Physical-device iOS support (#64) (#66)

* feat(companion): add appState, eraseText, pressKey runner handlers

The Go runner transport already calls these methods; the in-device runner
implemented them only latently. They become load-bearing on the device
path, where the hybrid's legacy-companion fallback is absent. Backward
compatible: the simulator hybrid never calls them.

* feat(ios): resolve physical devices from devicectl

ResolveDevice parses xcrun devicectl list devices into Device{Name,
HardwareUDID, CoreDeviceID}: the hardware UDID feeds xcodebuild/iproxy
and the CoreDevice id feeds devicectl install. Matches by name or either
id; errors list candidates on none/ambiguous. Fixes the stale sidecar
comment on ResolveTarget.

* feat(ioscompanion): runner-only device driver mode

NewDevice reuses Driver with d.companion set to the runner dialed over an
iproxy usbmux tunnel, hybrid=false, runnerClient=nil. The existing accessor
seams then route launch/snapshot/text/gesture to the runner with no new
DeviceDriver methods. Device seams swap clear-state to a devicectl
reinstall, container reset to a warn-once no-op, and paste grant to a no-op.
realSpawnDeviceRunner builds and signs the runner at run time via the App
Store Connect API key (no Xcode UI), caching on a source hash.

* test(ioscompanion): cover device wiring, routing, and shell-out argv

Seam-driven NewDevice wiring + gesture/text routing (asserting no keyboard
HID), devicectl/build/test/iproxy argv builders, xctestrun test-target dict
name parsing, signing-credential env checks, and source-hash cache keying.

* feat(testrun): route physical-device iOS runs to the device driver

Execute resolves a non-simulator iOS target through ios.ResolveDevice into
its hardware UDID and CoreDevice id; buildDriver constructs NewDevice via a
seam instead of rejecting the device. Generalizes the --ios-device and
--ios-app-path help to cover the device path; signing stays env-read, never
a flag.

* feat(doctor): device prereqs replace java/sidecar for ios-device

iosDeviceChecks now verifies devicectl, iproxy on PATH, a connected+paired
device (via ios.ConnectedDevices), and App Store Connect signing creds (via
ioscompanion.VerifyDeviceSigning). The retired JVM sidecar checks stay only
under android.

* feat(conformance): device backend uses iphoneos app and tunnel orphan checks

The device backend now builds via just ios-device, points --ios-app-path at
the Debug-iphoneos bundle, and reinstalls each run for clear-state. The G5
orphan scan replaces the retired sidecar.jar check with lingering iproxy and
device test-without-building sessions (destination platform=iOS,id=).

* feat(folio): device build linking the iosArm64 framework

project.yml selects the Kotlin framework slice by SDK (iosArm64 for
iphoneos, iosSimulatorArm64 for simulator) and links via -framework Shared
on the SDK-conditional search path. New ios-device/test-ios-device recipes
mirror ios/test-ios, signing the Debug-iphoneos build with the .env API key.

* docs(cli): document ios-device doctor checks and the device flags

The --ios-device flag now also selects a connected device; --ios-app-path
covers the device install; the doctor gains an ios-device platform whose
checks are devicectl, iproxy, a paired device, and signing credentials.
Corrects the --clear-data default to true.

* fix(ioscompanion): resolve signing key path to absolute

xcodebuild's -authenticationKeyPath requires an absolute path, but .env
files commonly carry a repo-relative one. Resolve it against the working
directory before the stat so a relative ASC_API_KEY_PATH still signs.

* fix(ioscompanion): re-enable signing for the device runner build

companion/project.yml disables code signing for the simulator build, so
the device build inherited it and produced an unsigned runner that the
device rejected at install (0xe8008018). build-for-testing now forces
CODE_SIGNING_ALLOWED/REQUIRED=YES so automatic provisioning signs it.

* fix(ioscompanion): key the device build cache on signing identity

The cache marker hashed only sources, so switching signing team or key
reused a runner signed with the stale identity, which the device rejects at
install (0xe8008018). Fold team + key id into the cache key so a signing
change forces a rebuild.

* docs(getting-started): document physical iOS device setup

Lists the iproxy requirement and the App Store Connect signing env vars
(SANDERLING_IOS_TEAM, ASC_API_*) a device run needs, plus the
test-ios-device recipe and the doctor check.

* feat(ios): native usbmux client and in-process tunnel forwarder

Talk to macOS usbmuxd directly instead of shelling out to iproxy, so the
device path depends on nothing beyond macOS + Xcode.

* refactor(ios): drive device tunnel via io.Closer seam

Replace the tunnelChild *exec.Cmd and spawnTunnel seam with a tunnel
io.Closer and startTunnel seam backed by the in-process usbmux forwarder.

* refactor(ios): remove iproxy spawn from device runner

* test(ios): cover tunnel close via io.Closer not child process

* feat(doctor): check usbmuxd socket instead of iproxy on PATH

* chore(conformance): drop iproxy orphan check; tunnel is in-process

* docs(ios): device tunnel uses native usbmux, nothing to install

* chore: gitignore the signing keys directory

* feat(folio): add Android launcher icon (black bg, white dot)

* feat(folio): add iOS app icon (black bg, white dot)

* feat(folio): add web favicon (black bg, white dot)

* docs(ioscompanion): fix stale const comments

* refactor(ioscompanion): inline single-use devicectl argv builders

* refactor(ioscompanion): inline xcodegenArgs, drop tautological argv tests

* refactor(ioscompanion): inline firstNonEmpty

* refactor(doctor): dedup usbmuxd socket path via ioscompanion seam

* test(doctor): trim redundant signing-check test

* refactor(ioscompanion): deliver COMPANION_PORT via TEST_RUNNER_ env

* fix(testrun): seam preflight so iOS routing tests pass on CI without xcrun

docs/manual/cli.md

@@ -19,11 +19,12 @@ Run a spec against an app for a fixed duration.
 | `--launcher-activity` | resolved | Optional `<pkg>/<activity>` to launch. Overrides default resolution. |
 | `--platform` | `android` | Target platform: `android`, `ios`, or `web`. |
 | `--avd` | optional (android) | Android AVD name to boot if no device is connected. Required only when no device is connected and multiple AVDs exist. |
-| `--ios-device` | optional (ios) | iOS simulator name or UDID to boot if none is running. |
+| `--ios-device` | optional (ios) | iOS target: a simulator name/UDID to boot, or a connected device's name, UDID, or CoreDevice id. |
+| `--ios-app-path` | optional (ios) | Path to the `.app` bundle for clear-state reinstall (simulator via `simctl`, device via `devicectl`). |
 | `--duration` | `5m` | Total test duration (`30s`, `5m`, `2h`, `1d`). |
 | `--seed` | `0` | PRNG seed. `0` uses a random seed and records it in `meta.json`. |
 | `--output` | `./runs` | Output directory for traces. |
-| `--clear-data` | `false` | Clear app data before launching so the run starts from a fresh install. |
+| `--clear-data` | `true` | Clear app data before launching so the run starts from a fresh install. Pass `--clear-data=false` to resume prior state. |
 
 ## `sanderling replay [run-or-runs-dir]`
 
@@ -42,7 +43,7 @@ See [the replay UI page](./replay/) for the panel reference and keyboard shortcu
 Check the host environment for a working sanderling setup.
 
 ```
-sanderling doctor [--platform web|android|ios|all]
+sanderling doctor [--platform web|android|ios|ios-device|all]
 ```
 
 `--platform` defaults to `all`, which runs every platform's checks (deduped). Pass a specific platform to scope the output.
@@ -51,7 +52,8 @@ sanderling doctor [--platform web|android|ios|all]
 |---|---|
 | `web` | headless Chromium can launch (the bundled CDP surface boots a real browser). |
 | `android` | `adb` on PATH; `emulator` on PATH or under `ANDROID_HOME`; Java 17+; embedded native sidecar JAR is real. |
-| `ios` | `xcrun` on PATH; `simctl` on PATH; Java 17+; embedded native sidecar JAR is real. |
+| `ios` | `xcrun` on PATH; `simctl` on PATH. The simulator path drives the native companion with no JVM. |
+| `ios-device` | the `ios` checks plus `devicectl`; the macOS `usbmuxd` socket; a connected, paired device; App Store Connect signing credentials present. |
 
 ## `sanderling version`
 

docs/manual/getting-started.md

@@ -65,6 +65,21 @@ IOS_DEVICE="iPhone 15" just test-ios   # pick a different simulator
 
 `just test-ios` boots the simulator if needed, builds and installs the app, then runs `sanderling test --platform ios`.
 
+#### Physical device
+
+A connected iPhone is driven over a usbmux tunnel by a runner the driver builds and signs at run time. The tunnel talks to macOS's own `usbmuxd`, so nothing extra is installed beyond Xcode. It needs App Store Connect signing credentials in the environment (a gitignored `.env` is loaded by `just`):
+
+```sh
+SANDERLING_IOS_TEAM=<10-char team id>
+ASC_API_KEY_ID=<key id>
+ASC_API_ISSUER_ID=<issuer id>
+ASC_API_KEY_PATH=<absolute path to AuthKey_*.p8>
+
+IOS_DEVICE="iPhone" just test-ios-device   # name, UDID, or CoreDevice id
+```
+
+Run `sanderling doctor --platform ios-device` to check `devicectl`, the `usbmuxd` socket, a connected and paired device, and the signing credentials before a run.
+
 ### Web
 
 From either example. For the KMP wasmJs build, use `examples/folio`: