refactor: enforce layered crates and Rust audit gates

Cargo.lock

@@ -205,6 +205,7 @@ dependencies = [
  "approx",
  "esc-bus",
  "mecanum",
+ "motor",
  "motor-control",
  "motor-protocol",
  "serde",
@@ -256,6 +257,8 @@ dependencies = [
  "can",
  "chassis-config",
  "clap",
+ "dr16",
+ "dr16-protocol",
  "esc-bus",
  "mecanum",
  "motor",
@@ -540,6 +543,24 @@ dependencies = [
  "libloading",
 ]
 
+[[package]]
+name = "dr16"
+version = "0.1.0"
+dependencies = [
+ "dr16-protocol",
+ "serial",
+ "tokio",
+ "tracing",
+]
+
+[[package]]
+name = "dr16-protocol"
+version = "0.1.0"
+dependencies = [
+ "proptest",
+ "thiserror",
+]
+
 [[package]]
 name = "dwrote"
 version = "0.11.5"
@@ -595,12 +616,8 @@ version = "0.1.0"
 dependencies = [
  "approx",
  "can",
- "experiment",
  "motor",
- "motor-control",
- "motor-model",
  "motor-protocol",
- "sim-harness",
  "thiserror",
  "tokio",
  "tracing",
@@ -873,6 +890,22 @@ dependencies = [
  "web-time",
 ]
 
+[[package]]
+name = "integration-tests"
+version = "0.1.0"
+dependencies = [
+ "can",
+ "esc-bus",
+ "experiment",
+ "motor",
+ "motor-control",
+ "motor-model",
+ "motor-protocol",
+ "sim-harness",
+ "socketcan 0.1.0",
+ "tokio",
+]
+
 [[package]]
 name = "ioctl-rs"
 version = "0.1.6"
@@ -1662,10 +1695,6 @@ name = "socketcan"
 version = "0.1.0"
 dependencies = [
  "can",
- "esc-bus",
- "motor",
- "motor-control",
- "motor-protocol",
  "socketcan 4.0.0",
  "thiserror",
  "tokio",
@@ -1699,6 +1728,8 @@ version = "0.1.0"
 dependencies = [
  "bench",
  "clap",
+ "dr16",
+ "dr16-protocol",
  "esc-bus",
  "experiment",
  "mecanum",