refactor: enforce layered crates and Rust audit gates

Cargo.toml

@@ -1,27 +1,30 @@
 [workspace]
 resolver = "3"
 members = [
-    "crates/can",
-    "crates/imu",
-    "crates/motor-protocol",
-    "crates/delta10-protocol",
-    "crates/socketcan",
-    "crates/slcan",
-    "crates/delta10",
-    "crates/motor",
-    "crates/esc-bus",
-    "crates/pid",
-    "crates/motor-control",
-    "crates/mecanum",
-    "crates/motor-model",
-    "crates/experiment",
-    "crates/sim-harness",
-    "crates/tuning",
-    "crates/chassis-config",
-    "crates/bench",
-    "crates/chassisd",
-    "crates/spin",
-    "crates/chassis-tune",
+    "crates/contract/can",
+    "crates/contract/imu",
+    "crates/protocol/motor",
+    "crates/protocol/imu",
+    "crates/transport/can",
+    "crates/transport/serial",
+    "crates/device/imu",
+    "crates/device/motor",
+    "crates/device/esc",
+    "crates/control/algorithm",
+    "crates/control/motor",
+    "crates/control/chassis",
+    "crates/protocol/remote",
+    "crates/device/remote",
+    "crates/model/motor",
+    "crates/experiment/trace",
+    "crates/simulation/motor",
+    "crates/tooling/tuning",
+    "crates/config/chassis",
+    "crates/application/bench",
+    "crates/application/daemon",
+    "crates/application/tools",
+    "crates/application/tuning",
+    "crates/verification/integration",
 ]
 
 [workspace.package]
@@ -71,27 +74,30 @@ anyhow = "1"
 plotters = { version = "0.3", default-features = false, features = ["svg_backend", "line_series", "ttf"] }
 
 # ---- 职责型内部 crate ----
-can = { path = "crates/can" }
-imu = { path = "crates/imu" }
-motor-protocol = { path = "crates/motor-protocol" }
-delta10-protocol = { path = "crates/delta10-protocol" }
-socketcan = { path = "crates/socketcan" }
-slcan = { path = "crates/slcan" }
-delta10 = { path = "crates/delta10" }
-motor = { path = "crates/motor" }
-esc-bus = { path = "crates/esc-bus" }
-pid = { path = "crates/pid" }
-motor-control = { path = "crates/motor-control" }
-mecanum = { path = "crates/mecanum" }
-motor-model = { path = "crates/motor-model" }
-experiment = { path = "crates/experiment" }
-sim-harness = { path = "crates/sim-harness" }
-tuning = { path = "crates/tuning" }
-chassis-config = { path = "crates/chassis-config" }
-bench = { path = "crates/bench" }
-chassisd = { path = "crates/chassisd" }
-spin = { path = "crates/spin" }
-chassis-tune = { path = "crates/chassis-tune" }
+can = { path = "crates/contract/can" }
+imu = { path = "crates/contract/imu" }
+motor-protocol = { path = "crates/protocol/motor" }
+delta10-protocol = { path = "crates/protocol/imu" }
+socketcan = { path = "crates/transport/can" }
+slcan = { path = "crates/transport/serial" }
+delta10 = { path = "crates/device/imu" }
+motor = { path = "crates/device/motor" }
+esc-bus = { path = "crates/device/esc" }
+pid = { path = "crates/control/algorithm" }
+motor-control = { path = "crates/control/motor" }
+mecanum = { path = "crates/control/chassis" }
+dr16-protocol = { path = "crates/protocol/remote" }
+dr16 = { path = "crates/device/remote" }
+motor-model = { path = "crates/model/motor" }
+experiment = { path = "crates/experiment/trace" }
+sim-harness = { path = "crates/simulation/motor" }
+tuning = { path = "crates/tooling/tuning" }
+chassis-config = { path = "crates/config/chassis" }
+bench = { path = "crates/application/bench" }
+chassisd = { path = "crates/application/daemon" }
+spin = { path = "crates/application/tools" }
+chassis-tune = { path = "crates/application/tuning" }
+integration-tests = { path = "crates/verification/integration" }
 
 [workspace.lints.rust]
 unsafe_code = "forbid"