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feat(ddsm115)!: migrate the driver to the new framework (phoxal 0.15)#7
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Port the ddsm115 wheel-motor driver from the old phoxal 0.9 authoring surface to the
new one: a single `#[derive(phoxal::Runtime)]` + `#[phoxal(id = "ddsm115", api =
y2026_1)]` driver with `#[setup]`/`#[step]`/`#[shutdown]` and a blocking
`phoxal::run::<Ddsm115>()`. It reads its per-instance binding via `ctx.component()`
(D47/D53) and binds the dynamic per-component `motor_command` (subscribe) /
`encoder_sample` (publish) topics (D17/D38) — the framework's typed contracts, no
hand-rolled bus code.
- Replace `src/{main,runtime}.rs` (old split + old `RuntimeProcess`/`clap`) with one
`main.rs`; drop the `async-trait`/`clap`/`tokio`/`tracing` deps (the runner owns the
process now) — deps are just `phoxal` + `anyhow` (+ `serde_json` dev-dep for the
emit-apis test).
- Pin `phoxal = "0.15"` directly (not the workspace's 0.9): cargo keeps both in the
lock, so this driver builds on 0.15 while the other four catalog drivers stay on 0.9
until they migrate. `component.yaml` / URDF / simulation.yaml are unchanged (the
component grammar is separate).
This is the first driver on the new framework — it also confirms component drivers
live here and are built from git source (not framework images), per REPOSITORIES.md.
`cargo check --workspace` (0.9 + 0.15 coexisting), `cargo test -p
phoxal-component-ddsm115` (3 tests), clippy, fmt all green.
Co-Authored-By: Claude Opus 4.8 <[email protected]>
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What
Migrates the ddsm115 wheel-motor driver from phoxal 0.9 to the new framework
authoring surface (phoxal 0.15): a single
#[derive(phoxal::Runtime)]+#[phoxal(id = "ddsm115", api = y2026_1)]driver with#[setup]/#[step]/#[shutdown]and
phoxal::run::<Ddsm115>(). It reads its instance viactx.component()(D47/D53) andbinds the dynamic
motor_command(subscribe) /encoder_sample(publish) per-componenttopics (D17/D38).
Why
Part of relocating component drivers to where they belong (
phoxal/components, builtfrom git source — confirmed by
REPOSITORIES.md:18) and off the framework. ddsm115 isthe first of the five catalog drivers to move to the new framework.
How
src/{main,runtime}.rswith onemain.rs; dropasync-trait/clap/tokio/tracing(the runner owns the process) → deps arephoxal+anyhow(+serde_jsondev-dep).
phoxal = "0.15"directly (not the workspace's 0.9) so this crate builds on0.15 while the other four drivers stay on 0.9 until they migrate — cargo keeps both in
the lock.
component.yaml/URDF/simulation.yamlunchanged.Tests
cargo check --workspace(0.9 + 0.15 coexisting),cargo test -p phoxal-component-ddsm115(3 tests incl. emit-apis), clippy
-D warnings, fmt — all green.🤖 Generated with Claude Code