feat(cosim): generic co-simulation plugin surface + cosim-step CLI

[w1ne]

What

Adds a generic, domain-neutral co-simulation plugin surface to LabWired: external physical-plant models can be declared in the system manifest and stepped through an adapter, with typed signal routing — independent of any specific device or vendor.

LabWired keeps owning deterministic firmware execution, topology, traces, and fault orchestration; a co-sim model owns the plant approximation behind a clean boundary.

How it fits together

• Manifest (labwired-config): a cosim_models list with external_process | fmi | mock adapters, inputs/outputs signal-path maps, step_ns, and manifest-relative model paths. validate_cosim_models() enforces a non-empty id, a positive step_ns, and a model for external_process/fmi.
• Core (labwired-core::cosim): a CosimAdapter trait, StaticCosimAdapter, typed CosimStep/CosimStepResult, an external-process JSONL adapter, and a CosimRunner that steps each model only at its configured boundary and routes model I/O into and out of a signal store.
• CLI: labwired cosim-step <system.yaml> --set <path>=<value>… builds the runner from a manifest, seeds the signal store, steps the models, and prints routed outputs (table, or --json).
• Example: examples/cosim-plant-demo — a minimal reduced-order discrete plant that exercises the whole contract (manifest parse → validation → manifest-relative load → adapter → signal routing).
• Docs: docs/cosimulation_plugins.md.

adapter: fmi intentionally returns a clear "not wired yet" error, marking the next integration seam.

Example

$ labwired cosim-step examples/cosim-plant-demo/system.yaml \
    --set plant.channels.0.enabled=true \
    --set plant.channels.1.enabled=true \
    --set 'scenario.disabled_channels=["channel11"]' --json
[
  {
    "model": "discrete_plant",
    "outputs": {
      "plant.active_channels": 2,
      "plant.output.current": 2.0,
      "plant.output.voltage": 2.0
    }
  }
]

Tests

crates/core/tests/cosim_contract.rs covers the static adapter, the external-process JSONL round-trip, the mock registry, runner step boundaries, signal-path routing, and manifest-relative loading (8 tests). labwired-config gains manifest parse + validation tests.

Verified locally: full workspace cargo test green, cargo fmt --check clean, and clippy -D warnings clean on the touched crates (labwired-core, labwired-config, labwired-cli).

Note

Existing SystemManifest constructors across the workspace gained the new cosim_models field (defaulted to empty) — that accounts for most of the one-line diffs.

🤖 Generated with Claude Code