstyle",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
 name = "anyhow"
-version = "1.0.93"
+version = "1.0.94"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c95c10ba0b00a02636238b814946408b1322d5ac4760326e6fb8ec956d85775"
+checksum = "c1fd03a028ef38ba2276dce7e33fcd6369c158a1bca17946c4b1b701891c1ff7"
 
 [[package]]
 name = "array-init"
@@ -150,7 +150,7 @@ dependencies = [
  "nom",
  "num-traits",
  "rusticata-macros",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "time",
 ]
 
@@ -201,23 +201,23 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "backtrace"
-version = "0.3.73"
+version = "0.3.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5cc23269a4f8976d0a4d2e7109211a419fe30e8d88d677cd60b6bc79c5732e0a"
+checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
 dependencies = [
  "addr2line",
- "cc",
  "cfg-if",
  "libc",
  "miniz_oxide",
  "object",
  "rustc-demangle",
+ "windows-targets 0.52.6",
 ]
 
 [[package]]
@@ -239,7 +239,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
-<<<<<<< HEAD
+name = "base64ct"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8c3c1a368f70d6cf7302d78f8f7093da241fb8e8807c05cc9e51a125895a6d5b"
+
+[[package]]
 name = "bincode"
 version = "1.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -247,12 +252,6 @@ checksum = "b1f45e9417d87227c7a56d22e471c6206462cba514c7590c09aff4cf6d1ddcad"
 dependencies = [
  "serde",
 ]
-=======
-name = "base64ct"
-version = "1.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c3c1a368f70d6cf7302d78f8f7093da241fb8e8807c05cc9e51a125895a6d5b"
->>>>>>> origin/master
 
 [[package]]
 name = "bitflags"
@@ -286,9 +285,9 @@ checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
 
 [[package]]
 name = "bytemuck"
-version = "1.19.0"
+version = "1.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8334215b81e418a0a7bdb8ef0849474f40bb10c8b71f1c4ed315cff49f32494d"
+checksum = "8b37c88a63ffd85d15b406896cc343916d7cf57838a847b3a6f2ca5d39a5695a"
 
 [[package]]
 name = "byteorder"
@@ -298,9 +297,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.7.1"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8318a53db07bb3f8dca91a600466bdb3f2eaadeedfdbcf02e1accbad9271ba50"
+checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b"
 
 [[package]]
 name = "cache-padded"
@@ -322,9 +321,12 @@ checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
 [[package]]
 name = "cc"
-version = "1.1.7"
+version = "1.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26a5c3fd7bfa1ce3897a3a3501d362b2d87b7f2583ebcb4a949ec25911025cbc"
+checksum = "27f657647bcff5394bf56c7317665bbf790a137a50eaaa5c6bfbb9e27a518f2d"
+dependencies = [
+ "shlex",
+]
 
 [[package]]
 name = "cesu8"
@@ -395,9 +397,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.13"
+version = "4.5.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fbb260a053428790f3de475e304ff84cdbc4face759ea7a3e64c1edd938a7fc"
+checksum = "3135e7ec2ef7b10c6ed8950f0f792ed96ee093fa088608f1c76e569722700c84"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -405,21 +407,21 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.13"
+version = "4.5.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64b17d7ea74e9f833c7dbf2cbe4fb12ff26783eda4782a8975b72f895c9b4d99"
+checksum = "30582fc632330df2bd26877bde0c1f4470d57c582bbc070376afcd04d8cb4838"
 dependencies = [
  "anstream",
  "anstyle",
- "clap_lex 0.7.2",
+ "clap_lex 0.7.4",
  "strsim",
 ]
 
 [[package]]
 name = "clap_derive"
-version = "4.5.13"
+version = "4.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "501d359d5f3dcaf6ecdeee48833ae73ec6e42723a1e52419c79abf9507eec0a0"
+checksum = "4ac6a0c7b1a9e9a5186361f67dfa1b88213572f427fb9ab038efb2bd8c582dab"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -438,15 +440,15 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.7.2"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1462739cb27611015575c0c11df5df7601141071f07518d56fcc1be504cbec97"
+checksum = "f46ad14479a25103f283c0f10005961cf086d8dc42205bb44c46ac563475dca6"
 
 [[package]]
 name = "colorchoice"
-version = "1.0.2"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d3fd119d74b830634cea2a0f58bbd0d54540518a14397557951e79340abc28c0"
+checksum = "5b63caa9aa9397e2d9480a9b13673856c78d8ac123288526c37d7839f2a86990"
 
 [[package]]
 name = "colored"
@@ -485,18 +487,18 @@ checksum = "c2459377285ad874054d797f3ccebf984978aa39129f6eafde5cdc8315b612f8"
 
 [[package]]
 name = "const_format"
-version = "0.2.33"
+version = "0.2.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50c655d81ff1114fb0dcdea9225ea9f0cc712a6f8d189378e82bdf62a473a64b"
+checksum = "126f97965c8ad46d6d9163268ff28432e8f6a1196a55578867832e3049df63dd"
 dependencies = [
  "const_format_proc_macros",
 ]
 
 [[package]]
 name = "const_format_proc_macros"
-version = "0.2.33"
+version = "0.2.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eff1a44b93f47b1bac19a27932f5c591e43d1ba357ee4f61526c8a25603f0eb1"
+checksum = "1d57c2eccfb16dbac1f4e61e206105db5820c9d26c3c472bc17c774259ef7744"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -515,9 +517,9 @@ dependencies = [
 
 [[package]]
 name = "core-foundation-sys"
-version = "0.8.6"
+version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06ea2b9bc92be3c2baa9334a323ebca2d6f074ff852cd1d7b11064035cd3868f"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
 [[package]]
 name = "cpp_demangle"
@@ -530,9 +532,9 @@ dependencies = [
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.12"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53fe5e26ff1b7aef8bca9c6080520cfb8d9333c7568e1829cef191a9723e5504"
+checksum = "16b80225097f2e5ae4e7179dd2266824648f3e2f49d9134d584b76389d31c4c3"
 dependencies = [
  "libc",
 ]
@@ -764,9 +766,9 @@ checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
 
 [[package]]
 name = "encoding_rs"
-version = "0.8.34"
+version = "0.8.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b45de904aa0b010bce2ab45264d0631681847fa7b6f2eaa7dab7619943bc4f59"
+checksum = "75030f3c4f45dafd7586dd6780965a8c7e8e285a5ecb86713e63a79c5b2766f3"
 dependencies = [
  "cfg-if",
 ]
@@ -815,12 +817,12 @@ checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
 
 [[package]]
 name = "errno"
-version = "0.3.9"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "534c5cf6194dfab3db3242765c03bbe257cf92f22b38f6bc0c58d59108a820ba"
+checksum = "33d852cb9b869c2a9b3df2f71a3074817f01e1844f839a144f5fcef059a4eb5d"
 dependencies = [
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -862,9 +864,9 @@ dependencies = [
 
 [[package]]
 name = "fastrand"
-version = "2.1.0"
+version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fc0510504f03c51ada170672ac806f1f105a88aa97a5281117e1ddc3368e51a"
+checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be"
 
 [[package]]
 name = "findshlibs"
@@ -928,9 +930,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "645c6916888f6cb6350d2550b80fb63e734897a8498abe35cfb732b6487804b0"
+checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -943,9 +945,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -953,15 +955,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a576fc72ae164fca6b9db127eaa9a9dda0d61316034f33a0a0d4eda41f02b01d"
+checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -970,15 +972,15 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
+checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
+checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -987,21 +989,21 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
+checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
 
 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
 
 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -1050,9 +1052,9 @@ dependencies = [
 
 [[package]]
 name = "gimli"
-version = "0.29.0"
+version = "0.31.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
+checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
 
 [[package]]
 name = "git-version"
@@ -1086,7 +1088,7 @@ dependencies = [
  "futures-sink",
  "futures-util",
  "http 0.2.12",
- "indexmap 2.3.0",
+ "indexmap 2.7.0",
  "slab",
  "tokio",
  "tokio-util",
@@ -1119,6 +1121,12 @@ dependencies = [
  "allocator-api2",
 ]
 
+[[package]]
+name = "hashbrown"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
+
 [[package]]
 name = "heck"
 version = "0.5.0"
@@ -1140,6 +1148,12 @@ version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
 
+[[package]]
+name = "hermit-abi"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
+
 [[package]]
 name = "hex"
 version = "0.4.3"
@@ -1177,9 +1191,9 @@ dependencies = [
 
 [[package]]
 name = "http"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21b9ddb458710bc376481b842f5da65cdf31522de232c1ca8146abce2a358258"
+checksum = "f16ca2af56261c99fba8bac40a10251ce8188205a4c448fbb745a2e4daa76fea"
 dependencies = [
  "bytes",
  "fnv",
@@ -1199,9 +1213,9 @@ dependencies = [
 
 [[package]]
 name = "httparse"
-version = "1.9.4"
+version = "1.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fcc0b4a115bf80b728eb8ea024ad5bd707b615bfed49e0665b6e0f86fd082d9"
+checksum = "7d71d3574edd2771538b901e6549113b4006ece66150fb69c0fb6d9a2adae946"
 
 [[package]]
 name = "httpdate"
@@ -1217,9 +1231,9 @@ checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
 [[package]]
 name = "hyper"
-version = "0.14.30"
+version = "0.14.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a152ddd61dfaec7273fe8419ab357f33aee0d914c5f4efbf0d96fa749eea5ec9"
+checksum = "8c08302e8fa335b151b788c775ff56e7a03ae64ff85c548ee820fecb70356e85"
 dependencies = [
  "bytes",
  "futures-channel",
@@ -1252,14 +1266,143 @@ dependencies = [
  "tokio-native-tls",
 ]
 
+[[package]]
+name = "icu_collections"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db2fa452206ebee18c4b5c2274dbf1de17008e874b4dc4f0aea9d01ca79e4526"
+dependencies = [
+ "displaydoc",
+ "yoke",
+ "zerofrom",
+ "zerovec",
+]
+
+[[package]]
+name = "icu_locid"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "13acbb8371917fc971be86fc8057c41a64b521c184808a698c02acc242dbf637"
+dependencies = [
+ "displaydoc",
+ "litemap",
+ "tinystr",
+ "writeable",
+ "zerovec",
+]
+
+[[package]]
+name = "icu_locid_transform"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "01d11ac35de8e40fdeda00d9e1e9d92525f3f9d887cdd7aa81d727596788b54e"
+dependencies = [
+ "displaydoc",
+ "icu_locid",
+ "icu_locid_transform_data",
+ "icu_provider",
+ "tinystr",
+ "zerovec",
+]
+
+[[package]]
+name = "icu_locid_transform_data"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fdc8ff3388f852bede6b579ad4e978ab004f139284d7b28715f773507b946f6e"
+
+[[package]]
+name = "icu_normalizer"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19ce3e0da2ec68599d193c93d088142efd7f9c5d6fc9b803774855747dc6a84f"
+dependencies = [
+ "displaydoc",
+ "icu_collections",
+ "icu_normalizer_data",
+ "icu_properties",
+ "icu_provider",
+ "smallvec",
+ "utf16_iter",
+ "utf8_iter",
+ "write16",
+ "zerovec",
+]
+
+[[package]]
+name = "icu_normalizer_data"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8cafbf7aa791e9b22bec55a167906f9e1215fd475cd22adfcf660e03e989516"
+
+[[package]]
+name = "icu_properties"
+version = "1.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "93d6020766cfc6302c15dbbc9c8778c37e62c14427cb7f6e601d849e092aeef5"
+dependencies = [
+ "displaydoc",
+ "icu_collections",
+ "icu_locid_transform",
+ "icu_properties_data",
+ "icu_provider",
+ "tinystr",
+ "zerovec",
+]
+
+[[package]]
+name = "icu_properties_data"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67a8effbc3dd3e4ba1afa8ad918d5684b8868b3b26500753effea8d2eed19569"
+
+[[package]]
+name = "icu_provider"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ed421c8a8ef78d3e2dbc98a973be2f3770cb42b606e3ab18d6237c4dfde68d9"
+dependencies = [
+ "displaydoc",
+ "icu_locid",
+ "icu_provider_macros",
+ "stable_deref_trait",
+ "tinystr",
+ "writeable",
+ "yoke",
+ "zerofrom",
+ "zerovec",
+]
+
+[[package]]
+name = "icu_provider_macros"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ec89e9337638ecdc08744df490b221a7399bf8d164eb52a665454e60e075ad6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
 [[package]]
 name = "idna"
-version = "0.5.0"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "686f825264d630750a544639377bae737628043f20d38bbc029e8f29ea968a7e"
+dependencies = [
+ "idna_adapter",
+ "smallvec",
+ "utf8_iter",
+]
+
+[[package]]
+name = "idna_adapter"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "634d9b1461af396cad843f47fdba5597a4f9e6ddd4bfb6ff5d85028c25cb12f6"
+checksum = "daca1df1c957320b2cf139ac61e7bd64fed304c5040df000a745aa1de3b4ef71"
 dependencies = [
- "unicode-bidi",
- "unicode-normalization",
+ "icu_normalizer",
+ "icu_properties",
 ]
 
 [[package]]
@@ -1274,12 +1417,12 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.3.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3fc2e30ba82dd1b3911c8de1ffc143c74a914a14e99514d7637e3099df5ea0"
+checksum = "62f822373a4fe84d4bb149bf54e584a7f4abec90e072ed49cda0edea5b95471f"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.5",
+ "hashbrown 0.15.2",
 ]
 
 [[package]]
@@ -1289,7 +1432,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "232929e1d75fe899576a3d5c7416ad0d88dbfbb3c3d6aa00873a7408a50ddb88"
 dependencies = [
  "ahash",
- "indexmap 2.3.0",
+ "indexmap 2.7.0",
  "is-terminal",
  "itoa",
  "log",
@@ -1311,9 +1454,9 @@ dependencies = [
 
 [[package]]
 name = "ipnet"
-version = "2.9.0"
+version = "2.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f518f335dce6725a761382244631d86cf0ccb2863413590b31338feb467f9c3"
+checksum = "ddc24109865250148c2e0f3d25d4f0f479571723792d3802153c60922a4fb708"
 
 [[package]]
 name = "ipnetwork"
@@ -1326,11 +1469,11 @@ dependencies = [
 
 [[package]]
 name = "is-terminal"
-version = "0.4.12"
+version = "0.4.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
+checksum = "261f68e344040fbd0edea105bef17c66edf46f984ddb1115b775ce31be948f4b"
 dependencies = [
- "hermit-abi 0.3.9",
+ "hermit-abi 0.4.0",
  "libc",
  "windows-sys 0.52.0",
 ]
@@ -1379,9 +1522,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.11"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
+checksum = "d75a2a4b1b190afb6f5425f10f6a8f959d2ea0b9c2b1d79553551850539e4674"
 
 [[package]]
 name = "jni"
@@ -1393,7 +1536,7 @@ dependencies = [
  "combine",
  "jni-sys",
  "log",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "walkdir",
 ]
 
@@ -1405,10 +1548,11 @@ checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
 [[package]]
 name = "js-sys"
-version = "0.3.69"
+version = "0.3.76"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29c15563dc2726973df627357ce0c9ddddbea194836909d655df6a75d2cf296d"
+checksum = "6717b6b5b077764fb5966237269cb3c64edddde4b14ce42647430a78ced9e7b7"
 dependencies = [
+ "once_cell",
  "wasm-bindgen",
 ]
 
@@ -1452,9 +1596,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.167"
+version = "0.2.168"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09d6582e104315a817dff97f75133544b2e094ee22447d2acf4a74e189ba06fc"
+checksum = "5aaeb2981e0606ca11d79718f8bb01164f1d6ed75080182d3abf017e6d244b6d"
 
 [[package]]
 name = "libloading"
@@ -1488,6 +1632,12 @@ version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
 
+[[package]]
+name = "litemap"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ee93343901ab17bd981295f2cf0026d4ad018c7c31ba84549a4ddbb47a45104"
+
 [[package]]
 name = "lock_api"
 version = "0.4.12"
@@ -1551,9 +1701,9 @@ checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
 
 [[package]]
 name = "minijinja"
-version = "2.1.1"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4bf71af278c578cbcc91d0b1ff092910208bc86f7b3750364642bd424e3dcd3"
+checksum = "2c37e1b517d1dcd0e51dc36c4567b9d5a29262b3ec8da6cb5d35e27a8fb529b5"
 dependencies = [
  "serde",
 ]
@@ -1566,20 +1716,19 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "miniz_oxide"
-version = "0.7.4"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8a240ddb74feaf34a79a7add65a741f3167852fba007066dcac1ca548d89c08"
+checksum = "e2d80299ef12ff69b16a84bb182e3b9df68b5a91574d3d4fa6e41b65deec4df1"
 dependencies = [
- "adler",
+ "adler2",
 ]
 
 [[package]]
 name = "mio"
-version = "1.0.1"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4569e456d394deccd22ce1c1913e6ea0e54519f577285001215d33557431afe4"
+checksum = "2886843bf800fba2e3377cff24abf6379b4c4d5c6681eaf9ea5b0d15090450bd"
 dependencies = [
- "hermit-abi 0.3.9",
  "libc",
  "wasi",
  "windows-sys 0.52.0",
@@ -1754,9 +1903,9 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.36.2"
+version = "0.36.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f203fa8daa7bb185f760ae12bd8e097f63d17041dcdcaf675ac54cdf863170e"
+checksum = "aedf0a2d09c573ed1d8d85b30c119153926a2b36dce0ab28322c09a117a4683e"
 dependencies = [
  "memchr",
 ]
@@ -1772,9 +1921,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.19.0"
+version = "1.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
+checksum = "1261fe7e33c73b354eab43b1273a57c8f967d0391e80353e51f764ac02cf6775"
 
 [[package]]
 name = "oorandom"
@@ -1784,9 +1933,9 @@ checksum = "b410bbe7e14ab526a0e86877eb47c6996a2bd7746f027ba551028c925390e4e9"
 
 [[package]]
 name = "openssl"
-version = "0.10.66"
+version = "0.10.68"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9529f4786b70a3e8c61e11179af17ab6188ad8d0ded78c5529441ed39d4bd9c1"
+checksum = "6174bc48f102d208783c2c84bf931bb75927a617866870de8a4ea85597f871f5"
 dependencies = [
  "bitflags 2.6.0",
  "cfg-if",
@@ -1816,9 +1965,9 @@ checksum = "ff011a302c396a5197692431fc1948019154afc178baf7d8e37367442a4601cf"
 
 [[package]]
 name = "openssl-sys"
-version = "0.9.103"
+version = "0.9.104"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f9e8deee91df40a943c71b917e5874b951d32a802526c85721ce3b776c929d6"
+checksum = "45abf306cbf99debc8195b66b7346498d7b10c210de50418b5ccd7ceba08c741"
 dependencies = [
  "cc",
  "libc",
@@ -1896,20 +2045,20 @@ checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pest"
-version = "2.7.14"
+version = "2.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "879952a81a83930934cbf1786752d6dedc3b1f29e8f8fb2ad1d0a36f377cf442"
+checksum = "8b7cafe60d6cf8e62e1b9b2ea516a089c008945bb5a275416789e7db0bc199dc"
 dependencies = [
  "memchr",
- "thiserror 1.0.63",
+ "thiserror 2.0.6",
  "ucd-trie",
 ]
 
 [[package]]
 name = "pest_derive"
-version = "2.7.14"
+version = "2.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d214365f632b123a47fd913301e14c946c61d1c183ee245fa76eb752e59a02dd"
+checksum = "816518421cfc6887a0d62bf441b6ffb4536fcc926395a69e1a85852d4363f57e"
 dependencies = [
  "pest",
  "pest_generator",
@@ -1917,9 +2066,9 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.7.14"
+version = "2.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb55586734301717aea2ac313f50b2eb8f60d2fc3dc01d190eefa2e625f60c4e"
+checksum = "7d1396fd3a870fc7838768d171b4616d5c91f6cc25e377b673d714567d99377b"
 dependencies = [
  "pest",
  "pest_meta",
@@ -1930,9 +2079,9 @@ dependencies = [
 
 [[package]]
 name = "pest_meta"
-version = "2.7.14"
+version = "2.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b75da2a70cf4d9cb76833c990ac9cd3923c9a8905a8929789ce347c84564d03d"
+checksum = "e1e58089ea25d717bfd31fb534e4f3afcc2cc569c70de3e239778991ea3b7dea"
 dependencies = [
  "once_cell",
  "pest",
@@ -1946,7 +2095,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b4c5cc86750666a3ed20bdaf5ca2a0344f9c67674cae0515bec2da16fbaa47db"
 dependencies = [
  "fixedbitset",
- "indexmap 2.3.0",
+ "indexmap 2.7.0",
 ]
 
 [[package]]
@@ -1993,9 +2142,9 @@ dependencies = [
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "915a1e146535de9163f3987b8944ed8cf49a18bb0056bcebcdcece385cece4ff"
 
 [[package]]
 name = "pin-utils"
@@ -2026,9 +2175,9 @@ dependencies = [
 
 [[package]]
 name = "pkg-config"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d231b230927b5e4ad203db57bbcbee2802f6bce620b1e4a9024a07d94e2907ec"
+checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
 
 [[package]]
 name = "plotters"
@@ -2115,7 +2264,7 @@ dependencies = [
  "smallvec",
  "symbolic-demangle",
  "tempfile",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
@@ -2167,7 +2316,7 @@ dependencies = [
  "rustc-hash",
  "rustls",
  "socket2",
- "thiserror 2.0.3",
+ "thiserror 2.0.6",
  "tokio",
  "tracing",
 ]
@@ -2187,7 +2336,7 @@ dependencies = [
  "rustls-pki-types",
  "rustls-platform-verifier",
  "slab",
- "thiserror 2.0.3",
+ "thiserror 2.0.6",
  "tinyvec",
  "tracing",
  "web-time",
@@ -2195,9 +2344,9 @@ dependencies = [
 
 [[package]]
 name = "quinn-udp"
-version = "0.5.7"
+version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d5a626c6807713b15cac82a6acaccd6043c9a5408c24baae07611fec3f243da"
+checksum = "52cd4b1eff68bf27940dd39811292c49e007f4d0b4c357358dc9b0197be6b527"
 dependencies = [
  "cfg_aliases",
  "libc",
@@ -2268,9 +2417,9 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.3"
+version = "0.5.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a908a6e00f1fdd0dfd9c0eb08ce85126f6d8bbda50017e74bc4a4b7d4a926a4"
+checksum = "9b6dfecf2c74bce2466cabf93f6664d6998a69eb21e39f4207930065b27b771f"
 dependencies = [
  "bitflags 2.6.0",
 ]
@@ -2283,19 +2432,19 @@ checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43"
 dependencies = [
  "getrandom",
  "libredox",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
 name = "regex"
-version = "1.10.6"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4219d74c6b67a3654a9fbebc4b419e22126d13d2f3c4a07ee0cb61ff79a79619"
+checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-automata 0.4.7",
- "regex-syntax 0.8.4",
+ "regex-automata 0.4.9",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
@@ -2309,13 +2458,13 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.7"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38caf58cc5ef2fed281f89292ef23f6365465ed9a41b7a7754eb4e26496c92df"
+checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.8.4",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
@@ -2326,9 +2475,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.4"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
+checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
 
 [[package]]
 name = "reqwest"
@@ -2446,7 +2595,7 @@ dependencies = [
  "simple_logger",
  "smart-default 0.6.0",
  "test-log",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "tokio",
  "tokio-tungstenite 0.17.2",
  "uuid",
@@ -2489,7 +2638,7 @@ dependencies = [
 name = "roslibrust_genmsg"
 version = "0.9.0"
 dependencies = [
- "clap 4.5.13",
+ "clap 4.5.23",
  "const_format",
  "env_logger 0.11.5",
  "itertools 0.12.1",
@@ -2607,15 +2756,15 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.34"
+version = "0.38.42"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70dc5ec042f7a43c4a73241207cecc9873a06d45debb38b329f8541d85c2730f"
+checksum = "f93dc38ecbab2eb790ff964bb77fa94faf256fd3e73285fd7ba0903b76bedb85"
 dependencies = [
  "bitflags 2.6.0",
  "errno",
  "libc",
  "linux-raw-sys",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -2728,11 +2877,11 @@ dependencies = [
 
 [[package]]
 name = "schannel"
-version = "0.1.23"
+version = "0.1.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbc91545643bcf3a0bbb6569265615222618bdf33ce4ffbbd13c4bbd4c093534"
+checksum = "1f29ebaa345f945cec9fbbc532eb307f0fdad8161f281b6369539c8d84876b3d"
 dependencies = [
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -2792,9 +2941,9 @@ dependencies = [
 
 [[package]]
 name = "security-framework-sys"
-version = "2.11.1"
+version = "2.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75da29fe9b9b08fe9d6b22b5b4bcbc75d8db3aa31e639aa56bb62e9d46bfceaf"
+checksum = "fa39c7303dc58b5543c94d22c1766b0d31f2ee58306363ea622b10bbc075eaa2"
 dependencies = [
  "core-foundation-sys",
  "libc",
@@ -2900,7 +3049,7 @@ dependencies = [
  "quick-xml 0.31.0",
  "serde",
  "serde-transcode",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
@@ -2909,7 +3058,7 @@ version = "0.9.34+deprecated"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a8b1a1a2ebf674015cc02edccce75287f1a0130d394307b36743c2f5d504b47"
 dependencies = [
- "indexmap 2.3.0",
+ "indexmap 2.7.0",
  "itoa",
  "ryu",
  "serde",
@@ -2977,6 +3126,12 @@ dependencies = [
  "dirs",
 ]
 
+[[package]]
+name = "shlex"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
+
 [[package]]
 name = "signal-hook-registry"
 version = "1.4.2"
@@ -3059,9 +3214,9 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.5.7"
+version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
+checksum = "c970269d99b64e60ec3bd6ad27270092a5394c4e309314b18ae3fe575695fbe8"
 dependencies = [
  "libc",
  "windows-sys 0.52.0",
@@ -3201,15 +3356,15 @@ dependencies = [
 
 [[package]]
 name = "tempfile"
-version = "3.11.0"
+version = "3.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8fcd239983515c23a32fb82099f97d0b11b8c72f654ed659363a95c3dad7a53"
+checksum = "28cce251fcbc87fac86a866eeb0d6c2d536fc16d06f184bb61aeae11aa4cee0c"
 dependencies = [
  "cfg-if",
  "fastrand",
  "once_cell",
  "rustix",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -3251,27 +3406,27 @@ checksum = "23d434d3f8967a09480fb04132ebe0a3e088c173e6d0ee7897abbdf4eab0f8b9"
 
 [[package]]
 name = "thiserror"
-version = "1.0.63"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0342370b38b6a11b6cc11d6a805569958d54cfa061a29969c3b5ce2ea405724"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
 dependencies = [
- "thiserror-impl 1.0.63",
+ "thiserror-impl 1.0.69",
 ]
 
 [[package]]
 name = "thiserror"
-version = "2.0.3"
+version = "2.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c006c85c7651b3cf2ada4584faa36773bd07bac24acfb39f3c431b36d7e667aa"
+checksum = "8fec2a1820ebd077e2b90c4df007bebf344cd394098a13c563957d0afc83ea47"
 dependencies = [
- "thiserror-impl 2.0.3",
+ "thiserror-impl 2.0.6",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.63"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3280,9 +3435,9 @@ dependencies = [
 
 [[package]]
 name = "thiserror-impl"
-version = "2.0.3"
+version = "2.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f077553d607adc1caf65430528a576c757a71ed73944b66ebb58ef2bbd243568"
+checksum = "d65750cab40f4ff1929fb1ba509e9914eb756131cef4210da8d5d700d26f6312"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3301,9 +3456,9 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.36"
+version = "0.3.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885"
+checksum = "35e7868883861bd0e56d9ac6efcaaca0d6d5d82a2a7ec8209ff492c07cf37b21"
 dependencies = [
  "deranged",
  "itoa",
@@ -3324,14 +3479,24 @@ checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
 
 [[package]]
 name = "time-macros"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f252a68540fde3a3877aeea552b832b40ab9a69e318efd078774a01ddee1ccf"
+checksum = "2834e6017e3e5e4b9834939793b282bc03b37a3336245fa820e35e233e2a85de"
 dependencies = [
  "num-conv",
  "time-core",
 ]
 
+[[package]]
+name = "tinystr"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9117f5d4db391c1cf6927e7bea3db74b9a1c1add8f7eda9ffd5364f40f57b82f"
+dependencies = [
+ "displaydoc",
+ "zerovec",
+]
+
 [[package]]
 name = "tinytemplate"
 version = "1.2.1"
@@ -3358,12 +3523,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
-<<<<<<< HEAD
-name = "tokio"
-version = "1.42.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551"
-=======
 name = "tls-listener"
 version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -3371,7 +3530,7 @@ checksum = "0f1d8809f604e448c7bc53a5a0e4c2a0a20ba44cb1fb407314c8eeccb92127f9"
 dependencies = [
  "futures-util",
  "pin-project-lite",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "tokio",
  "tokio-rustls",
 ]
@@ -3387,10 +3546,9 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.41.1"
+version = "1.42.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22cfb5bee7a6a52939ca9224d6ac897bb669134078daa8735560897f69de4d33"
->>>>>>> origin/master
+checksum = "5cec9b21b0450273377fc97bd4c33a8acffc8c996c987a7c5b319a0083707551"
 dependencies = [
  "backtrace",
  "bytes",
@@ -3427,12 +3585,11 @@ dependencies = [
 
 [[package]]
 name = "tokio-rustls"
-version = "0.26.0"
+version = "0.26.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c7bc40d0e5a97695bb96e27995cd3a08538541b0a846f65bba7a359f36700d4"
+checksum = "5f6d0975eaace0cf0fcadee4e4aaa5da15b5c079146f2cffb67c113be122bf37"
 dependencies = [
  "rustls",
- "rustls-pki-types",
  "tokio",
 ]
 
@@ -3462,9 +3619,9 @@ dependencies = [
 
 [[package]]
 name = "tokio-util"
-version = "0.7.12"
+version = "0.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61e7c3654c13bcd040d4a03abee2c75b1d14a37b423cf5a813ceae1cc903ec6a"
+checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078"
 dependencies = [
  "bytes",
  "futures-core",
@@ -3477,15 +3634,15 @@ dependencies = [
 
 [[package]]
 name = "tower-service"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6bc1c9ce2b5135ac7f93c72918fc37feb872bdc6a5533a8b85eb4b86bfdae52"
+checksum = "8df9b6e13f2d32c91b9bd719c00d1958837bc7dec474d94952798cc8e69eeec3"
 
 [[package]]
 name = "tracing"
-version = "0.1.40"
+version = "0.1.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
+checksum = "784e0ac535deb450455cbfa28a6f0df145ea1bb7ae51b821cf5e7927fdcfbdd0"
 dependencies = [
  "log",
  "pin-project-lite",
@@ -3506,9 +3663,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-core"
-version = "0.1.32"
+version = "0.1.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
+checksum = "e672c95779cf947c5311f83787af4fa8fffd12fb27e4993211a84bdfd9610f9c"
 dependencies = [
  "once_cell",
  "valuable",
@@ -3527,9 +3684,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-serde"
-version = "0.1.3"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc6b213177105856957181934e4920de57730fc69bf42c37ee5bb664d406d9e1"
+checksum = "704b1aeb7be0d0a84fc9828cae51dab5970fee5088f83d1dd7ee6f6246fc6ff1"
 dependencies = [
  "serde",
  "tracing-core",
@@ -3537,9 +3694,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.18"
+version = "0.3.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
+checksum = "e8189decb5ac0fa7bc8b96b7cb9b2701d60d48805aca84a238004d665fcc4008"
 dependencies = [
  "matchers",
  "nu-ansi-term",
@@ -3576,7 +3733,7 @@ dependencies = [
  "log",
  "rand",
  "sha-1",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "url",
  "utf-8",
 ]
@@ -3590,12 +3747,12 @@ dependencies = [
  "byteorder",
  "bytes",
  "data-encoding",
- "http 1.1.0",
+ "http 1.2.0",
  "httparse",
  "log",
  "rand",
  "sha1",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "utf-8",
 ]
 
@@ -3635,32 +3792,17 @@ dependencies = [
  "spin",
 ]
 
-[[package]]
-name = "unicode-bidi"
-version = "0.3.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08f95100a766bf4f8f28f90d77e0a5461bbdb219042e7679bebe79004fed8d75"
-
 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
-
-[[package]]
-name = "unicode-normalization"
-version = "0.1.23"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
-dependencies = [
- "tinyvec",
-]
+checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83"
 
 [[package]]
 name = "unicode-xid"
-version = "0.2.4"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f962df74c8c05a667b5ee8bcf162993134c104e96440b663c8daa176dc772d8c"
+checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
 
 [[package]]
 name = "unsafe-libyaml"
@@ -3687,9 +3829,9 @@ dependencies = [
 
 [[package]]
 name = "url"
-version = "2.5.2"
+version = "2.5.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22784dbdf76fdde8af1aeda5622b546b422b6fc585325248a2bf9f5e41e94d6c"
+checksum = "32f8b686cadd1473f4bd0117a5d28d36b1ade384ea9b5069a1c40aefed7fda60"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -3702,6 +3844,18 @@ version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
 
+[[package]]
+name = "utf16_iter"
+version = "1.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8232dd3cdaed5356e0f716d285e4b40b932ac434100fe9b7e0e8e935b9e6246"
+
+[[package]]
+name = "utf8_iter"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
+
 [[package]]
 name = "utf8parse"
 version = "0.2.2"
@@ -3710,9 +3864,9 @@ checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
 [[package]]
 name = "uuid"
-version = "1.10.0"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81dfa00651efa65069b0b6b651f4aaa31ba9e3c3ce0137aaad053604ee7e0314"
+checksum = "f8c5f0a0af699448548ad1a2fbf920fb4bee257eae39953ba95cb84891a0446a"
 dependencies = [
  "getrandom",
 ]
@@ -3792,23 +3946,23 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.92"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4be2531df63900aeb2bca0daaaddec08491ee64ceecbee5076636a3b026795a8"
+checksum = "a474f6281d1d70c17ae7aa6a613c87fce69a127e2624002df63dcb39d6cf6396"
 dependencies = [
  "cfg-if",
+ "once_cell",
  "wasm-bindgen-macro",
 ]
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.92"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "614d787b966d3989fa7bb98a654e369c762374fd3213d212cfc0251257e747da"
+checksum = "5f89bb38646b4f81674e8f5c3fb81b562be1fd936d84320f3264486418519c79"
 dependencies = [
  "bumpalo",
  "log",
- "once_cell",
  "proc-macro2",
  "quote",
  "syn 2.0.90",
@@ -3817,21 +3971,22 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.42"
+version = "0.4.49"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76bc14366121efc8dbb487ab05bcc9d346b3b5ec0eaa76e46594cabbe51762c0"
+checksum = "38176d9b44ea84e9184eff0bc34cc167ed044f816accfe5922e54d84cf48eca2"
 dependencies = [
  "cfg-if",
  "js-sys",
+ "once_cell",
  "wasm-bindgen",
  "web-sys",
 ]
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.92"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1f8823de937b71b9460c0c34e25f3da88250760bec0ebac694b49997550d726"
+checksum = "2cc6181fd9a7492eef6fef1f33961e3695e4579b9872a6f7c83aee556666d4fe"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -3839,9 +3994,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.92"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
+checksum = "30d7a95b763d3c45903ed6c81f156801839e5ee968bb07e534c44df0fcd330c2"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3852,15 +4007,15 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.92"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
+checksum = "943aab3fdaaa029a6e0271b35ea10b72b943135afe9bffca82384098ad0e06a6"
 
 [[package]]
 name = "web-sys"
-version = "0.3.69"
+version = "0.3.76"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77afa9a11836342370f4817622a2f0f418b134426d91a82dfb48f532d2ec13ef"
+checksum = "04dd7223427d52553d3702c004d3b2fe07c148165faa56313cb00211e31c12bc"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -4083,6 +4238,18 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "write16"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1890f4022759daae28ed4fe62859b1236caebfc61ede2f63ed4e695f3f6d936"
+
+[[package]]
+name = "writeable"
+version = "0.5.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e9df38ee2d2c3c5948ea468a8406ff0db0b29ae1ffde1bcf20ef305bcc95c51"
+
 [[package]]
 name = "x509-parser"
 version = "0.16.0"
@@ -4096,21 +4263,45 @@ dependencies = [
  "nom",
  "oid-registry",
  "rusticata-macros",
- "thiserror 1.0.63",
+ "thiserror 1.0.69",
  "time",
 ]
 
 [[package]]
 name = "xml-rs"
-version = "0.8.21"
+version = "0.8.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "539a77ee7c0de333dcc6da69b177380a0b81e0dacfa4f7344c465a36871ee601"
+checksum = "ea8b391c9a790b496184c29f7f93b9ed5b16abb306c05415b68bcc16e4d06432"
+
+[[package]]
+name = "yoke"
+version = "0.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "120e6aef9aa629e3d4f52dc8cc43a015c7724194c97dfaf45180d2daf2b77f40"
+dependencies = [
+ "serde",
+ "stable_deref_trait",
+ "yoke-derive",
+ "zerofrom",
+]
+
+[[package]]
+name = "yoke-derive"
+version = "0.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2380878cad4ac9aac1e2435f3eb4020e8374b5f13c296cb75b4620ff8e229154"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+ "synstructure",
+]
 
 [[package]]
 name = "zenoh"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b71a28149fe9eaa0500febec22cace12c27a4fd13ac962199bd1f45fc4fa4531"
+checksum = "82488a6ea281a33e050805a37f6eff81bbcad7949216a23ee8ba0acc3bfe159e"
 dependencies = [
  "ahash",
  "async-trait",
@@ -4155,18 +4346,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-buffers"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5461699c2691656bc8f5f1f7f81baf0b7d333a7196192642cbd8ef7cde4c7d59"
+checksum = "901ee839a198d9a2c32f9c4a3377d6a57f7c054f5558391ac604d0d14bc4bd6c"
 dependencies = [
  "zenoh-collections",
 ]
 
 [[package]]
 name = "zenoh-codec"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6a648ba93f60d5d4d7ca75ea230a4ab3699ae86060c72b4bcbd72bcd255693a"
+checksum = "0e77f7637ec7c786ab6c04c2cc2b7096856a0839f32cb54f636c85013f65c06f"
 dependencies = [
  "tracing",
  "uhlc",
@@ -4176,15 +4367,15 @@ dependencies = [
 
 [[package]]
 name = "zenoh-collections"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba9c78667083e23e6413554b914db5a0b3950ef3a2b15af9e0e1dc7b5113231d"
+checksum = "bc05e8fdf940beb9306e01e1ed98e5e091c024bd07db1f73d88d45e793c04dd9"
 
 [[package]]
 name = "zenoh-config"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58e6d4f2a8ec45c856ba0347526011fdac631bfd4bfad68fe1c5ad128644b8b6"
+checksum = "1809e15432857615ab5f5975cc09d25e7b5dcdd699610e07b10e49c3d21f785b"
 dependencies = [
  "json5",
  "num_cpus",
@@ -4196,6 +4387,7 @@ dependencies = [
  "uhlc",
  "validated_struct",
  "zenoh-core",
+ "zenoh-keyexpr",
  "zenoh-macros",
  "zenoh-protocol",
  "zenoh-result",
@@ -4204,9 +4396,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-core"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a0d500800376ac3fb7daf8ab44b9a28e8abcdf5b997ff5f0bde0b8580c3479c"
+checksum = "a844b8fe797499031673a88b094df41c8f05d49326f443a40e19aa7a1960e393"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -4216,9 +4408,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-crypto"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab2b573b3f0433d3210cee18852b8a3b7f3a82718e5dcec85169b68519341161"
+checksum = "eee0b2c0db9ff36eba3c6e35ad9a33178cfaae2b55a17644927f12e91fbd719c"
 dependencies = [
  "aes",
  "hmac",
@@ -4230,9 +4422,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-keyexpr"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f351eccd2ba89cf1339bddba6b2ae7b80ed10038e06de949811cff6806395a1"
+checksum = "612422700727c727fd4cca3352aa23c9ed32529ec70edffc8fecd8d4a2e309ef"
 dependencies = [
  "hashbrown 0.14.5",
  "keyed-set",
@@ -4245,9 +4437,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a18d2bcb9ffd298cb2694e370f82e85f8d626c10ff8a1e545ef6b85e694981e8"
+checksum = "eecda14d6a928c4f79744ea59788c6ceb66b5016a359d3033b737cad93e15ef9"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -4263,9 +4455,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-commons"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35c9892602983a19df376062a0a6a629c37456e3df9a02ffa51ae33de1b6a736"
+checksum = "c879010ef997d8397e91a8706281c811d7b3971f8b8642307961e8cb0008db12"
 dependencies = [
  "async-trait",
  "flume",
@@ -4288,9 +4480,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c44b993753915cabf6cbe62cfc03ca762432429e99e3cb3c855fa28c5712d481"
+checksum = "f58115f081937aac5ad1a4e0b35f993bec0cdd1cf57ac40f206242cd6427328b"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4315,9 +4507,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tcp"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7752376ae1a30b3d03036bccd307b357b432d4187aeb84b7923228965f5b3fc6"
+checksum = "b8fa5ffd7c84e86dc5e7741dfe6e426578260f9ecb7e4126c2fc595a4a995b0a"
 dependencies = [
  "async-trait",
  "socket2",
@@ -4333,9 +4525,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tls"
-version = "1.0.3"
+version = "1.0.4"
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 [[package]]
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@@ -4552,9 +4744,9 @@ dependencies = [
 
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 dependencies = [
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@@ -4597,8 +4789,51 @@ dependencies = [
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 ]
 
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+dependencies = [
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+ "syn 2.0.90",
+ "synstructure",
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 [[package]]
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 checksum = "ced3678a2879b30306d323f4542626697a464a97c0a07c9aebf7ebca65cd4dde"
+
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+dependencies = [
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+ "zerofrom",
+ "zerovec-derive",
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+dependencies = [
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+ "syn 2.0.90",
+]