feat: port drivers to the #00 framework (nested API + owner capability)

Cargo.toml

@@ -22,7 +22,9 @@ 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 = { version = "0.16" }
+# git bridge to the #00 framework until it is released to crates.io (plan #00).
+phoxal = { git = "https://github.com/phoxal/framework", rev = "e8c4ce8395ef9afeb676a6c20e24f0eee00e8aee" }
+phoxal-api = { git = "https://github.com/phoxal/framework", rev = "e8c4ce8395ef9afeb676a6c20e24f0eee00e8aee" }
 
 [workspace.lints.rust]
 unused = "warn"

bno085/Cargo.toml

@@ -5,7 +5,7 @@ edition.workspace = true
 rust-version.workspace = true
 license.workspace = true
 publish = false
-description = "Phoxal catalog component — bno085."
+description = "Phoxal catalog component - bno085."
 documentation.workspace = true
 homepage.workspace = true
 repository.workspace = true
@@ -16,6 +16,7 @@ workspace = true
 [dependencies]
 anyhow = { workspace = true }
 phoxal = { workspace = true }
+phoxal-api = { workspace = true }
 
 [dev-dependencies]
 serde_json = "1"

bno085/src/main.rs

@@ -1,20 +1,20 @@
 //! `bno085` — BNO085 IMU component driver stub.
 
 use anyhow::{Result, bail};
-use phoxal::api::y2026_1 as api;
 use phoxal::model::component::v1::capability::Capability;
 use phoxal::prelude::*;
+use phoxal_api::y2026_1 as api;
 
 const STEP_HZ: f64 = 100.0;
 
 #[derive(phoxal::Runtime)]
 #[phoxal(id = "bno085", api = y2026_1)]
 struct Bno085 {
-    imu: Vec<Publisher<api::component::ImuSample>>,
+    imu: Vec<Publisher<api::component::imu::Sample>>,
     imu_divisors: Vec<u64>,
-    accelerometer: Vec<Publisher<api::component::AccelerometerSample>>,
+    accelerometer: Vec<Publisher<api::component::accelerometer::Sample>>,
     accelerometer_divisors: Vec<u64>,
-    gyroscope: Vec<Publisher<api::component::GyroscopeSample>>,
+    gyroscope: Vec<Publisher<api::component::gyroscope::Sample>>,
     gyroscope_divisors: Vec<u64>,
 }
 
@@ -28,6 +28,9 @@ struct CapabilitySchedule {
 impl Bno085 {
     #[setup]
     async fn setup(ctx: &mut SetupContext<Self>) -> Result<Self> {
+        // Owner opt-in (plan #00 L2): the runner-minted capability that the owner
+        // (`internal`) topic builder requires. This driver OWNS its component node.
+        let cap = ctx.owner_capability();
         let instance = ctx.component()?.to_string();
         let (imu_slots, accelerometer_slots, gyroscope_slots) = {
             let robot = ctx.robot()?;
@@ -69,9 +72,10 @@ impl Bno085 {
         for slot in imu_slots {
             imu.push(
                 ctx.publisher(
-                    api::topic::new()
-                        .component()
-                        .imu_sample(&instance, &slot.capability_id),
+                    api::topic::internal::new(cap)
+                        .component(&instance)
+                        .imu(&slot.capability_id)
+                        .sample(),
                 )
                 .await?,
             );
@@ -83,9 +87,10 @@ impl Bno085 {
         for slot in accelerometer_slots {
             accelerometer.push(
                 ctx.publisher(
-                    api::topic::new()
-                        .component()
-                        .accelerometer_sample(&instance, &slot.capability_id),
+                    api::topic::internal::new(cap)
+                        .component(&instance)
+                        .accelerometer(&slot.capability_id)
+                        .sample(),
                 )
                 .await?,
             );
@@ -97,9 +102,10 @@ impl Bno085 {
         for slot in gyroscope_slots {
             gyroscope.push(
                 ctx.publisher(
-                    api::topic::new()
-                        .component()
-                        .gyroscope_sample(&instance, &slot.capability_id),
+                    api::topic::internal::new(cap)
+                        .component(&instance)
+                        .gyroscope(&slot.capability_id)
+                        .sample(),
                 )
                 .await?,
             );
@@ -171,28 +177,28 @@ fn is_due(step_index: u64, divisor: u64) -> bool {
     divisor <= 1 || step_index % divisor == 0
 }
 
-fn imu_sample() -> api::component::ImuSample {
-    api::component::ImuSample {
+fn imu_sample() -> api::component::imu::Sample {
+    api::component::imu::Sample {
         orientation: Some([1.0, 0.0, 0.0, 0.0]),
         angular_velocity_radps: [0.0; 3],
         linear_acceleration_mps2: [0.0; 3],
         covariance: None,
         noise_density: None,
         sensor_frame_id: None,
         measured_at_ns: None,
-        health: api::component::SensorHealth::Nominal,
+        health: api::component::imu::SensorHealth::Nominal,
         bias: None,
     }
 }
 
-fn accelerometer_sample() -> api::component::AccelerometerSample {
-    api::component::AccelerometerSample {
+fn accelerometer_sample() -> api::component::accelerometer::Sample {
+    api::component::accelerometer::Sample {
         linear_acceleration: [0.0; 3],
     }
 }
 
-fn gyroscope_sample() -> api::component::GyroscopeSample {
-    api::component::GyroscopeSample {
+fn gyroscope_sample() -> api::component::gyroscope::Sample {
+    api::component::gyroscope::Sample {
         angular_velocity: [0.0; 3],
     }
 }
@@ -204,8 +210,8 @@ fn main() -> phoxal::Result<()> {
 #[cfg(test)]
 mod tests {
     use super::{Bno085, divisor_for_rate, is_due};
-    use phoxal::api::ContractBody;
-    use phoxal::api::y2026_1 as api;
+    use phoxal_api::ContractBody;
+    use phoxal_api::y2026_1 as api;
 
     #[test]
     fn divisor_rounds_to_fixed_step_clock() {
@@ -224,9 +230,9 @@ mod tests {
         assert_eq!(value["artifact"]["id"], "bno085");
         let contracts = value["required_contracts"].as_array().unwrap();
         for family in [
-            <api::component::ImuSample as ContractBody>::FAMILY,
-            <api::component::AccelerometerSample as ContractBody>::FAMILY,
-            <api::component::GyroscopeSample as ContractBody>::FAMILY,
+            <api::component::imu::Sample as ContractBody>::FAMILY,
+            <api::component::accelerometer::Sample as ContractBody>::FAMILY,
+            <api::component::gyroscope::Sample as ContractBody>::FAMILY,
         ] {
             assert!(
                 contracts

ddsm115/Cargo.toml

@@ -5,7 +5,7 @@ edition.workspace = true
 rust-version.workspace = true
 license.workspace = true
 publish = false
-description = "Phoxal catalog component — ddsm115."
+description = "Phoxal catalog component - ddsm115."
 documentation.workspace = true
 homepage.workspace = true
 repository.workspace = true
@@ -16,6 +16,7 @@ workspace = true
 [dependencies]
 anyhow = { workspace = true }
 phoxal = { workspace = true }
+phoxal-api = { workspace = true }
 
 [dev-dependencies]
 serde_json = "1"