refactor: 重构架构并整理仓库

Cargo.toml

@@ -1,17 +1,27 @@
 [workspace]
 resolver = "3"
 members = [
-    "crates/motor-core",
-    "crates/can-link",
-    "crates/dji-esc",
-    "crates/dji-esc-sim",
-    "crates/dji-esc-socketcan",
-    "crates/dji-esc-slcan",
+    "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/chassis-bench",
-    "crates/chassis-tune",
+    "crates/bench",
     "crates/chassisd",
+    "crates/spin",
+    "crates/chassis-tune",
 ]
 
 [workspace.package]
@@ -27,20 +37,23 @@ strip = true
 [workspace.dependencies]
 # 异步运行时
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "signal"] }
-# CAN 总线（仅 Linux，由 dji-esc-socketcan 按 target 引入）
-socketcan = { version = "4", features = ["tokio"] }
+# CAN 总线（仅 Linux，由 socketcan 按 target 引入）
+socketcan-rs = { package = "socketcan", version = "4", features = ["tokio"] }
+# SLCAN 串口适配器（CANable 等，用户态 Lawicel 协议）
+slcan-proto = { package = "slcan", version = "0.1.3" }
+serial = "0.4"
 # 错误定义与结构化日志
 thiserror = "2"
 tracing = "0.1"
 tracing-subscriber = { version = "0.3", features = ["env-filter"] }
-# 配置与命令行（chassisd）
+# 配置与命令行
 serde = { version = "1", features = ["derive"] }
 toml = "0.9"
 clap = { version = "4", features = ["derive"] }
 # 测试
 proptest = "1"
 approx = "0.5"
-# 自动整定工具（chassis-tune）
+# 自动整定工具
 #
 # `rand` 对齐 argmin 依赖的 0.9，避免依赖树里出现两个 rand 大版本；
 # `argmin-math` 必须显式开启 `vec`（argmin 自身只启 `primitives`），
@@ -56,16 +69,28 @@ anyhow = "1"
 # 仅在 chassis-tune 的 `plot` feature 下引入：只要 SVG 后端与折线系列，
 # 但文字标签需要 `ttf`（字体加载），因此不能用纯 svg_backend 最小集。
 plotters = { version = "0.3", default-features = false, features = ["svg_backend", "line_series", "ttf"] }
-# workspace 内部 crate
-motor-core = { path = "crates/motor-core" }
-can-link = { path = "crates/can-link" }
-dji-esc = { path = "crates/dji-esc" }
-dji-esc-sim = { path = "crates/dji-esc-sim" }
-dji-esc-socketcan = { path = "crates/dji-esc-socketcan" }
-dji-esc-slcan = { path = "crates/dji-esc-slcan" }
+
+# ---- 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" }
-chassis-bench = { path = "crates/chassis-bench" }
+bench = { path = "crates/bench" }
+chassisd = { path = "crates/chassisd" }
+spin = { path = "crates/spin" }
 chassis-tune = { path = "crates/chassis-tune" }
 
 [workspace.lints.rust]