refactor: enforce layered crates and Rust audit gates
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Horldsence
@@ -4,6 +4,21 @@
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[can]
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interface = "can0"
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# DJI DT7 + DR16 遥控接收机。没有遥控时删除整个 [remote] 段，守护进程会保持静止。
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[remote]
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kind = "dr16"
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device = "/dev/ttyS2"
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# 合法 D-BUS 帧断流超时（毫秒）；超时立即失能停车。
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timeout_ms = 100
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# 摇杆满量程死区（0..0.5），死区后使用平方响应曲线。
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deadband = 0.05
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# 从零到满量程的逐轴速度斜坡（毫秒）；S1 失能、断流和超时立即归零。
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ramp_ms = 500
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# 实车方向相反时置 true，不需要改代码。
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invert_vx = false
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invert_vy = false
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invert_omega = false
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[chassis]
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# 控制循环周期（毫秒）。C620 期望 1kHz 命令。
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control_period_ms = 1
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@@ -0,0 +1,278 @@
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# Machine-readable dependency and layer policy.
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policy_version = 1
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[layers]
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"contract/can" = 0
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"contract/imu" = 0
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"protocol/imu" = 1
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"protocol/motor" = 1
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"protocol/remote" = 1
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"transport/can" = 2
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"transport/serial" = 2
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"device/imu" = 3
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"device/motor" = 3
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"device/remote" = 3
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"control/algorithm" = 4
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"control/chassis" = 4
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"device/esc" = 4
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"experiment/trace" = 5
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"control/motor" = 6
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"model/motor" = 7
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"simulation/motor" = 8
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"tooling/tuning" = 9
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"config/chassis" = 10
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"application/bench" = 11
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"application/daemon" = 12
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"application/tools" = 13
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"application/tuning" = 13
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"verification/integration" = 14
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[forbidden.normal]
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esc_bus = ["motor-control", "pid"]
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bench = ["tuning"]
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sim_harness = ["tuning"]
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[trait_boundaries]
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protocol_motor = ["MotorProtocol", "EffortScale", "FeedbackFields"]
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device_motor = ["MotorSpec", "MotorFeedback", "EffortDrive", "VelocityDrive", "PositionDrive", "Disable"]
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model_motor = ["MotorPlant", "DcModelSpec", "VoltageModelSpec"]
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esc_bus_forbidden_symbols = ["MotorKind", "EscModel"]
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[packages."bench"]
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path = "crates/application/bench"
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layer = "application/bench"
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rank = 11
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normal = ["can", "esc-bus", "experiment", "motor", "motor-control", "slcan", "socketcan"]
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dev = []
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external = ["anyhow", "thiserror", "tokio", "tracing"]
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dev_external = ["tokio"]
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[packages."can"]
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path = "crates/contract/can"
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layer = "contract/can"
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rank = 0
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normal = []
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dev = []
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external = ["tokio"]
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dev_external = ["tokio"]
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[packages."chassis-config"]
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path = "crates/config/chassis"
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layer = "config/chassis"
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rank = 10
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normal = ["esc-bus", "mecanum", "motor", "motor-control", "motor-protocol"]
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dev = []
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external = ["serde", "thiserror", "toml"]
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dev_external = ["approx"]
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[packages."chassis-tune"]
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path = "crates/application/tuning"
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layer = "application/tuning"
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rank = 13
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normal = ["bench", "can", "chassis-config", "esc-bus", "experiment", "motor", "motor-control", "motor-model", "motor-protocol", "sim-harness", "slcan", "socketcan", "tuning"]
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dev = []
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external = ["anyhow", "argmin", "argmin-math", "clap", "csv", "indicatif", "plotters", "rand", "rayon", "serde", "serde_json", "thiserror", "tokio", "toml", "tracing", "tracing-subscriber"]
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dev_external = ["approx"]
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[packages."chassisd"]
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path = "crates/application/daemon"
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layer = "application/daemon"
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rank = 12
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normal = ["can", "chassis-config", "dr16", "dr16-protocol", "esc-bus", "mecanum", "motor", "motor-control", "sim-harness", "socketcan"]
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dev = []
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external = ["clap", "tokio", "tracing", "tracing-subscriber"]
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dev_external = ["approx", "tokio"]
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[packages."delta10"]
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path = "crates/device/imu"
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layer = "device/imu"
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rank = 3
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normal = ["can", "delta10-protocol", "imu"]
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dev = []
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external = ["thiserror", "tokio"]
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dev_external = []
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[packages."delta10-protocol"]
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path = "crates/protocol/imu"
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layer = "protocol/imu"
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rank = 1
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normal = ["can", "imu"]
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dev = []
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external = ["thiserror"]
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dev_external = ["approx"]
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[packages."dr16"]
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path = "crates/device/remote"
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layer = "device/remote"
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rank = 3
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normal = ["dr16-protocol"]
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dev = []
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external = ["serial", "tokio", "tracing"]
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dev_external = ["tokio"]
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[packages."dr16-protocol"]
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path = "crates/protocol/remote"
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layer = "protocol/remote"
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rank = 1
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normal = []
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dev = []
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external = ["thiserror"]
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dev_external = ["proptest"]
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[packages."esc-bus"]
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path = "crates/device/esc"
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layer = "device/esc"
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rank = 4
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normal = ["can", "motor", "motor-protocol"]
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dev = []
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external = ["thiserror", "tokio", "tracing"]
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dev_external = ["approx", "tokio"]
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[packages."experiment"]
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path = "crates/experiment/trace"
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layer = "experiment/trace"
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rank = 5
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normal = []
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dev = []
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external = []
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dev_external = ["approx"]
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[packages."imu"]
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path = "crates/contract/imu"
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layer = "contract/imu"
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rank = 0
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normal = []
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dev = []
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external = []
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dev_external = []
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[packages."integration-tests"]
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path = "crates/verification/integration"
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layer = "verification/integration"
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rank = 14
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normal = ["can", "esc-bus", "experiment", "motor", "motor-control", "motor-model", "motor-protocol", "sim-harness", "socketcan"]
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dev = []
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external = ["tokio"]
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dev_external = ["tokio"]
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[packages."mecanum"]
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path = "crates/control/chassis"
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layer = "control/chassis"
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rank = 4
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normal = []
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dev = []
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external = []
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dev_external = ["approx", "proptest"]
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[packages."motor"]
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path = "crates/device/motor"
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layer = "device/motor"
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rank = 3
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normal = ["can", "motor-protocol"]
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dev = []
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external = ["thiserror"]
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dev_external = ["approx"]
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[packages."motor-control"]
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path = "crates/control/motor"
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layer = "control/motor"
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rank = 6
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normal = ["motor", "pid"]
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dev = []
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external = []
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dev_external = ["approx"]
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[packages."motor-model"]
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path = "crates/model/motor"
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layer = "model/motor"
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rank = 7
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normal = ["motor-protocol"]
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dev = []
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external = []
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dev_external = ["approx"]
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[packages."motor-protocol"]
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path = "crates/protocol/motor"
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layer = "protocol/motor"
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rank = 1
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normal = ["can"]
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dev = []
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external = ["thiserror"]
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dev_external = ["approx", "proptest"]
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[packages."pid"]
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path = "crates/control/algorithm"
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layer = "control/algorithm"
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rank = 4
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normal = []
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dev = []
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external = []
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dev_external = ["approx"]
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[packages."sim-harness"]
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path = "crates/simulation/motor"
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layer = "simulation/motor"
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rank = 8
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normal = ["can", "experiment", "motor", "motor-control", "motor-model", "motor-protocol"]
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dev = []
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external = ["rand", "thiserror", "tokio", "tracing"]
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dev_external = ["approx", "tokio"]
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[packages."slcan"]
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path = "crates/transport/serial"
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layer = "transport/serial"
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rank = 2
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normal = ["can"]
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dev = []
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external = ["serial", "slcan", "thiserror", "tokio", "tracing"]
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dev_external = ["tokio"]
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[packages."socketcan"]
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path = "crates/transport/can"
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layer = "transport/can"
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rank = 2
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normal = ["can"]
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dev = []
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external = ["socketcan", "thiserror", "tokio", "tracing"]
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dev_external = ["tokio"]
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[packages."spin"]
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path = "crates/application/tools"
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layer = "application/tools"
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rank = 13
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normal = ["bench", "dr16", "dr16-protocol", "esc-bus", "experiment", "mecanum", "motor", "motor-control", "slcan", "socketcan"]
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dev = []
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external = ["clap", "tokio", "tracing", "tracing-subscriber"]
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dev_external = ["tokio"]
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[packages."tuning"]
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path = "crates/tooling/tuning"
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layer = "tooling/tuning"
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rank = 9
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normal = ["experiment", "motor-control", "motor-model", "motor-protocol", "pid", "sim-harness"]
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dev = []
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external = ["argmin", "argmin-math", "indicatif", "rand", "rayon", "serde", "thiserror", "toml", "tracing"]
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dev_external = ["approx", "proptest"]
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[external_roles]
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tokio = ["contract", "transport", "device", "simulation", "tooling", "application", "verification"]
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socketcan = ["transport", "device", "application", "verification"]
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slcan = ["transport", "device", "application", "verification"]
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serial = ["transport", "device", "application", "verification"]
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thiserror = ["protocol", "transport", "device", "control", "model", "experiment", "simulation", "tooling", "config", "application", "verification"]
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tracing = ["transport", "device", "simulation", "tooling", "application", "verification"]
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tracing-subscriber = ["application", "verification"]
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serde = ["config", "tooling", "application", "verification"]
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toml = ["config", "tooling", "application", "verification"]
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clap = ["application", "verification"]
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argmin = ["tooling", "application", "verification"]
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argmin-math = ["tooling", "application", "verification"]
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rand = ["simulation", "tooling", "application", "verification"]
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rayon = ["tooling", "application", "verification"]
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csv = ["tooling", "application", "verification"]
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serde_json = ["tooling", "application", "verification"]
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indicatif = ["tooling", "application", "verification"]
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plotters = ["tooling", "application", "verification"]
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anyhow = ["tooling", "application", "verification"]
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approx = ["protocol", "transport", "device", "control", "model", "experiment", "simulation", "tooling", "config", "application", "verification"]
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proptest = ["protocol", "transport", "device", "control", "model", "experiment", "simulation", "tooling", "config", "application", "verification"]
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+6
-6
@@ -19,7 +19,7 @@
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# 不属于超参数，本文件**不接受**这些键（写了会直接报错）。它们只来自
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# chassis.toml 或显式 CLI——否则预设文件就成了绕过限流的口子。
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#
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# schema：见 crates/chassis-tune/src/preset.rs（version = 1，未知键报错）。
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# schema：见 crates/application/tuning/src/main.rs（version = 1，未知键报错）。
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version = 1
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default_preset = "sim_bench_model"
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@@ -68,7 +68,7 @@ max_evals = 4000
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threads = 0
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[preset.sim_bench_model.sim]
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plant = "gm3508-bench"
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plant = "bench"
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# 域随机化：单点模型调出来的增益对增益/时间常数/延迟高度敏感，
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# 因此默认在 8 个成员的集成上做鲁棒优化，而不是对着一条理想曲线最优化。
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ensemble = 8
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@@ -128,7 +128,7 @@ max_evals = 1000
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threads = 0
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[preset.sim_ideal.sim]
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plant = "gm3508"
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plant = "ideal"
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# 理想模型本身就是确定的，单成员即可。
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ensemble = 1
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robust_weight = 0.0
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@@ -193,7 +193,7 @@ threads = 1
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[preset.bench_noload.sim]
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# 真机后端不用这些，但保留"最接近台架的模型"，方便先离线预演再上车。
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plant = "gm3508-bench"
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plant = "bench"
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ensemble = 8
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robust_weight = 0.5
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gain_pct = 0.2
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@@ -254,7 +254,7 @@ max_evals = 80
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threads = 1
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[preset.bench_loaded.sim]
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plant = "gm3508-bench"
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plant = "bench"
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ensemble = 8
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robust_weight = 0.5
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gain_pct = 0.2
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@@ -314,7 +314,7 @@ max_evals = 40
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threads = 1
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[preset.field_updown.sim]
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plant = "gm3508-bench"
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plant = "bench"
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ensemble = 8
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robust_weight = 0.5
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gain_pct = 0.2
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