From e553902da4de4273af5fde8715f8a880be9c573f Mon Sep 17 00:00:00 2001
From: ChenYing Kuo <evshary@gmail.com>
Date: Mon, 23 Dec 2024 10:45:20 +0800
Subject: [PATCH] Update the dependencies

Signed-off-by: ChenYing Kuo <evshary@gmail.com>
---
 Cargo.lock | 206 ++++++++++++++++++++++++++++++++++-------------------
 Cargo.toml |  16 ++---
 2 files changed, 139 insertions(+), 83 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index db3733c..7a1a125 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -200,9 +200,9 @@ dependencies = [
 
 [[package]]
 name = "atomic_float"
-version = "0.1.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62af46d040ba9df09edc6528dae9d8e49f5f3e82f55b7d2ec31a733c38dbc49d"
+checksum = "628d228f918ac3b82fe590352cc719d30664a0c13ca3a60266fe02c7132d480a"
 
 [[package]]
 name = "atty"
@@ -439,7 +439,7 @@ dependencies = [
  "derivative",
  "itertools 0.12.1",
  "nalgebra",
- "ndarray",
+ "ndarray 0.15.6",
  "once_cell",
  "static_assertions",
 ]
@@ -560,9 +560,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.21"
+version = "4.5.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb3b4b9e5a7c7514dfa52869339ee98b3156b0bfb4e8a77c4ff4babb64b1604f"
+checksum = "3135e7ec2ef7b10c6ed8950f0f792ed96ee093fa088608f1c76e569722700c84"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -570,9 +570,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.21"
+version = "4.5.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b17a95aa67cc7b5ebd32aa5370189aa0d79069ef1c64ce893bd30fb24bff20ec"
+checksum = "30582fc632330df2bd26877bde0c1f4470d57c582bbc070376afcd04d8cb4838"
 dependencies = [
  "anstream",
  "anstyle",
@@ -594,9 +594,9 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "afb84c814227b90d6895e01398aee0d8033c00e7466aca416fb6a8e0eb19d8a7"
+checksum = "f46ad14479a25103f283c0f10005961cf086d8dc42205bb44c46ac563475dca6"
 
 [[package]]
 name = "cmake"
@@ -1805,6 +1805,21 @@ dependencies = [
  "rawpointer",
 ]
 
+[[package]]
+name = "ndarray"
+version = "0.16.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "882ed72dce9365842bf196bdeedf5055305f11fc8c03dee7bb0194a6cad34841"
+dependencies = [
+ "matrixmultiply",
+ "num-complex",
+ "num-integer",
+ "num-traits",
+ "portable-atomic",
+ "portable-atomic-util",
+ "rawpointer",
+]
+
 [[package]]
 name = "nix"
 version = "0.29.0"
@@ -2216,6 +2231,21 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "portable-atomic"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
+
+[[package]]
+name = "portable-atomic-util"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d8a2f0d8d040d7848a709caf78912debcc3f33ee4b3cac47d73d1e1069e83507"
+dependencies = [
+ "portable-atomic",
+]
+
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -2297,7 +2327,7 @@ dependencies = [
  "rustc-hash 2.0.0",
  "rustls",
  "socket2",
- "thiserror 2.0.3",
+ "thiserror 2.0.9",
  "tokio",
  "tracing",
 ]
@@ -2317,7 +2347,7 @@ dependencies = [
  "rustls-pki-types",
  "rustls-platform-verifier",
  "slab",
- "thiserror 2.0.3",
+ "thiserror 2.0.9",
  "tinyvec",
  "tracing",
  "web-time",
@@ -2402,6 +2432,26 @@ dependencies = [
  "thiserror 1.0.69",
 ]
 
+[[package]]
+name = "ref-cast"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ccf0a6f84d5f1d581da8b41b47ec8600871962f2a528115b542b362d4b744931"
+dependencies = [
+ "ref-cast-impl",
+]
+
+[[package]]
+name = "ref-cast-impl"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bcc303e793d3734489387d205e9b186fac9c6cfacedd98cbb2e8a5943595f3e6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.87",
+]
+
 [[package]]
 name = "regex"
 version = "1.11.1"
@@ -2754,18 +2804,18 @@ checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
 
 [[package]]
 name = "serde"
-version = "1.0.215"
+version = "1.0.216"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6513c1ad0b11a9376da888e3e0baa0077f1aed55c17f50e7b2397136129fb88f"
+checksum = "0b9781016e935a97e8beecf0c933758c97a5520d32930e460142b4cd80c6338e"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.215"
+version = "1.0.216"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad1e866f866923f252f05c889987993144fb74e722403468a4ebd70c3cd756c0"
+checksum = "46f859dbbf73865c6627ed570e78961cd3ac92407a2d117204c49232485da55e"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2785,9 +2835,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.133"
+version = "1.0.134"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7fceb2473b9166b2294ef05efcb65a3db80803f0b03ef86a5fc88a2b85ee377"
+checksum = "d00f4175c42ee48b15416f6193a959ba3a0d67fc699a0db9ad12df9f83991c7d"
 dependencies = [
  "itoa",
  "memchr",
@@ -3051,11 +3101,11 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "2.0.3"
+version = "2.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c006c85c7651b3cf2ada4584faa36773bd07bac24acfb39f3c431b36d7e667aa"
+checksum = "f072643fd0190df67a8bab670c20ef5d8737177d6ac6b2e9a236cb096206b2cc"
 dependencies = [
- "thiserror-impl 2.0.3",
+ "thiserror-impl 2.0.9",
 ]
 
 [[package]]
@@ -3071,9 +3121,9 @@ dependencies = [
 
 [[package]]
 name = "thiserror-impl"
-version = "2.0.3"
+version = "2.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f077553d607adc1caf65430528a576c757a71ed73944b66ebb58ef2bbd243568"
+checksum = "7b50fa271071aae2e6ee85f842e2e28ba8cd2c5fb67f11fcb1fd70b276f9e7d4"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3878,9 +3928,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bc5ba13faa72901df0d22dfc5527907252e19bd18944a10b2b2ac8f7364cec1"
+checksum = "46c2e911e59cd1ea7bda04ff68110a36783aa05ce878ca153adc386f3f512c9e"
 dependencies = [
  "ahash",
  "async-trait",
@@ -3896,6 +3946,7 @@ dependencies = [
  "petgraph",
  "phf",
  "rand",
+ "ref-cast",
  "rustc_version",
  "serde",
  "serde_json",
@@ -3925,18 +3976,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-buffers"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1db2a90edab2da8642d7fc496c950b04a7972135e4f7116f093d7fa4007265ad"
+checksum = "caf9b193bc445334977680e00c6a7319333623e97cfb3578600fbdd7e8755dc1"
 dependencies = [
  "zenoh-collections",
 ]
 
 [[package]]
 name = "zenoh-codec"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59f2e1896e1a104725b625230a105defe3185a973c9739f005e3ab59b1212786"
+checksum = "39c71382acf7f63476ef7bf4aa098ee85ca6d7b8e2d9c2b3e0140e9d0e8e8dbb"
 dependencies = [
  "tracing",
  "uhlc",
@@ -3946,15 +3997,15 @@ dependencies = [
 
 [[package]]
 name = "zenoh-collections"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ba920131fcd1f9e101dfde89c38799f0e6f9a120227f1d2b7e4ed862f400a5a"
+checksum = "5dd3802ecfe36cd1379603baccb1f19594f96e6f1a82914cb5ac0c525454e87f"
 
 [[package]]
 name = "zenoh-config"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "390566dded41ef61a8746860df6df309874ae3d74e74ccaf0cd7f6e636d88efd"
+checksum = "6f3a7f24a03e140c2ba89a8e7ccbb13b6e46735b27d35810cfb8c7ece0f74bc2"
 dependencies = [
  "json5",
  "num_cpus",
@@ -3966,6 +4017,7 @@ dependencies = [
  "uhlc",
  "validated_struct",
  "zenoh-core",
+ "zenoh-keyexpr",
  "zenoh-macros",
  "zenoh-protocol",
  "zenoh-result",
@@ -3974,9 +4026,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-core"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "271918c6d40b2518c3ac6a14812a86e366e242a63bcf4217674ecca4b71d306c"
+checksum = "22062f0cfd56ba0212925018a2826a860556e7544519a90989c6488d2221ed62"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -3986,9 +4038,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-crypto"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "368626540699503d5256511f0a902305a8468d9c00251865d1b0c7619078b6ce"
+checksum = "b1bc21f8b4241ecbaa53c647c6b641b0f66530c03bcbb8bc9fcb369ab7190cf9"
 dependencies = [
  "aes",
  "hmac",
@@ -4000,9 +4052,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-keyexpr"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09ca661f4566623d7623cc29c379d86fd2eefcef23d3531b79b5c157288e54f1"
+checksum = "a34f55b2c0cef495cc93d6518953ce2dd465dcaeb506f42d4615005195f2fbd2"
 dependencies = [
  "hashbrown 0.14.5",
  "keyed-set",
@@ -4015,9 +4067,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ab8f25f481506c61bb5ff66930dc08c9fd173084778fe21d6fd5e11f18f4a35"
+checksum = "96eca40b374c9e76b0442db1d2e3abfa806e655d09129cf2a5d5e69772af848f"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -4033,9 +4085,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-commons"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3cb9597078b3338c1f6807d3dc543a1afdd46112844285d78ba3a214a6f4e11"
+checksum = "c1736b771262ae7353ea6a93bc01b370ae1c73e9738f6756d42c689d364a2338"
 dependencies = [
  "async-trait",
  "flume",
@@ -4043,6 +4095,7 @@ dependencies = [
  "rustls",
  "rustls-webpki",
  "serde",
+ "time",
  "tokio",
  "tokio-util",
  "tracing",
@@ -4057,9 +4110,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c79a76117ee601f107dbd2116ba54fcd8bd36d862d48469203dd8271fee1bfc1"
+checksum = "b120ccd48a5ec17b996b6802721117d89e62fe6c93b655f495ed24d2ed5bbe89"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4069,6 +4122,7 @@ dependencies = [
  "rustls-pki-types",
  "rustls-webpki",
  "secrecy",
+ "time",
  "tokio",
  "tokio-util",
  "tracing",
@@ -4079,31 +4133,32 @@ dependencies = [
  "zenoh-link-commons",
  "zenoh-protocol",
  "zenoh-result",
+ "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-tcp"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36bb06a874040e6f30503dc4f2f817122084696df304fca19750294c5878c40e"
+checksum = "fcb9777db127cf503bc30dd5208cef6680dd048a5425210314d97d3c4549852b"
 dependencies = [
  "async-trait",
  "socket2",
  "tokio",
  "tokio-util",
  "tracing",
+ "zenoh-config",
  "zenoh-core",
  "zenoh-link-commons",
  "zenoh-protocol",
  "zenoh-result",
- "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-tls"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39275033b3cdce2146696c734d877bb60b6a3eb6367b97d1a0c9e2cd282449cd"
+checksum = "7977a664059eebc0ccbd4359686e058f12680cc621713760e8d3d232e6195887"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4113,6 +4168,7 @@ dependencies = [
  "rustls-webpki",
  "secrecy",
  "socket2",
+ "time",
  "tls-listener",
  "tokio",
  "tokio-rustls",
@@ -4130,9 +4186,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-udp"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f436eccf0db66c606b43386bd9b34cb1a43f7785a5ef0ce2ce9ce2b55eaf696b"
+checksum = "f3102ba7a84acc7cf82b8edf19ac3527cbac270e095fa81bb6201f434bb6173c"
 dependencies = [
  "async-trait",
  "socket2",
@@ -4150,9 +4206,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-unixsock_stream"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21592cd171b114ec4c65578f35ae80f005d7bd14e1401aca58cf05f87340477a"
+checksum = "99e1e5c04400b2d392f49c27319076d526a3e3d326b1b2902eb325211c72e283"
 dependencies = [
  "async-trait",
  "nix",
@@ -4169,9 +4225,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-ws"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02468de89ee436ab107018eb3e901cd04ee5b7d4054f53bdb21626e2382fc3d6"
+checksum = "7c0c452f3af4a3eae5e59fd8c373926d4c9029f2f1c36c01cf96c083e8481ce0"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -4190,9 +4246,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-macros"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1e7b8794f2333f5dd07613faf401b5287054b266ede5c4719073d2c21a1c027"
+checksum = "7c023f0719e8dbd42419e300328e15b00c7b4f1c2e90168f13351fb934a8fc62"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4202,9 +4258,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-plugin-trait"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5bdcfad37e713a425ee14512c41ab24b20960a5ad22aad36f84256b680c72f63"
+checksum = "ba97bb790fbbb8b2564cb7380523c6c76ce866a3469d5d0228ff698f6b7fab00"
 dependencies = [
  "git-version",
  "libloading",
@@ -4219,9 +4275,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-protocol"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59ce946807c3b9aeb4a2e862c69826a54628c129183981b618db03e8540b40f1"
+checksum = "0ab7537594daa3e6230faae5332f8e9b248a3166aaa231edc39f707a41cc9893"
 dependencies = [
  "const_format",
  "rand",
@@ -4234,9 +4290,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-result"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59d02e94cb817b04433ab33fbfa05c47aaafedbc96690a2acd83e9640c8814a2"
+checksum = "488562750ca1e0f670f807e172ad001aadbf4e29d61e3ceb4d0c721a35325680"
 dependencies = [
  "anyhow",
 ]
@@ -4253,9 +4309,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-runtime"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5aff3eef998710de8585fc87e336a87b2527f0d55650063dfcd21999a55f5ac"
+checksum = "6dad84f024783b2c3f9960091097577219051d45e6c435daf2459195c6014714"
 dependencies = [
  "lazy_static",
  "ron",
@@ -4267,9 +4323,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-sync"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e60b99239b90482bf16ded2a3939e401c58736ecfa656ff2d9ab56e2407784d2"
+checksum = "2d01b2baa2f1830b00954c088d0f4039bdefecf06059ed79d56caa511dc4ef32"
 dependencies = [
  "event-listener",
  "futures",
@@ -4281,9 +4337,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-task"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "215029094ba8f55c2e8eae16bef717d3a3349cc55a06ad85abcf45b4b4accc1a"
+checksum = "b573553d7244fa537bb7bb2f032587ffc15b018b9f09a07a0efe3bae233774a5"
 dependencies = [
  "futures",
  "tokio",
@@ -4295,9 +4351,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-transport"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a28631218146da98b3ec622f863c604f11d14b73d5c22f09d6dca8238643b95"
+checksum = "f286465564fdd4d4fe7458ddfdad7b1bd3ff6ea2a06f070d48246d843ce05777"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -4329,9 +4385,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-util"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd9b63e9a93046035a5c65f908799b89320de0840ef400e6c6f320575d4f8029"
+checksum = "70c4ec6031ca256e77b3478f9f415f9546bfeb5c8b3e36dc700674f1b57ab75f"
 dependencies = [
  "async-trait",
  "const_format",
@@ -4364,12 +4420,12 @@ dependencies = [
  "clap",
  "log",
  "nalgebra",
- "ndarray",
+ "ndarray 0.16.1",
  "pretty_env_logger",
  "serde",
  "serde_derive",
  "serde_json",
- "thiserror 1.0.69",
+ "thiserror 2.0.9",
  "zenoh",
  "zenoh-ros-type",
 ]
diff --git a/Cargo.toml b/Cargo.toml
index 6e4f873..881c222 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,19 +8,19 @@ version = "0.12.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-atomic_float = "0.1.0"
+atomic_float = "1.1.0"
 arc-swap = "1.6.0"
 carla = "0.11.1"
 cdr = "0.2.4"
-clap = { version = "4.4.2", features = ["derive"] }
+clap = { version = "4.5.23", features = ["derive"] }
 log = "0.4.20"
 nalgebra = "0.32.3"
-ndarray = "0.15.6"
+ndarray = "0.16.1"
 pretty_env_logger = "0.5.0"
-serde = "1.0.188"
-serde_derive = "1.0.188"
-serde_json = "1.0"
-thiserror = "1.0.48"
-zenoh = "1.0.2"
+serde = "1.0.216"
+serde_derive = "1.0.216"
+serde_json = "1.0.134"
+thiserror = "2.0.9"
+zenoh = "1.1.0"
 zenoh-ros-type = "0.3.4"
 #zenoh-ros-type = { git = "https://github.com/evshary/zenoh-ros-type", branch = "main" }