lib.rs — Application Bootstrap

lib.rs is where the entire Tauri application is configured and started. It does the following in order:

Managed state registration

Three pieces of state are registered with Tauri's state manager so they can be injected into any command via State<'_>:

• RoverState — the three rover mode booleans (drive_manual_mode, arm_manual_mode, pickup_mode), all wrapped in Mutex so they are safe to read and write from async commands
• DummyStreamHandle — holds an optional cancellation flag for the dummy simulator
• RoverAddress — holds the port the Rover is sending to

RoverState is subject to change, because the rover might become able to drive and move the arm at the same time

Plugin registration

Three official Tauri plugins are loaded:

All plugins must be registered in lib.rs, Cargo.toml and if they require access to anything in src-tauri/capabilities/default.json

AI will often try to get you to add them to tauri.conf.json but that is, as far as I have encountered if, incorrect

Command registration

All Tauri commands are registered here via tauri::generate_handler!. This is the complete list of commands callable from the frontend via invoke(). If you add a new command in any commands/ file, it must also be added here or it will not be accessible from the frontend.

Setup (startup sequence)

The .setup() closure runs once at launch, before any window is shown. It performs these steps in order:

a) GStreamer plugin path Sets the GST_PLUGIN_PATH environment variable so GStreamer can find its plugins on Windows. It will look for them at C:\gstreamer\1.0\msvc_x86_64\bin. On Linux it can find the plugins automatically.

b) Storage directory creation Calls ensure_storage_dirs_internal() to create the tasks/, images/, and maps/ subdirectories under the app data directory if they don't already exist.

c) Cache clearing Calls clear_cache_on_startup() to wipe any stale cached files from the previous session.

d) GStreamer streaming server Spawns an async task that runs commands::gstreamer::stream() for the lifetime of the app. This starts the three GStreamer pipelines and their corresponding MJPEG HTTP servers.

e) UDP service Creates UdpService (binding 0.0.0.0:9000) synchronously using block_on. The socket is extracted before the service is moved into Tauri's state manager, so it can be passed to the listener independently.

f) UDP listener Spawns an async task running network::listener::run_listener() with the shared socket. This is the loop that receives, decodes, and forwards all incoming rover packets to the frontend.

g) Controller listener Calls commands::controller::start_controller_listener(), which spawns an OS thread to poll for gamepad events.