Update criterion to 0.8 and toml to 0.9

Upgrade benchmark dependencies to latest versions. Criterion 0.8
requires using std::hint::black_box instead of criterion::black_box.
Also includes minor formatting improvements from rustfmt.

vastu-slam/Cargo.toml

@@ -14,7 +14,7 @@ scenario = ["serde_yaml"]  # Enable YAML scenario parsing for tests
 [dependencies]
 log = "0.4"              # Logging
 serde = { version = "1.0", features = ["derive"] }  # Config serialization
-toml = { version = "0.8", default-features = false, features = ["parse"] }  # TOML config files
+toml = { version = "0.9", default-features = false, features = ["parse", "serde"] }  # TOML config files
 rayon = "1.11"           # Data parallelism for scan matching
 serde_yaml = { version = "0.9", optional = true }  # YAML scenario parsing (optional)
 
@@ -22,7 +22,7 @@ serde_yaml = { version = "0.9", optional = true }  # YAML scenario parsing (opti
 env_logger = "0.11"      # Test logging
 approx = "0.5"           # Approximate comparisons (tests only)
 image = { version = "0.25", default-features = false, features = ["png", "pnm"] }
-criterion = "0.5"        # Benchmarking
+criterion = "0.8"        # Benchmarking
 serde_yaml = "0.9"       # YAML for tests (always available in tests)
 sangam-io = { path = "../sangam-io", features = ["mock"] }  # Mock device for examples
 

vastu-slam/benches/evaluation.rs

@@ -1,6 +1,7 @@
 //! Benchmark evaluation metrics performance.
 
-use criterion::{BenchmarkId, Criterion, black_box, criterion_group, criterion_main};
+use criterion::{BenchmarkId, Criterion, criterion_group, criterion_main};
+use std::hint::black_box;
 use vastu_slam::LidarScan;
 use vastu_slam::Pose2D;
 use vastu_slam::evaluation::{

vastu-slam/benches/grid_operations.rs

@@ -1,7 +1,8 @@
 //! Benchmark grid operations performance.
 
-use criterion::{BenchmarkId, Criterion, black_box, criterion_group, criterion_main};
+use criterion::{BenchmarkId, Criterion, criterion_group, criterion_main};
 use std::f32::consts::PI;
+use std::hint::black_box;
 use vastu_slam::matching::PrecomputedGrids;
 use vastu_slam::{LidarScan, MapConfig, OccupancyGridMap, Pose2D};
 

vastu-slam/benches/scan_matching.rs

@@ -1,7 +1,8 @@
 //! Benchmark scan matching performance.
 
-use criterion::{BenchmarkId, Criterion, black_box, criterion_group, criterion_main};
+use criterion::{BenchmarkId, Criterion, criterion_group, criterion_main};
 use std::f32::consts::PI;
+use std::hint::black_box;
 use vastu_slam::{
     CorrelativeMatcher, CorrelativeMatcherConfig, LidarScan, MapConfig, OccupancyGridMap, Pose2D,
 };

vastu-slam/examples/scenario_slam.rs

@@ -341,10 +341,8 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
         let (linear, angular) = cmd.velocities();
 
         // Determine if this command uses encoder-based or time-based execution
-        let use_encoder_verification = matches!(
-            cmd,
-            Command::MoveDistance { .. } | Command::Rotate { .. }
-        );
+        let use_encoder_verification =
+            matches!(cmd, Command::MoveDistance { .. } | Command::Rotate { .. });
 
         if use_encoder_verification {
             // Get target wheel distances for encoder verification
@@ -407,8 +405,11 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
                 // Check if target achieved (directional - stops before crossing)
                 let left_done =
                     wheel_reached_target(delta_left, expected_left_ticks, ENCODER_TOLERANCE_TICKS);
-                let right_done =
-                    wheel_reached_target(delta_right, expected_right_ticks, ENCODER_TOLERANCE_TICKS);
+                let right_done = wheel_reached_target(
+                    delta_right,
+                    expected_right_ticks,
+                    ENCODER_TOLERANCE_TICKS,
+                );
 
                 if left_done && right_done {
                     log::debug!(

vastu-slam/src/io/scenario.rs

@@ -135,7 +135,10 @@ impl Command {
                     (duration_secs * 1000.0) as u64
                 })
             }
-            Command::Rotate { degrees, duration_ms } => {
+            Command::Rotate {
+                degrees,
+                duration_ms,
+            } => {
                 // Use provided duration or auto-calculate from angular velocity
                 duration_ms.unwrap_or_else(|| {
                     let radians = degrees.to_radians();
@@ -446,7 +449,11 @@ commands:
         let cmd1 = &scenario.commands[0];
         assert_eq!(cmd1.wheel_distances(), Some((0.5, 0.5)));
         let duration_ms = cmd1.duration_ms();
-        assert!(duration_ms > 1600 && duration_ms < 1700, "Expected ~1667ms, got {}", duration_ms);
+        assert!(
+            duration_ms > 1600 && duration_ms < 1700,
+            "Expected ~1667ms, got {}",
+            duration_ms
+        );
 
         // Second command: explicit duration
         let cmd2 = &scenario.commands[1];
@@ -466,7 +473,11 @@ commands:
         // vel_left = vel_right = 0.6m / 2s = 0.3 m/s
         // linear = (0.3 + 0.3) / 2 = 0.3 m/s
         // angular = (0.3 - 0.3) / 0.233 = 0 rad/s
-        assert!((linear - 0.3).abs() < 1e-6, "Expected linear=0.3, got {}", linear);
+        assert!(
+            (linear - 0.3).abs() < 1e-6,
+            "Expected linear=0.3, got {}",
+            linear
+        );
         assert!(angular.abs() < 1e-6, "Expected angular=0, got {}", angular);
     }
 
@@ -484,7 +495,11 @@ commands:
         // linear = (-0.1165 + 0.1165) / 2 = 0 m/s
         // angular = (0.1165 - (-0.1165)) / 0.233 = 0.233 / 0.233 = 1 rad/s
         assert!(linear.abs() < 1e-6, "Expected linear=0, got {}", linear);
-        assert!((angular - 1.0).abs() < 0.01, "Expected angular=1.0, got {}", angular);
+        assert!(
+            (angular - 1.0).abs() < 0.01,
+            "Expected angular=1.0, got {}",
+            angular
+        );
     }
 
     #[test]