phoxal

The Phoxal robot framework as one crate: a coherent, manifest-driven stack for production-oriented autonomous robots — typed bus, simulation-first validation, and a complete platform-runtime contract set, with the same conventions from authoring to deployment.

[dependencies]
phoxal = "0.4"

Modules

Module	What it is
[`phoxal::bus`]	Typed Zenoh transport — pub/sub + query leaves, decode-error discipline.
[`phoxal::model`]	Authored manifest schemas: `robot.yaml`, `structure.urdf`, `component.yaml`, `simulation.yaml`. `model::v1::Robot` is the resolved superset.
[`phoxal::spatial`]	Geometry, frames, transforms, risk model.
[`phoxal::api`]	The typed bus wire contracts — one module per platform runtime (`drive`, `localize`, `mission`, …), plus `component`, `presence`, `simulation`. Each leaf exposes `path()` / `topic()` / `publisher`-`subscriber` (or `get`-`queryable`) via the `topic_leaf!` macro.
[`phoxal::runtime`]	The `Runtime` trait, `execute()` bootstrap, logical clock, runtime context, decision logging.
[`phoxal::scenario`]	Webots-backed validation harness (feature `scenario`).

Writing a user runtime

Implement the phoxal::runtime::Runtime trait and hand it to execute(); the contracts you consume/produce come from phoxal::api::*:

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    phoxal::runtime::execute::<MyRuntime>().await
}

The platform runtime binaries (phoxal-runtime-<name>) ship as container images, not crates — they depend on this crate but are not published here.

Features

scenario — the Webots validation harness (off by default so production runtime images don't carry test code).

Status

Pre-1.0, building in public. The API evolves inside pub mod vN modules of each phoxal::api::<name>; breaking changes are loud, not quiet.

License