refactor: flip catalog drivers onto single phoxal crate

Cargo.toml

@@ -22,26 +22,11 @@ async-trait = "0.1.89"
 clap = { version = "4.6.1", features = ["derive"] }
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time", "signal", "sync", "fs"] }
 tracing = "0.1.44"
-phoxal-infra-bus = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-api-component = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-engine = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-component = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-infra-helpers = { git = "https://github.com/phoxal/framework", branch = "main" }
+phoxal = { version = "0.4.0" }
 
 [workspace.lints.rust]
 unused = "warn"
 
 [profile.release]
 lto = false
 codegen-units = 16
-
-# Patch the engine alias so a transitive git fetch lines up with the framework canonical source.
-[patch."https://github.com/phoxal/engine"]
-phoxal-infra-bus = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-api-component = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-engine = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-component = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-infra-helpers = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-robot = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-spatial = { git = "https://github.com/phoxal/framework", branch = "main" }
-phoxal-core-structure = { git = "https://github.com/phoxal/framework", branch = "main" }

bno085/Cargo.toml

@@ -19,8 +19,4 @@ async-trait = { workspace = true }
 clap = { workspace = true, features = ["derive", "env"] }
 tokio = { workspace = true, features = ["macros", "rt", "rt-multi-thread", "signal", "sync", "time"] }
 tracing = { workspace = true }
-phoxal-core-engine = { workspace = true }
-phoxal-infra-helpers = { workspace = true }
-phoxal-core-component = { workspace = true }
-phoxal-infra-bus = { workspace = true }
-phoxal-api-component = { workspace = true }
+phoxal = { workspace = true }

bno085/src/main.rs

@@ -2,8 +2,8 @@ mod runtime;
 
 use anyhow::Result;
 use clap::Parser;
-use phoxal_core_engine::{DriverRuntimeArgs, step::RuntimeProcess};
-use phoxal_infra_helpers::init_tracing;
+use phoxal::runtime::{DriverRuntimeArgs, RuntimeProcess};
+use phoxal::util::init_tracing;
 use tracing::info;
 
 use crate::runtime::Config;

bno085/src/runtime.rs

@@ -1,16 +1,15 @@
 use std::time::Duration;
 
 use anyhow::{Result, bail};
-use phoxal_api_component::v1::capability::accelerometer::Sample as AccelerometerSample;
-use phoxal_api_component::v1::capability::gyroscope::Sample as GyroscopeSample;
-use phoxal_api_component::v1::capability::imu;
-use phoxal_api_component::v1::capability::imu::Sample as ImuSample;
-use phoxal_core_component::v1::CapabilityRef;
-use phoxal_core_component::v1::capability::Capability;
-use phoxal_core_engine::clock::{Schedule, SchedulePolicy, Step};
-use phoxal_core_engine::step::{Io, Publisher, Runtime, RuntimeInputs};
-use phoxal_core_engine::{EmptyArgs, RobotRuntimeArgs};
-use phoxal_infra_bus::pubsub::Stamped;
+use phoxal::api::component::v1::capability::accelerometer::Sample as AccelerometerSample;
+use phoxal::api::component::v1::capability::gyroscope::Sample as GyroscopeSample;
+use phoxal::api::component::v1::capability::imu;
+use phoxal::api::component::v1::capability::imu::Sample as ImuSample;
+use phoxal::bus::pubsub::Stamped;
+use phoxal::model::component::v1::CapabilityRef;
+use phoxal::model::component::v1::capability::Capability;
+use phoxal::runtime::clock::{Schedule, SchedulePolicy, Step};
+use phoxal::runtime::{EmptyArgs, Io, Publisher, RobotRuntimeArgs, Runtime, RuntimeInputs};
 
 #[derive(Clone)]
 pub struct Config {
@@ -22,7 +21,7 @@ pub struct Config {
 impl Config {
     pub fn new(
         component_id: &str,
-        component: &phoxal_core_component::v1::Component,
+        component: &phoxal::model::component::v1::Component,
     ) -> Result<Self> {
         Ok(Self {
             imu: sensor(component_id, component, CapabilityKind::Imu)?,
@@ -50,7 +49,7 @@ enum CapabilityKind {
 
 fn sensor(
     component_id: &str,
-    component: &phoxal_core_component::v1::Component,
+    component: &phoxal::model::component::v1::Component,
     kind: CapabilityKind,
 ) -> Result<SampledSensor> {
     let mut sensor = None;
@@ -161,22 +160,22 @@ impl Runtime for Bno085Runtime {
 
     async fn new(io: &mut Io<Self::Input>, config: Self::Config) -> Result<Self> {
         let imu_pub = io
-            .publisher::<Stamped<ImuSample>>(&imu::topic(
+            .publisher::<Stamped<ImuSample>>(&imu::path(
                 &config.imu.capability.component_id,
                 &config.imu.capability.capability_id,
             ))
             .await?;
         let accelerometer_pub = io
             .publisher::<Stamped<AccelerometerSample>>(
-                &phoxal_api_component::v1::capability::default_profile_path(
+                &phoxal::api::component::v1::capability::default_profile_path(
                     &config.accelerometer.capability.component_id,
                     &config.accelerometer.capability.capability_id,
                 ),
             )
             .await?;
         let gyroscope_pub = io
             .publisher::<Stamped<GyroscopeSample>>(
-                &phoxal_api_component::v1::capability::default_profile_path(
+                &phoxal::api::component::v1::capability::default_profile_path(
                     &config.gyroscope.capability.component_id,
                     &config.gyroscope.capability.capability_id,
                 ),

ddsm115/Cargo.toml

@@ -19,8 +19,4 @@ async-trait = { workspace = true }
 clap = { workspace = true, features = ["derive", "env"] }
 tokio = { workspace = true, features = ["macros", "rt", "rt-multi-thread", "signal", "sync", "time"] }
 tracing = { workspace = true }
-phoxal-core-engine = { workspace = true }
-phoxal-infra-helpers = { workspace = true }
-phoxal-core-component = { workspace = true }
-phoxal-infra-bus = { workspace = true }
-phoxal-api-component = { workspace = true }
+phoxal = { workspace = true }