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

examples/folio/justfile

@@ -8,6 +8,7 @@ seed       := env_var_or_default("SEED", "0")
 output     := env_var_or_default("OUTPUT", justfile_directory() / "sanderling" / "runs")
 ios_device := env_var_or_default("IOS_DEVICE", "iPhone 17 Pro")
 ios_app    := justfile_directory() / "app" / "iosApp" / "build" / "Build" / "Products" / "Debug-iphonesimulator" / "iosApp.app"
+ios_app_device := justfile_directory() / "app" / "iosApp" / "build" / "Build" / "Products" / "Debug-iphoneos" / "iosApp.app"
 
 default:
     @just --list
@@ -122,6 +123,25 @@ ios:
     xcrun simctl install booted "{{ios_app}}"
     xcrun simctl launch booted app.folio
 
+# Build the folio app for a connected physical iOS device (signed via .env creds).
+# Signing reads ASC_API_* and DEVELOPMENT_TEAM/SANDERLING_IOS_TEAM from .env;
+# sanderling installs the build on the device per run via devicectl.
+ios-device:
+    #!/usr/bin/env bash
+    set -euo pipefail
+    export ANDROID_HOME="$(just _android-home)"
+    just ios-gen
+    xcodebuild -project app/iosApp/iosApp.xcodeproj -scheme iosApp \
+      -destination 'generic/platform=iOS' \
+      -derivedDataPath app/iosApp/build \
+      -allowProvisioningUpdates \
+      -authenticationKeyPath "$ASC_API_KEY_PATH" \
+      -authenticationKeyID "$ASC_API_KEY_ID" \
+      -authenticationKeyIssuerID "$ASC_API_ISSUER_ID" \
+      CODE_SIGN_STYLE=Automatic \
+      DEVELOPMENT_TEAM="${SANDERLING_IOS_TEAM:-${DEVELOPMENT_TEAM:-}}" \
+      build | tail -5
+
 # Run 'sanderling test' against the folio app. Uses a connected device if one is
 # online; otherwise boots AVD=<name> when provided, or auto-boots a bootable AVD.
 # Depends on install so the run always fuzzes the current build, matching
@@ -173,3 +193,20 @@ test-ios:
       --duration "{{duration}}" \
       --seed "{{seed}}" \
       --output "{{output}}"
+
+# Requires App Store Connect signing creds in .env and IOS_DEVICE set to the
+# connected device's name (or UDID / CoreDevice id).
+# Build + install + run sanderling spec on a connected physical iOS device.
+test-ios-device:
+    #!/usr/bin/env bash
+    set -euo pipefail
+    just ios-device
+    "{{sanderling}}" test \
+      --platform ios \
+      --spec "{{justfile_directory()}}/sanderling/spec.ts" \
+      --bundle-id app.folio \
+      --ios-app-path "{{ios_app_device}}" \
+      --ios-device "{{ios_device}}" \
+      --duration "{{duration}}" \
+      --seed "{{seed}}" \
+      --output "{{output}}"