diff --git a/simcontroller/Cargo.lock b/simcontroller/Cargo.lock
index ef85cad..bf04056 100644
--- a/simcontroller/Cargo.lock
+++ b/simcontroller/Cargo.lock
@@ -2,6 +2,30 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "addr2line"
+version = "0.24.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f5fb1d8e4442bd405fdfd1dacb42792696b0cf9cb15882e5d097b742a676d375"
+dependencies = [
+ "gimli",
+]
+
+[[package]]
+name = "adler2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
+
+[[package]]
+name = "ahash"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8fd72866655d1904d6b0997d0b07ba561047d070fbe29de039031c641b61217"
+dependencies = [
+ "const-random",
+]
+
 [[package]]
 name = "aho-corasick"
 version = "1.1.3"
@@ -11,12 +35,185 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "async-channel"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "81953c529336010edd6d8e358f886d9581267795c61b19475b71314bffa46d35"
+dependencies = [
+ "concurrent-queue",
+ "event-listener 2.5.3",
+ "futures-core",
+]
+
+[[package]]
+name = "async-channel"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89b47800b0be77592da0afd425cc03468052844aff33b84e33cc696f64e77b6a"
+dependencies = [
+ "concurrent-queue",
+ "event-listener-strategy",
+ "futures-core",
+ "pin-project-lite 0.2.14",
+]
+
+[[package]]
+name = "async-executor"
+version = "1.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "30ca9a001c1e8ba5149f91a74362376cc6bc5b919d92d988668657bd570bdcec"
+dependencies = [
+ "async-task",
+ "concurrent-queue",
+ "fastrand",
+ "futures-lite",
+ "slab",
+]
+
+[[package]]
+name = "async-global-executor"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05b1b633a2115cd122d73b955eadd9916c18c8f510ec9cd1686404c60ad1c29c"
+dependencies = [
+ "async-channel 2.3.1",
+ "async-executor",
+ "async-io",
+ "async-lock",
+ "blocking",
+ "futures-lite",
+ "once_cell",
+]
+
+[[package]]
+name = "async-io"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "444b0228950ee6501b3568d3c93bf1176a1fdbc3b758dcd9475046d30f4dc7e8"
+dependencies = [
+ "async-lock",
+ "cfg-if 1.0.0",
+ "concurrent-queue",
+ "futures-io",
+ "futures-lite",
+ "parking",
+ "polling",
+ "rustix",
+ "slab",
+ "tracing",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
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+version = "3.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff6e472cdea888a4bd64f342f09b3f50e1886d32afe8df3d663c01140b811b18"
+dependencies = [
+ "event-listener 5.3.1",
+ "event-listener-strategy",
+ "pin-project-lite 0.2.14",
+]
+
+[[package]]
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+checksum = "a8a07789659a4d385b79b18b9127fc27e1a59e1e89117c78c5ea3b806f016374"
+dependencies = [
+ "async-channel 2.3.1",
+ "async-io",
+ "async-lock",
+ "async-signal",
+ "async-task",
+ "blocking",
+ "cfg-if 1.0.0",
+ "event-listener 5.3.1",
+ "futures-lite",
+ "rustix",
+ "tracing",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
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+checksum = "637e00349800c0bdf8bfc21ebbc0b6524abea702b0da4168ac00d070d0c0b9f3"
+dependencies = [
+ "async-io",
+ "async-lock",
+ "atomic-waker",
+ "cfg-if 1.0.0",
+ "futures-core",
+ "futures-io",
+ "rustix",
+ "signal-hook-registry",
+ "slab",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c634475f29802fde2b8f0b505b1bd00dfe4df7d4a000f0b36f7671197d5c3615"
+dependencies = [
+ "async-channel 1.9.0",
+ "async-global-executor",
+ "async-io",
+ "async-lock",
+ "async-process",
+ "crossbeam-utils 0.8.20",
+ "futures-channel",
+ "futures-core",
+ "futures-io",
+ "futures-lite",
+ "gloo-timers",
+ "kv-log-macro",
+ "log",
+ "memchr",
+ "once_cell",
+ "pin-project-lite 0.2.14",
+ "pin-utils",
+ "slab",
+ "wasm-bindgen-futures",
+]
+
+[[package]]
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+version = "4.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b75356056920673b02621b35afd0f7dda9306d03c79a30f5c56c44cf256e3de"
+
+[[package]]
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+checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
+
 [[package]]
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 version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
+[[package]]
+name = "backtrace"
+version = "0.3.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
+dependencies = [
+ "addr2line",
+ "cfg-if 1.0.0",
+ "libc",
+ "miniz_oxide",
+ "object",
+ "rustc-demangle",
+ "windows-targets",
+]
+
 [[package]]
 name = "bindgen"
 version = "0.63.0"
@@ -51,6 +248,42 @@ version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
 
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+name = "blocking"
+version = "1.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "703f41c54fc768e63e091340b424302bb1c29ef4aa0c7f10fe849dfb114d29ea"
+dependencies = [
+ "async-channel 2.3.1",
+ "async-task",
+ "futures-io",
+ "futures-lite",
+ "piper",
+]
+
+[[package]]
+name = "bumpalo"
+version = "3.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "bytes"
+version = "0.4.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "206fdffcfa2df7cbe15601ef46c813fce0965eb3286db6b56c583b814b51c81c"
+dependencies = [
+ "byteorder",
+ "either",
+ "iovec",
+]
+
 [[package]]
 name = "cc"
 version = "1.1.18"
@@ -71,6 +304,12 @@ dependencies = [
  "nom",
 ]
 
+[[package]]
+name = "cfg-if"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
@@ -98,6 +337,204 @@ dependencies = [
  "libloading",
 ]
 
+[[package]]
+name = "cloudabi"
+version = "0.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ddfc5b9aa5d4507acaf872de71051dfd0e309860e88966e1051e462a077aac4f"
+dependencies = [
+ "bitflags 1.3.2",
+]
+
+[[package]]
+name = "concurrent-queue"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
+dependencies = [
+ "crossbeam-utils 0.8.20",
+]
+
+[[package]]
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+version = "0.1.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87e00182fe74b066627d63b85fd550ac2998d4b0bd86bfed477a0ae4c7c71359"
+dependencies = [
+ "const-random-macro",
+]
+
+[[package]]
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+version = "0.1.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f9d839f2a20b0aee515dc581a6172f2321f96cab76c1a38a4c584a194955390e"
+dependencies = [
+ "getrandom",
+ "once_cell",
+ "tiny-keccak",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "297be2ecc39b6e680c7bb03d8d053a483c32a61d95bd758fca76e9b95ce7e276"
+dependencies = [
+ "async-std",
+ "const-tweaker-attribute",
+ "ctor",
+ "dashmap",
+ "horrorshow",
+ "lazy_static",
+ "serde",
+ "tide",
+]
+
+[[package]]
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+dependencies = [
+ "darling",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
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+dependencies = [
+ "fnv",
+ "ident_case",
+ "proc-macro2",
+ "quote",
+ "strsim",
+ "syn 1.0.109",
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+
+[[package]]
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+dependencies = [
+ "darling_core",
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+
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+dependencies = [
+ "ahash",
+ "cfg-if 0.1.10",
+ "num_cpus",
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
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@@ -117,24 +554,412 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "534c5cf6194dfab3db3242765c03bbe257cf92f22b38f6bc0c58d59108a820ba"
 dependencies = [
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- "windows-sys",
+ "windows-sys 0.52.0",
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+ "log",
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+ "time",
+ "tokio",
+ "tokio-buf",
+ "tokio-executor",
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+ "tokio-reactor",
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+dependencies = [
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+]
+
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+
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@@ -144,6 +969,34 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1868808506b929d7b0cfa8f75951347aa71bb21144b7791bae35d9bccfcfe37a"
+dependencies = [
+ "wasm-bindgen",
+]
+
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+dependencies = [
+ "winapi 0.2.8",
+ "winapi-build",
+]
+
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+dependencies = [
+ "log",
+]
+
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@@ -168,7 +1021,7 @@ version = "0.8.5"
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 checksum = "4979f22fdb869068da03c9f7528f8297c6fd2606bc3a4affe42e6a823fdb8da4"
 dependencies = [
- "cfg-if",
+ "cfg-if 1.0.0",
  "windows-targets",
 ]
 
@@ -178,11 +1031,35 @@ version = "0.4.14"
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 checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
 
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+checksum = "c4da24a77a3d8a6d4862d95f72e6fdb9c09a643ecdb402d754004a557f2bec75"
+dependencies = [
+ "scopeguard",
+]
+
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+dependencies = [
+ "value-bag",
+]
+
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+
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 [[package]]
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@@ -190,12 +1067,78 @@ version = "2.7.4"
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 checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
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+dependencies = [
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+
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+
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+
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+dependencies = [
+ "cfg-if 0.1.10",
+ "fuchsia-zircon",
+ "fuchsia-zircon-sys",
+ "iovec",
+ "kernel32-sys",
+ "libc",
+ "log",
+ "miow",
+ "net2",
+ "slab",
+ "winapi 0.2.8",
+]
+
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+dependencies = [
+ "kernel32-sys",
+ "net2",
+ "winapi 0.2.8",
+ "ws2_32-sys",
+]
+
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+dependencies = [
+ "cfg-if 0.1.10",
+ "libc",
+ "winapi 0.3.9",
+]
+
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@@ -215,6 +1158,25 @@ dependencies = [
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 ]
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4161fcb6d602d4d2081af7c3a45852d875a03dd337a6bfdd6e06407b61342a43"
+dependencies = [
+ "hermit-abi 0.3.9",
+ "libc",
+]
+
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+dependencies = [
+ "memchr",
+]
+
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 version = "1.19.0"
@@ -235,7 +1197,7 @@ dependencies = [
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  "opencv-binding-generator",
  "pkg-config",
- "semver",
+ "semver 1.0.23",
  "shlex",
  "vcpkg",
  "windows",
@@ -251,28 +1213,110 @@ dependencies = [
  "clang-sys",
  "dunce",
  "once_cell",
- "percent-encoding",
+ "percent-encoding 2.3.1",
  "regex",
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+[[package]]
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+
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+checksum = "f842b1982eb6c2fe34036a4fbfb06dd185a3f5c8edfaacdf7d1ea10b07de6252"
+dependencies = [
+ "lock_api",
+ "parking_lot_core",
+ "rustc_version",
+]
+
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+dependencies = [
+ "cfg-if 0.1.10",
+ "cloudabi",
+ "libc",
+ "redox_syscall",
+ "rustc_version",
+ "smallvec",
+ "winapi 0.3.9",
+]
+
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+[[package]]
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+checksum = "31010dd2e1ac33d5b46a5b413495239882813e0369f8ed8a5e266f173602f831"
+
 [[package]]
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+[[package]]
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+
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+
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+
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+checksum = "96c8c490f422ef9a4efd2cb5b42b76c8613d7e7dfc1caf667b8a3350a5acc066"
+dependencies = [
+ "atomic-waker",
+ "fastrand",
+ "futures-io",
+]
+
 [[package]]
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 version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d231b230927b5e4ad203db57bbcbee2802f6bce620b1e4a9024a07d94e2907ec"
 
+[[package]]
+name = "polling"
+version = "3.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cc2790cd301dec6cd3b7a025e4815cf825724a51c98dccfe6a3e55f05ffb6511"
+dependencies = [
+ "cfg-if 1.0.0",
+ "concurrent-queue",
+ "hermit-abi 0.4.0",
+ "pin-project-lite 0.2.14",
+ "rustix",
+ "tracing",
+ "windows-sys 0.59.0",
+]
+
 [[package]]
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 version = "1.0.86"
@@ -291,6 +1335,12 @@ dependencies = [
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+[[package]]
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+version = "0.1.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41cc0f7e4d5d4544e8861606a285bb08d3e70712ccc7d2b84d7c0ccfaf4b05ce"
+
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@@ -320,12 +1370,33 @@ version = "0.8.4"
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+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ea509065eb0b3c446acdd0102f0d46567dc30902dc0be91d6552035d92b0f4f8"
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
 [[package]]
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 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
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+dependencies = [
+ "semver 0.9.0",
+]
+
 [[package]]
 name = "rustix"
 version = "0.38.36"
@@ -336,7 +1407,28 @@ dependencies = [
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  "libc",
  "linux-raw-sys",
- "windows-sys",
+ "windows-sys 0.52.0",
+]
+
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+dependencies = [
+ "semver-parser",
 ]
 
 [[package]]
@@ -345,21 +1437,114 @@ version = "1.0.23"
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 checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
 
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+
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+ "serde_derive",
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+
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+ "syn 2.0.77",
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+ "memchr",
+ "ryu",
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+ "data-encoding",
+ "error-chain",
+ "percent-encoding 1.0.1",
+ "serde",
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+dependencies = [
+ "libc",
+]
+
 [[package]]
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 dependencies = [
+ "const-tweaker",
  "opencv",
  "thiserror",
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+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
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+ "autocfg",
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+checksum = "b97fcaeba89edba30f044a10c6a3cc39df9c3f17d7cd829dd1446cab35f890e0"
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+ "maybe-uninit",
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+
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+dependencies = [
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+
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+
 [[package]]
 name = "syn"
 version = "1.0.109"
@@ -402,18 +1587,366 @@ dependencies = [
  "syn 2.0.77",
 ]
 
+[[package]]
+name = "tide"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e619c99048ae107912703d0efeec4ff4fbff704f064e51d3eee614b28ea7b739"
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+ "async-std",
+ "cookie",
+ "futures 0.3.30",
+ "http",
+ "http-service",
+ "http-service-hyper",
+ "log",
+ "mime",
+ "pin-project-lite 0.1.12",
+ "route-recognizer",
+ "serde",
+ "serde_json",
+ "serde_qs",
+]
+
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+ "winapi 0.3.9",
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+checksum = "2c9d3793400a45f954c52e73d068316d76b6f4e36977e3fcebb13a2721e80237"
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+checksum = "445e881f4f6d382d5f27c034e25eb92edd7c784ceab92a0937db7f2e9471b938"
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+ "mio",
+ "num_cpus",
+ "tokio-current-thread",
+ "tokio-executor",
+ "tokio-io",
+ "tokio-reactor",
+ "tokio-threadpool",
+ "tokio-timer",
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+ "lazy_static",
+ "log",
+ "mio",
+ "num_cpus",
+ "parking_lot",
+ "slab",
+ "tokio-executor",
+ "tokio-io",
+ "tokio-sync",
+]
+
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+ "futures 0.1.31",
+ "iovec",
+ "mio",
+ "tokio-io",
+ "tokio-reactor",
+]
+
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+checksum = "df720b6581784c118f0eb4310796b12b1d242a7eb95f716a8367855325c25f89"
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+ "crossbeam-deque",
+ "crossbeam-queue",
+ "crossbeam-utils 0.7.2",
+ "futures 0.1.31",
+ "lazy_static",
+ "log",
+ "num_cpus",
+ "slab",
+ "tokio-executor",
+]
+
+[[package]]
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+checksum = "93044f2d313c95ff1cb7809ce9a7a05735b012288a888b62d4434fd58c94f296"
+dependencies = [
+ "crossbeam-utils 0.7.2",
+ "futures 0.1.31",
+ "slab",
+ "tokio-executor",
+]
+
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+checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
+dependencies = [
+ "pin-project-lite 0.2.14",
+ "tracing-core",
+]
+
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+
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+
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+
 [[package]]
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 version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
+[[package]]
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+checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
+dependencies = [
+ "tinyvec",
+]
+
+[[package]]
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+dependencies = [
+ "idna",
+ "matches",
+ "percent-encoding 1.0.1",
+]
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+checksum = "5a84c137d37ab0142f0f2ddfe332651fdbf252e7b7dbb4e67b6c1f1b2e925101"
+
 [[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
 
+[[package]]
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+
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+dependencies = [
+ "futures 0.1.31",
+ "log",
+ "try-lock",
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+
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+
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+checksum = "a82edfc16a6c469f5f44dc7b571814045d60404b55a0ee849f9bcfa2e63dd9b5"
+dependencies = [
+ "cfg-if 1.0.0",
+ "once_cell",
+ "wasm-bindgen-macro",
+]
+
+[[package]]
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+dependencies = [
+ "bumpalo",
+ "log",
+ "once_cell",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.77",
+ "wasm-bindgen-shared",
+]
+
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+dependencies = [
+ "cfg-if 1.0.0",
+ "js-sys",
+ "wasm-bindgen",
+ "web-sys",
+]
+
+[[package]]
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+dependencies = [
+ "quote",
+ "wasm-bindgen-macro-support",
+]
+
+[[package]]
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+checksum = "afc340c74d9005395cf9dd098506f7f44e38f2b4a21c6aaacf9a105ea5e1e836"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.77",
+ "wasm-bindgen-backend",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-shared"
+version = "0.2.93"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c62a0a307cb4a311d3a07867860911ca130c3494e8c2719593806c08bc5d0484"
+
+[[package]]
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+checksum = "26fdeaafd9bd129f65e7c031593c24d62186301e0c72c8978fa1678be7d532c0"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
+
 [[package]]
 name = "webots"
 version = "0.1.0"
@@ -434,6 +1967,40 @@ dependencies = [
  "rustix",
 ]
 
+[[package]]
+name = "winapi"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
+
+[[package]]
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+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
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+version = "0.1.1"
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+checksum = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
+
+[[package]]
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+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
 [[package]]
 name = "windows"
 version = "0.58.0"
@@ -507,6 +2074,15 @@ dependencies = [
  "windows-targets",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.59.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
+dependencies = [
+ "windows-targets",
+]
+
 [[package]]
 name = "windows-targets"
 version = "0.52.6"
@@ -570,3 +2146,13 @@ name = "windows_x86_64_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+
+[[package]]
+name = "ws2_32-sys"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d59cefebd0c892fa2dd6de581e937301d8552cb44489cdff035c6187cb63fa5e"
+dependencies = [
+ "winapi 0.2.8",
+ "winapi-build",
+]
diff --git a/simcontroller/Cargo.toml b/simcontroller/Cargo.toml
index 6a55871..383b72e 100644
--- a/simcontroller/Cargo.toml
+++ b/simcontroller/Cargo.toml
@@ -4,6 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+const-tweaker = "0.3.1"
 opencv = {version = "0.92.3", features = ["clang-runtime"]}
 thiserror = "1.0.63"
 webots = { git = "https://github.com/katharostech/webots-rust" }
diff --git a/simcontroller/Justfile b/simcontroller/Justfile
new file mode 100644
index 0000000..a4131cd
--- /dev/null
+++ b/simcontroller/Justfile
@@ -0,0 +1,4 @@
+debug:
+    cargo build
+    cp target/debug/simcontroller ../simulation/controllers/cruise/cruise
+
diff --git a/simcontroller/src/main.rs b/simcontroller/src/main.rs
index 25a19c7..ef929a4 100644
--- a/simcontroller/src/main.rs
+++ b/simcontroller/src/main.rs
@@ -1,5 +1,5 @@
 use camera::Camera;
-use opencv::{core::{KeyPoint, KeyPointTraitConst, Mat, Ptr, VecN, Vector, CV_8UC4}, features2d::{draw_matches_def, BFMatcher, ORB}, highgui, imgcodecs::ImreadModes, imgproc, prelude::{DescriptorMatcherTrait, DescriptorMatcherTraitConst, Feature2DTrait}};
+use opencv::{core::{bitwise_and, bitwise_and_def, bitwise_or_def, in_range, KeyPoint, KeyPointTraitConst, Mat, MatTraitConst, MatTraitConstManual, Ptr, Size, VecN, Vector, CV_64F, CV_8UC4}, features2d::{draw_matches_def, BFMatcher, ORB}, gapi::bgr2_luv, highgui::{self, MouseCallback}, imgcodecs::ImreadModes, imgproc::{self, cvt_color_def, gaussian_blur, gaussian_blur_def, sobel_def, COLOR_BGR2GRAY, COLOR_BGR2HLS}, prelude::{DescriptorMatcherTrait, DescriptorMatcherTraitConst, Feature2DTrait}};
 use webots::prelude::*;
 use std::{f64::consts::TAU, time::Duration};
 mod camera;
@@ -7,6 +7,20 @@ mod camera;
 const TIME_STEP: Duration = Duration::from_millis(20);
 const MAX_SPEED: f64 = TAU;
 
+// const tweaker only supports floating point, these are mapped
+#[const_tweaker::tweak]
+const LOWERB_H: f32 = 18. / 180.;
+#[const_tweaker::tweak]
+const LOWERB_L: f32 = 23. / 255.;
+#[const_tweaker::tweak]
+const LOWERB_S: f32 = 36. / 255.;
+#[const_tweaker::tweak]
+const UPPERB_H: f32 = 92. / 180.;
+#[const_tweaker::tweak]
+const UPPERB_L: f32 = 151. / 255.;
+#[const_tweaker::tweak]
+const UPPERB_S: f32 = 169. / 255.;
+
 struct MyRobot {
     camera: Camera,
     left_motor: Motor,
@@ -40,6 +54,8 @@ impl Robot for MyRobot {
         let window = "processed";
         //highgui::named_window(window, 1).unwrap();
 
+        //highgui::set_mouse_callback(window, |x,y,_,_| {dbg!(x+y);}).unwrap();
+
         let orb_detector = ORB::create_def().unwrap();
         let matcher = opencv::features2d::BFMatcher::new_def().unwrap();
         //let last_frame_descriptors = opencv::core::Mat::default();
@@ -69,13 +85,41 @@ impl Robot for MyRobot {
             //opencv::imgcodecs::imwrite_def("cam.png", &img).unwrap();
             //highgui::imshow(self.window, &img).unwrap();
 
+
+            let mut blurred = opencv::core::Mat::default();
+            let mut edge = opencv::core::Mat::default();
+            gaussian_blur_def(&img, &mut blurred, Size::new(3, 3), 0.).unwrap();
+            //sobel_def(&blurred, &mut edge, CV_64F, 0, 2).unwrap();
+            cvt_color_def(&blurred, &mut edge, COLOR_BGR2HLS).unwrap();
+            highgui::imshow(self.window, &blurred).unwrap();
+            let mut mask_a = opencv::core::Mat::default();
+            let mut mask_b = opencv::core::Mat::default();
+            let mut mask = opencv::core::Mat::default();
+            opencv::imgcodecs::imwrite_def("blurred.png", &blurred).unwrap();
+            println!("Lowrerh {}", LOWERB_H);
+            let lowerb = dbg!([(*LOWERB_H*255.) as u8,(*LOWERB_L*255.) as u8,(*LOWERB_S*255.) as u8,255]);
+            let upperb = [(*UPPERB_H*255.) as u8,(*UPPERB_L*255.) as u8,(*UPPERB_S*255.) as u8,255];
+            in_range(&blurred, &lowerb, &upperb, &mut mask_a).unwrap(); // h low
+                                                                                         // 103/180
+            in_range(&blurred, &[0,30,4,255], &[52,209,63,255], &mut mask_b).unwrap(); // hh28
+            highgui::imshow("a", &mask_a).unwrap();
+            //highgui::imshow("b", &mask_b).unwrap();
+            dbg!(blurred.row(240/2).unwrap().col(320/2).unwrap().data_bytes().unwrap());
+            let mut range = opencv::core::Mat::default();
+            bitwise_or_def(&mask_a, &mask_a, &mut mask).unwrap();
+            bitwise_and(&img, &img, &mut range, &mask).unwrap();
+
+            highgui::imshow("edge", &range).unwrap();
+
             let mask = opencv::core::Mat::default();
-            let mut debugout = opencv::core::Mat::default();
             let mut keypoints = opencv::core::Vector::default();
             let mut descriptors = opencv::core::Mat::default();
-            self.orb_detector.detect_and_compute_def(&img, &mask, &mut keypoints, &mut descriptors).unwrap();
+            self.orb_detector.detect_and_compute_def(&blurred, &mask, &mut keypoints, &mut descriptors).unwrap();
+            let mut debugout = opencv::core::Mat::default();
             opencv::features2d::draw_keypoints(&img, &keypoints, &mut debugout, opencv::core::VecN([0.,255.,255.,255.]), opencv::features2d::DrawMatchesFlags::DEFAULT).unwrap();
-            highgui::imshow("keypoints", &debugout).unwrap();
+            //highgui::imshow("keypoints", &debugout).unwrap();
+
+
 
 
             let mut matches: Vector<opencv::core::DMatch> = Vector::new();
@@ -121,7 +165,7 @@ impl Robot for MyRobot {
         let goal = if _time.elapsed.as_secs() % 8 < 4 {
             90. * DEG_TO_PX
         } else {
-            90. * DEG_TO_PX 
+            0. * DEG_TO_PX 
         };
         let error = goal - self.direction as f64;
         let mut error = error * 0.02;
@@ -133,8 +177,10 @@ impl Robot for MyRobot {
         let mut left_speed = error * MAX_SPEED;
         let mut right_speed = -error * MAX_SPEED;
 
-        self.left_motor.set_velocity(left_speed.clamp(-10., 10.));
-        self.right_motor.set_velocity(right_speed.clamp(-10., 10.));
+        //self.left_motor.set_velocity(left_speed.clamp(-10., 10.));
+        //self.right_motor.set_velocity(right_speed.clamp(-10., 10.));
+        self.left_motor.set_velocity(0.);
+        self.right_motor.set_velocity(0.);
     }
 }