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feat: port drivers to the #00 framework (nested API + owner capability)#9
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Bring the component drivers onto the plan #00 framework surface (DoD #1): the nested component API, the `phoxal-api` crate, and the L2 owner capability. - depend on the #00 framework via a pinned git bridge (until it is released to crates.io): `phoxal` and `phoxal-api` at framework rev e8c4ce8. Each crate adds `phoxal-api = { workspace = true }`. - import `use phoxal_api::y2026_1 as api;` (was `phoxal::api`). - nested contract types: `api::component::motor::Command`, `encoder::Sample`, `imu::Sample`, `accelerometer::Sample`, `gyroscope::Sample`, `camera::Frame` + `camera::Encoding`, `depth::Frame` + `depth::Encoding` + `depth::InvalidSamplePolicy`, `range::Sample` + `range::Limits`, `gnss::Sample` (no flat `api::component::<Name>` left). `SensorHealth` is now per-capability (`imu::SensorHealth`, `range::SensorHealth`). - a driver OWNS its component capabilities, so every topic is acquired through the L2 owner builder `api::topic::internal::new(cap).component(i).<kind>(c).<leaf>()` with `let cap = ctx.owner_capability();`. ddsm115 subscribes `motor::Command` (command role) and publishes `encoder::Sample` (state); sensor drivers publish their `*::sample` / `*::frame` (state). Green: cargo build/test/clippy -D warnings/fmt against the #00 framework.
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What
Ports the 5 component drivers (bno085, ddsm115, oak_d_lite, vl53l1x, zed_f9p) onto the plan #00 framework surface — satisfying #00 DoD #1 (no flat component bus API remains).
How
phoxal+phoxal-apipinned at framework reve8c4ce8. Each crate addsphoxal-api.use phoxal_api::y2026_1 as api;(wasphoxal::api).motor::Command,encoder::Sample,imu::Sample,accelerometer::Sample,gyroscope::Sample,camera::Frame/Encoding,depth::Frame/Encoding/InvalidSamplePolicy,range::Sample/Limits,gnss::Sample. No flatapi::component::<Name>left.SensorHealthis now per-capability (imu::SensorHealth,range::SensorHealth).api::topic::internal::new(cap).component(i).<kind>(c).<leaf>()withlet cap = ctx.owner_capability();. ddsm115 subscribesmotor::Command(command role) + publishesencoder::Sample(state); sensors publish their*::sample/*::frame(state).Verification
Workflow (implement + independent verify), then codex cross-review (verdict: ok). Green:
cargo build/test/clippy -D warnings/fmt(11 tests pass). Both flat-signal greps +phoxal::apiare empty; handle directions match roles; per-capabilitySensorHealthand camera/depth/range field fidelity confirmed against the framework structs.Note
The git-bridge dep is a temporary bridge until the #00 framework is released to crates.io, at which point a 1-line switch pins the published version.
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