From 1d6696acd6f95391da770462350a0b188a112ffd Mon Sep 17 00:00:00 2001
From: Wilson Watson <wwatso1tech@gmail.com>
Date: Sun, 29 Sep 2024 14:35:50 -0700
Subject: [PATCH] tool

---
 .github/workflows/rust.yaml        |   21 +
 src/main/rust/.gitignore           |    1 +
 src/main/rust/Cargo.lock           | 1085 ++++++++++++++++++++++++++++
 src/main/rust/Cargo.toml           |    4 +
 src/main/rust/choreolib/Cargo.toml |    9 +
 src/main/rust/choreolib/build.rs   |    5 +
 src/main/rust/choreolib/src/lib.rs |    4 +
 7 files changed, 1129 insertions(+)
 create mode 100644 .github/workflows/rust.yaml
 create mode 100644 src/main/rust/.gitignore
 create mode 100644 src/main/rust/Cargo.lock
 create mode 100644 src/main/rust/Cargo.toml
 create mode 100644 src/main/rust/choreolib/Cargo.toml
 create mode 100644 src/main/rust/choreolib/build.rs
 create mode 100644 src/main/rust/choreolib/src/lib.rs

diff --git a/.github/workflows/rust.yaml b/.github/workflows/rust.yaml
new file mode 100644
index 00000000..ec697602
--- /dev/null
+++ b/.github/workflows/rust.yaml
@@ -0,0 +1,21 @@
+
+name: Generate Rust Binaries
+
+on:
+  push:
+  workflow_dispatch:
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-22.04
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - uses: dtolnay/rust-toolchain@stable
+      with:
+        targets:
+          - x86_64-pc-windows-gnu
+    - run: cargo build --target x86_64-pc-windows-gnu
+      working-directory: src/main/rust
+    - run: find src/main/rust
\ No newline at end of file
diff --git a/src/main/rust/.gitignore b/src/main/rust/.gitignore
new file mode 100644
index 00000000..c41cc9e3
--- /dev/null
+++ b/src/main/rust/.gitignore
@@ -0,0 +1 @@
+/target
\ No newline at end of file
diff --git a/src/main/rust/Cargo.lock b/src/main/rust/Cargo.lock
new file mode 100644
index 00000000..7c26a992
--- /dev/null
+++ b/src/main/rust/Cargo.lock
@@ -0,0 +1,1085 @@
+# This file is automatically @generated by Cargo.
+# 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 = "arbitrary"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7d5a26814d8dcb93b0e5a0ff3c6d80a8843bafb21b39e8e18a6f05471870e110"
+dependencies = [
+ "derive_arbitrary",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
+
+[[package]]
+name = "backtrace"
+version = "0.3.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
+dependencies = [
+ "addr2line",
+ "cfg-if",
+ "libc",
+ "miniz_oxide",
+ "object",
+ "rustc-demangle",
+ "windows-targets",
+]
+
+[[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 = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "bytes"
+version = "1.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "428d9aa8fbc0670b7b8d6030a7fadd0f86151cae55e4dbbece15f3780a3dfaf3"
+
+[[package]]
+name = "cc"
+version = "1.1.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9540e661f81799159abee814118cc139a2004b3a3aa3ea37724a1b66530b90e0"
+dependencies = [
+ "shlex",
+]
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "choreo-core"
+version = "2025.0.0-beta"
+source = "git+https://github.com/SleipnirGroup/Choreo.git#d83ac387eb6c714e7be17679bc499dc69f0eaf05"
+dependencies = [
+ "dashmap",
+ "fastrand",
+ "futures-util",
+ "ipc-channel",
+ "serde",
+ "serde_json",
+ "tempfile",
+ "thiserror",
+ "tokio",
+ "tracing",
+ "trajoptlib",
+ "zip",
+]
+
+[[package]]
+name = "choreolib"
+version = "0.1.0"
+dependencies = [
+ "choreo-core",
+]
+
+[[package]]
+name = "cmake"
+version = "0.1.51"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fb1e43aa7fd152b1f968787f7dbcdeb306d1867ff373c69955211876c053f91a"
+dependencies = [
+ "cc",
+]
+
+[[package]]
+name = "codespan-reporting"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3538270d33cc669650c4b093848450d380def10c331d38c768e34cac80576e6e"
+dependencies = [
+ "termcolor",
+ "unicode-width",
+]
+
+[[package]]
+name = "crc32fast"
+version = "1.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a97769d94ddab943e4510d138150169a2758b5ef3eb191a9ee688de3e23ef7b3"
+dependencies = [
+ "cfg-if",
+]
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "33480d6946193aa8033910124896ca395333cae7e2d1113d1fef6c3272217df2"
+dependencies = [
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-utils"
+version = "0.8.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "22ec99545bb0ed0ea7bb9b8e1e9122ea386ff8a48c0922e43f36d45ab09e0e80"
+
+[[package]]
+name = "cxx"
+version = "1.0.128"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "54ccead7d199d584d139148b04b4a368d1ec7556a1d9ea2548febb1b9d49f9a4"
+dependencies = [
+ "cc",
+ "cxxbridge-flags",
+ "cxxbridge-macro",
+ "link-cplusplus",
+]
+
+[[package]]
+name = "cxx-build"
+version = "1.0.128"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c77953e99f01508f89f55c494bfa867171ef3a6c8cea03d26975368f2121a5c1"
+dependencies = [
+ "cc",
+ "codespan-reporting",
+ "once_cell",
+ "proc-macro2",
+ "quote",
+ "scratch",
+ "syn",
+]
+
+[[package]]
+name = "cxxbridge-flags"
+version = "1.0.128"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "65777e06cc48f0cb0152024c77d6cf9e4bdb4408e7b48bea993d42fa0f5b02b6"
+
+[[package]]
+name = "cxxbridge-macro"
+version = "1.0.128"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98532a60dedaebc4848cb2cba5023337cc9ea3af16a5b062633fabfd9f18fb60"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "dashmap"
+version = "6.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5041cc499144891f3790297212f32a74fb938e5136a14943f338ef9e0ae276cf"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+ "hashbrown",
+ "lock_api",
+ "once_cell",
+ "parking_lot_core",
+]
+
+[[package]]
+name = "derive_arbitrary"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67e77553c4162a157adbf834ebae5b415acbecbeafc7a74b0e886657506a7611"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "displaydoc"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "errno"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "534c5cf6194dfab3db3242765c03bbe257cf92f22b38f6bc0c58d59108a820ba"
+dependencies = [
+ "libc",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "fastrand"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8c02a5121d4ea3eb16a80748c74f5549a5665e4c21333c6098f283870fbdea6"
+
+[[package]]
+name = "fnv"
+version = "1.0.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
+
+[[package]]
+name = "futures"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "645c6916888f6cb6350d2550b80fb63e734897a8498abe35cfb732b6487804b0"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-executor",
+ "futures-io",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-channel"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+dependencies = [
+ "futures-core",
+ "futures-sink",
+]
+
+[[package]]
+name = "futures-core"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-executor"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a576fc72ae164fca6b9db127eaa9a9dda0d61316034f33a0a0d4eda41f02b01d"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-io"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
+
+[[package]]
+name = "futures-macro"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "futures-sink"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-test"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ce388237b32ac42eca0df1ba55ed3bbda4eaf005d7d4b5dbc0b20ab962928ac9"
+dependencies = [
+ "futures-core",
+ "futures-executor",
+ "futures-io",
+ "futures-macro",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+ "pin-project",
+ "pin-utils",
+]
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-io",
+ "futures-macro",
+ "futures-sink",
+ "futures-task",
+ "memchr",
+ "pin-project-lite",
+ "pin-utils",
+ "slab",
+]
+
+[[package]]
+name = "getrandom"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "wasi",
+]
+
+[[package]]
+name = "gimli"
+version = "0.31.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32085ea23f3234fc7846555e85283ba4de91e21016dc0455a16286d87a292d64"
+
+[[package]]
+name = "hashbrown"
+version = "0.14.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+
+[[package]]
+name = "hermit-abi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+
+[[package]]
+name = "indexmap"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68b900aa2f7301e21c36462b170ee99994de34dff39a4a6a528e80e7376d07e5"
+dependencies = [
+ "equivalent",
+ "hashbrown",
+]
+
+[[package]]
+name = "ipc-channel"
+version = "0.18.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7f4c80f2df4fc64fb7fc2cff69fc034af26e6e6617ea9f1313131af464b9ca0"
+dependencies = [
+ "bincode",
+ "crossbeam-channel",
+ "fnv",
+ "futures",
+ "futures-test",
+ "lazy_static",
+ "libc",
+ "mio",
+ "rand",
+ "serde",
+ "tempfile",
+ "uuid",
+ "windows",
+]
+
+[[package]]
+name = "itoa"
+version = "1.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
+
+[[package]]
+name = "lazy_static"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+
+[[package]]
+name = "libc"
+version = "0.2.159"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "561d97a539a36e26a9a5fad1ea11a3039a67714694aaa379433e580854bc3dc5"
+
+[[package]]
+name = "link-cplusplus"
+version = "1.0.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d240c6f7e1ba3a28b0249f774e6a9dd0175054b52dfbb61b16eb8505c3785c9"
+dependencies = [
+ "cc",
+]
+
+[[package]]
+name = "linux-raw-sys"
+version = "0.4.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
+
+[[package]]
+name = "lock_api"
+version = "0.4.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
+dependencies = [
+ "autocfg",
+ "scopeguard",
+]
+
+[[package]]
+name = "log"
+version = "0.4.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+
+[[package]]
+name = "memchr"
+version = "2.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
+
+[[package]]
+name = "miniz_oxide"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2d80299ef12ff69b16a84bb182e3b9df68b5a91574d3d4fa6e41b65deec4df1"
+dependencies = [
+ "adler2",
+]
+
+[[package]]
+name = "mio"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "80e04d1dcff3aae0704555fe5fee3bcfaf3d1fdf8a7e521d5b9d2b42acb52cec"
+dependencies = [
+ "hermit-abi",
+ "libc",
+ "log",
+ "wasi",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "object"
+version = "0.36.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "084f1a5821ac4c651660a94a7153d27ac9d8a53736203f58b31945ded098070a"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "once_cell"
+version = "1.20.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "82881c4be219ab5faaf2ad5e5e5ecdff8c66bd7402ca3160975c93b24961afd1"
+dependencies = [
+ "portable-atomic",
+]
+
+[[package]]
+name = "parking_lot_core"
+version = "0.9.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "redox_syscall",
+ "smallvec",
+ "windows-targets",
+]
+
+[[package]]
+name = "pin-project"
+version = "1.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6bf43b791c5b9e34c3d182969b4abb522f9343702850a2e57f460d00d09b4b3"
+dependencies = [
+ "pin-project-internal",
+]
+
+[[package]]
+name = "pin-project-internal"
+version = "1.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f38a4412a78282e09a2cf38d195ea5420d15ba0602cb375210efbc877243965"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
+[[package]]
+name = "portable-atomic"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cc9c68a3f6da06753e9335d63e27f6b9754dd1920d941135b7ea8224f141adb2"
+
+[[package]]
+name = "ppv-lite86"
+version = "0.2.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77957b295656769bb8ad2b6a6b09d897d94f05c41b069aede1fcdaa675eaea04"
+dependencies = [
+ "zerocopy",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.86"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rand"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
+dependencies = [
+ "libc",
+ "rand_chacha",
+ "rand_core",
+]
+
+[[package]]
+name = "rand_chacha"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6c10a63a0fa32252be49d21e7709d4d4baf8d231c2dbce1eaa8141b9b127d88"
+dependencies = [
+ "ppv-lite86",
+ "rand_core",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
+dependencies = [
+ "getrandom",
+]
+
+[[package]]
+name = "redox_syscall"
+version = "0.5.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "355ae415ccd3a04315d3f8246e86d67689ea74d88d915576e1589a351062a13b"
+dependencies = [
+ "bitflags",
+]
+
+[[package]]
+name = "rustc-demangle"
+version = "0.1.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
+
+[[package]]
+name = "rustix"
+version = "0.38.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8acb788b847c24f28525660c4d7758620a7210875711f79e7f663cc152726811"
+dependencies = [
+ "bitflags",
+ "errno",
+ "libc",
+ "linux-raw-sys",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "ryu"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
+
+[[package]]
+name = "scopeguard"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
+
+[[package]]
+name = "scratch"
+version = "1.0.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a3cf7c11c38cb994f3d40e8a8cde3bbd1f72a435e4c49e85d6553d8312306152"
+
+[[package]]
+name = "serde"
+version = "1.0.210"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8e3592472072e6e22e0a54d5904d9febf8508f65fb8552499a1abc7d1078c3a"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.210"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "243902eda00fad750862fc144cea25caca5e20d615af0a81bee94ca738f1df1f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "serde_json"
+version = "1.0.128"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ff5456707a1de34e7e37f2a6fd3d3f808c318259cbd01ab6377795054b483d8"
+dependencies = [
+ "itoa",
+ "memchr",
+ "ryu",
+ "serde",
+]
+
+[[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"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a9e9e0b4211b72e7b8b6e85c807d36c212bdb33ea8587f7569562a84df5465b1"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "slab"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "smallvec"
+version = "1.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "syn"
+version = "2.0.79"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89132cd0bf050864e1d38dc3bbc07a0eb8e7530af26344d3d2bbbef83499f590"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "tempfile"
+version = "3.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0f2c9fc62d0beef6951ccffd757e241266a2c833136efbe35af6cd2567dca5b"
+dependencies = [
+ "cfg-if",
+ "fastrand",
+ "once_cell",
+ "rustix",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
+name = "termcolor"
+version = "1.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
+dependencies = [
+ "winapi-util",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.64"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d50af8abc119fb8bb6dbabcfa89656f46f84aa0ac7688088608076ad2b459a84"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.64"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08904e7672f5eb876eaaf87e0ce17857500934f4981c4a0ab2b4aa98baac7fc3"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "tokio"
+version = "1.40.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2b070231665d27ad9ec9b8df639893f46727666c6767db40317fbe920a5d998"
+dependencies = [
+ "backtrace",
+ "bytes",
+ "libc",
+ "mio",
+ "pin-project-lite",
+ "signal-hook-registry",
+ "tokio-macros",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "tokio-macros"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "tracing"
+version = "0.1.40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
+dependencies = [
+ "pin-project-lite",
+ "tracing-attributes",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-attributes"
+version = "0.1.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "tracing-core"
+version = "0.1.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
+dependencies = [
+ "once_cell",
+]
+
+[[package]]
+name = "trajoptlib"
+version = "0.1.0"
+source = "git+https://github.com/SleipnirGroup/Choreo.git#d83ac387eb6c714e7be17679bc499dc69f0eaf05"
+dependencies = [
+ "cmake",
+ "cxx",
+ "cxx-build",
+ "serde",
+ "thiserror",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
+
+[[package]]
+name = "unicode-width"
+version = "0.1.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
+
+[[package]]
+name = "uuid"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "81dfa00651efa65069b0b6b651f4aaa31ba9e3c3ce0137aaad053604ee7e0314"
+dependencies = [
+ "getrandom",
+]
+
+[[package]]
+name = "wasi"
+version = "0.11.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+
+[[package]]
+name = "winapi-util"
+version = "0.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf221c93e13a30d793f7645a0e7762c55d169dbb0a49671918a2319d289b10bb"
+dependencies = [
+ "windows-sys 0.59.0",
+]
+
+[[package]]
+name = "windows"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dd04d41d93c4992d421894c18c8b43496aa748dd4c081bac0dc93eb0489272b6"
+dependencies = [
+ "windows-core",
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-core"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ba6d44ec8c2591c134257ce647b7ea6b20335bf6379a27dac5f1641fcf59f99"
+dependencies = [
+ "windows-implement",
+ "windows-interface",
+ "windows-result",
+ "windows-strings",
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-implement"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "windows-interface"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "windows-result"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d1043d8214f791817bab27572aaa8af63732e11bf84aa21a45a78d6c317ae0e"
+dependencies = [
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-strings"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4cd9b125c486025df0eabcb585e62173c6c9eddcec5d117d3b6e8c30e2ee4d10"
+dependencies = [
+ "windows-result",
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+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"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_gnullvm",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
+
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+
+[[package]]
+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "zip"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc5e4288ea4057ae23afc69a4472434a87a2495cafce6632fd1c4ec9f5cf3494"
+dependencies = [
+ "arbitrary",
+ "crc32fast",
+ "crossbeam-utils",
+ "displaydoc",
+ "indexmap",
+ "memchr",
+ "thiserror",
+]
diff --git a/src/main/rust/Cargo.toml b/src/main/rust/Cargo.toml
new file mode 100644
index 00000000..651f35f7
--- /dev/null
+++ b/src/main/rust/Cargo.toml
@@ -0,0 +1,4 @@
+[workspace]
+
+resolver = "2"
+members = ["choreolib"]
diff --git a/src/main/rust/choreolib/Cargo.toml b/src/main/rust/choreolib/Cargo.toml
new file mode 100644
index 00000000..d92791a5
--- /dev/null
+++ b/src/main/rust/choreolib/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "choreolib"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+choreo-core = { git = "https://github.com/SleipnirGroup/Choreo.git" }
diff --git a/src/main/rust/choreolib/build.rs b/src/main/rust/choreolib/build.rs
new file mode 100644
index 00000000..ea3f61fa
--- /dev/null
+++ b/src/main/rust/choreolib/build.rs
@@ -0,0 +1,5 @@
+
+fn main() {
+
+    
+}
\ No newline at end of file
diff --git a/src/main/rust/choreolib/src/lib.rs b/src/main/rust/choreolib/src/lib.rs
new file mode 100644
index 00000000..ef4e56d5
--- /dev/null
+++ b/src/main/rust/choreolib/src/lib.rs
@@ -0,0 +1,4 @@
+
+fn add(x: i32, y: i32) -> i32 {
+    x + y
+}