refactor: 重构架构并整理仓库

.github/workflows/ci.yml

@@ -10,7 +10,6 @@ env:
 
 jobs:
   lint-and-test:
-    name: fmt / clippy / test / doc
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -18,58 +17,47 @@ jobs:
         with:
           components: rustfmt, clippy
       - uses: Swatinem/rust-cache@v2
-      - name: rustfmt
-        run: cargo fmt --all -- --check
-      - name: clippy
-        run: cargo clippy --workspace --all-targets -- -D warnings
-      - name: test
-        run: cargo test --workspace
-      - name: doc
-        env:
-          RUSTDOCFLAGS: -D warnings
-        run: cargo doc --workspace --no-deps
-      # 整定工具的可选 feature 不在默认 clippy/test 里，单独编译一次防止腐烂。
-      - name: chassis-tune plot feature
+      - run: cargo fmt --all -- --check
+      - run: cargo clippy --workspace --all-targets -- -D warnings
+      - run: cargo test --workspace --all-targets
+      - name: enforce flat crate source
+        run: test -z "$(find crates/*/src -mindepth 2 -type d -print)"
+      - name: forbid unsafe and no_std markers
+        run: "! rg '\\bunsafe\\b|libc|no_std' crates Cargo.toml -g '*.rs' -g '*.toml'"
+      - name: optional plot feature
         run: cargo check -p chassis-tune --features plot --all-targets
-      # 自动整定的确定性冒烟：同 seed 必须逐位一致，且最优解必须通过验收阈值。
-      - name: tune smoke (deterministic, no hardware)
+      - name: deterministic tuning smoke
         run: |
-          cargo run --release -p chassis-tune -- sweep \
-            --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
-            --out-dir target/tune-smoke
-          cargo run --release -p chassis-tune -- sweep \
-            --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
-            --out-dir target/tune-smoke-again
+          cargo run --release -p chassis-tune -- sweep --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 --out-dir target/tune-smoke
+          cargo run --release -p chassis-tune -- sweep --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 --out-dir target/tune-smoke-again
           diff target/tune-smoke/trials.csv target/tune-smoke-again/trials.csv
 
   vcan-integration:
-    name: vcan0 integration (real kernel CAN stack)
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - uses: Swatinem/rust-cache@v2
-      - name: set up vcan0
-        run: |
+      - run: |
           sudo modprobe vcan
           sudo ip link add dev vcan0 type vcan
           sudo ip link set up vcan0
-      - name: run vcan tests
-        run: cargo test -p dji-esc-socketcan -- --ignored --test-threads 1
+      - run: cargo test -p socketcan@0.1.0 --test vcan -- --ignored --test-threads 1
 
-  cross-aarch64:
-    name: cross check aarch64
+  cross-check:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target: [aarch64-unknown-linux-gnu, armv7-unknown-linux-musleabihf]
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
         with:
-          targets: aarch64-unknown-linux-gnu
+          targets: ${{ matrix.target }}
       - uses: Swatinem/rust-cache@v2
-      - run: cargo check --workspace --target aarch64-unknown-linux-gnu
+      - run: cargo check --workspace --target ${{ matrix.target }}
 
   build-armv7:
-    name: build armv7 static (board target)
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -77,21 +65,4 @@ jobs:
         with:
           targets: armv7-unknown-linux-musleabihf
       - uses: Swatinem/rust-cache@v2
-      - run: cargo build --release -p chassisd --target armv7-unknown-linux-musleabihf
-      # 台架工具与整定工具同样要在板端跑（真机后端常直接跑在 T153 上）。
-      - run: cargo build --release -p chassis-bench --bin chassis-spin --target armv7-unknown-linux-musleabihf
-      - run: cargo build --release -p chassis-tune --target armv7-unknown-linux-musleabihf
-
-  coverage:
-    name: coverage (llvm-cov)
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
-      - uses: Swatinem/rust-cache@v2
-      - uses: taiki-e/install-action@cargo-llvm-cov
-      - run: cargo llvm-cov --workspace --lcov --output-path lcov.info
-      - uses: actions/upload-artifact@v4
-        with:
-          name: coverage-lcov
-          path: lcov.info
+      - run: cargo build --release -p chassisd -p spin -p chassis-tune --target armv7-unknown-linux-musleabihf