Plan: the framework moves here from racing-drone

Complete · updated 2026-11-05 · branes-ai/racing-drone#65 · anatomy/docs/plan/move-from-racing-drone/README.md

Issue: racing-drone#65. 2a (#1) and 2b (#3) here, released as v0.1.0, and 2c, racing-drone’s switch (racing-drone#66).

Goal

Step 2 of racing-drone’s ADR 0008: the mission-neutral half of racing-drone’s framework moves here. Step 1 left those files mission-neutral and listed them: 56 files in racing-drone’s cmake/framework_boundary.cmake.

Names: the namespace becomes branes::anatomy, and the include root <branes/anatomy/...>.
Unchanged: behavior, the log format, and the channel ids. racing-drone’s logs, replays and results stay byte-identical.

The three PRs

PR	Repo	Content
2a	anatomy	This skeleton: CMake, presets, workflows, lint, commitlint, release-please, README, docs and docs site, with one smoke test
2b	anatomy	The move: the 56 files under the new names, their neutral tests and the split-out neutral cases of racing-drone’s mixed tests, and a ctest that anatomy names nothing racing. Released as anatomy v0.1.0
2c	racing-drone	The switch: fetch anatomy at the 2b commit, delete the moved files, and check byte-identity and log compatibility

Acceptance for anatomy

It builds and its tests pass on every preset in CI, with clang-format and commitlint clean.
Its sources name nothing racing (checked by a ctest, from 2b).
Its neutral tests pass, including the non-racing mission of neutral_mission.cpp (from 2b).

The acceptance for racing-drone’s switch is in racing-drone#65.

Decisions (approved with racing-drone#65)

History: the files start fresh here, with a commit message naming the racing-drone commit they come from.
Three targets: branes::anatomy (yaml-cpp only), branes::anatomy_glue (adds reflex) and branes::anatomy_sim (adds reflex, and Universal for the sweep types).
Names in racing-drone: one header there brings each anatomy name it uses into branes::racing by an explicit using-declaration.

PR 2a (#1)

The skeleton, laid out like reflex and racing-drone:

the root config, copied from racing-drone (.clang-format, .editorconfig, CMakePresets.json, commitlint.config.cjs, release-please);
the workflows: CI (clang-format, Linux GCC and Clang in Debug and Release, Windows MSVC, the docs site), commitlint, release-please, and the docs deploy;
cmake/ (warnings, compile_all, and deps with Catch2 only for now);
sdk/ as a header-only branes::anatomy, with one smoke test;
docs/, and the docs-site/ generated from it.

PR 2b

What moved: the 56 files of racing-drone’s cmake/framework_boundary.cmake (at racing-drone 21b3c18). Three of them, cmake/compile_all.cmake, warnings.cmake and deps.cmake, were already here from 2a; they keep anatomy’s names and gain the dependencies.

From racing-drone	To anatomy
`sdk/include/branes/racing/...`	`sdk/include/branes/anatomy/...`
`sdk/src/...`	`sdk/src/...`
`baselines/glue/include/branes/racing/glue/...`	`glue/include/branes/anatomy/glue/...`
`sim/include/branes/racing/sim/...`	`sim/include/branes/anatomy/sim/...`
`cmake/composition.cmake`	`cmake/composition.cmake`
`tests/sdk/neutral_harness.cpp`, `tests/sim/neutral_mission.cpp`	the same paths

Names:

branes::racing and its sub-namespaces became branes::anatomy, with the same sub-namespaces, and <branes/racing/...> became <branes/anatomy/...>.
Comments that cited racing-drone’s documents now say so (“racing-drone docs/…”), and examples of a mission say “racing-drone:”.
The coordinate frame the contracts call “course frame” is now “world frame”.
The log’s bad-magic error is now “not a log (bad magic)”; it was “not a racing log (bad magic)”.

Targets:

branes::anatomy: a static library with the config loaders, the log and SHA-256. It links yaml-cpp privately, and Threads for the batch pool.
branes::anatomy_glue: adds reflex.
branes::anatomy_sim: adds reflex.

ANATOMY_CMAKE_DIR names cmake/ for a mission that includes composition.cmake. yaml-cpp, reflex and Universal are pinned as in racing-drone.

Tests: 102 ctest entries, against 1 in 2a.

Moved as is: tests/sdk/util.cpp, neutral_harness.cpp, tests/sim/neutral_mission.cpp, tests/compile_fail/time_base_narrow_wide.cpp (with its registration), and tests/precision/precision_fixtures.hpp.
Split from racing-drone’s mixed tests, with every neutral case kept:
- tests/sdk/codec.cpp loses its gate parts;
- config.cpp runs on a test mission: a world: key, a noise_px parameter, and three slots, through the fixtures in tests/fixtures/;
- log.cpp uses a test mission channel (id 5);
- msg_contracts.cpp loses the gate and course cases;
- tests/sim/sim_components.cpp keeps the camera-model case and loses the gate projector’s;
- sim_simulator.cpp runs BasicSimulator with a test oracle that marks each frame on the test mission’s channel, so the oracle event order is still tested;
- tests/precision/precision_casts.cpp loses the gate observations.
Fixtures: tests/fixtures/vehicle.yaml (a copy of racing-drone’s RP-1), world.yaml, scenarios/{smoke,faults,speed}.yaml and baseline.yaml.
New checks:
- framework.names_no_mission: anatomy’s code, comments aside, names none of racing’s namespace, include root or task types.
- framework.detects_mission_names: requires that check to fail on a fixture that does.

Acceptance:

Build and tests: 102 of 102 pass on gcc-debug and on clang-debug, and clang-format 18 is clean on the 65 C++ files. CI runs the full matrix, including MSVC.
No mission names: framework.names_no_mission passes over 73 files.
Neutral tests: they pass, including the non-racing mission of neutral_mission.cpp.

Departures:

Not moved: tests/tools/reference_log_fixture.cpp and racing-drone’s boundary-check fixtures. The first serves racing-drone’s log_dump test, and the boundary check is racing-drone’s; anatomy gets framework.names_no_mission instead.
What the check scans: the plan described the no-racing check as a grep for “racing”. It looks for racing’s identifiers in code with comments stripped, because the comments cite racing-drone as an example on purpose.
The renamed error message above is a behavior change. It is in an error, never in a log or a result.