Fix clippy lints

src/missions/action.rs

@@ -1,6 +1,6 @@
 use anyhow::Result;
 use async_trait::async_trait;
-use opencv::core::InputArray;
+
 use core::fmt::Debug;
 use std::{marker::PhantomData, sync::Arc, thread};
 use tokio::{join, runtime::Handle, sync::Mutex};

src/missions/buoy_hit.rs

@@ -4,11 +4,7 @@ use super::{
     basic::DelayAction,
     movement::{StraightMovement, ZeroMovement},
 };
-use crate::vision::{
-    buoy::{self, Buoy},
-    nn_cv2::OnnxModel,
-    VisualDetector,
-};
+use crate::vision::{buoy::Buoy, nn_cv2::OnnxModel, VisualDetector};
 
 use anyhow::Result;
 use async_trait::async_trait;

src/missions/circle_buoy.rs

@@ -6,23 +6,20 @@ use crate::{
         vision::{Average, ExtractPosition, VisionNorm},
     },
     vision::{
-        buoy,
-        nn_cv2::OnnxModel,
         path::{Path, Yuv},
-        Offset2D, VisualDetection, VisualDetector,
+        Offset2D,
     },
 };
 
 use super::{
-    action::{Action, ActionExec, ActionMod, ActionSequence, ActionWhile},
+    action::{Action, ActionExec, ActionMod, ActionSequence},
     action_context::{GetControlBoard, GetFrontCamMat, GetMainElectronicsBoard},
     basic::DelayAction,
-    movement::{StraightMovement, ZeroMovement},
+    movement::ZeroMovement,
 };
 
-use anyhow::Result;
 use async_trait::async_trait;
-use core::fmt::Debug;
+
 use opencv::core::Size;
 use tokio::io::WriteHalf;
 use tokio_serial::SerialStream;
@@ -35,7 +32,7 @@ pub struct CircleBuoy<'a, T> {
 }
 
 impl<'a, T> CircleBuoy<'a, T> {
-    pub fn new(context: &'a T, target_depth: f32, forward_power: f32, lateral_power: f32) -> Self {
+    pub fn new(context: &'a T, target_depth: f32, _forward_power: f32, lateral_power: f32) -> Self {
         CircleBuoy {
             context,
             target_depth,

src/missions/gate.rs

@@ -7,7 +7,6 @@ use crate::{
     vision::{
         gate_poles::{GatePoles, Target},
         nn_cv2::{OnnxModel, YoloClass},
-        path::Path,
         Offset2D, VisualDetection,
     },
 };

src/missions/octagon.rs

@@ -1,21 +1,15 @@
-use anyhow::Result;
-use async_trait::async_trait;
 use tokio::io::WriteHalf;
 use tokio_serial::SerialStream;
 
 use crate::{act_nest, vision::path::Path};
 
 use super::{
-    action::{
-        Action, ActionConcurrent, ActionConditional, ActionExec, ActionMod, ActionSequence,
-        RaceAction,
-    },
+    action::{ActionExec, ActionSequence},
     action_context::{GetControlBoard, GetFrontCamMat, GetMainElectronicsBoard},
     basic::DelayAction,
     example::initial_descent,
     extra::NoOp,
-    meb::WaitArm,
-    movement::{Descend, Stability2Movement, Stability2Pos},
+    movement::{Stability2Movement, Stability2Pos},
     vision::VisionNorm,
 };
 

src/missions/vision.rs

@@ -222,7 +222,10 @@ impl<T: Display, U: Send + Sync + Clone, V: Send + Sync + Clone>
     ActionMod<anyhow::Result<Vec<VisualDetection<U, V>>>> for DetectTarget<T, U, V>
 {
     fn modify(&mut self, input: &anyhow::Result<Vec<VisualDetection<U, V>>>) {
-        self.results = input.as_ref().map(|valid| valid.clone()).ok()
+        #[allow(clippy::all)]
+        {
+            self.results = input.as_ref().map(|valid| valid.clone()).ok()
+        }
     }
 }
 

src/vision/buoy.rs

@@ -1,15 +1,15 @@
 use anyhow::Result;
 use opencv::{core::Size, prelude::Mat};
-use tokio::sync::Mutex;
 
 use crate::load_onnx;
 
 use super::{
-    nn_cv2::{OnnxModel, VisionModel, YoloDetection}, path::Yuv, yolo_model::YoloProcessor
+    nn_cv2::{OnnxModel, VisionModel, YoloDetection},
+    yolo_model::YoloProcessor,
 };
 
 use core::hash::Hash;
-use std::{error::Error, fmt::Display, ops::RangeInclusive, sync::Arc};
+use std::{error::Error, fmt::Display};
 
 #[derive(Debug, PartialEq, Eq, Hash, Clone)]
 pub enum Target {

src/vision/path.rs

@@ -1,15 +1,11 @@
-use std::{
-    ops::{Deref, DerefMut, RangeInclusive},
-    sync::Arc,
-};
+use std::ops::{Deref, DerefMut, RangeInclusive};
 
 use itertools::Itertools;
 use opencv::{
     core::{in_range, Size, VecN},
     imgproc::{cvt_color, COLOR_RGB2YUV, COLOR_YUV2RGB},
     prelude::{Mat, MatTraitConst},
 };
-use std::sync::Mutex;
 
 use crate::vision::image_prep::{binary_pca, cvt_binary_to_points};