feat: add zeroclaw-robot-kit crate for AI-powered robotics
Standalone robot toolkit providing AI agents with physical world interaction. Features: - 6 tools: drive, look, listen, speak, sense, emote - Multiple backends: ROS2, serial, GPIO, mock - Independent SafetyMonitor with E-stop, collision avoidance - Designed for Raspberry Pi 5 + Ollama offline operation - 55 unit/integration tests - Complete Pi 5 hardware setup guide
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18 changed files with 4444 additions and 9 deletions
327
crates/robot-kit/src/emote.rs
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327
crates/robot-kit/src/emote.rs
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//! Emote Tool - LED expressions and sound effects
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//!
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//! Control LED matrix/strips for robot "expressions" and play sounds.
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//! Makes the robot more engaging for kids!
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use crate::config::RobotConfig;
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use crate::traits::{Tool, ToolResult};
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use anyhow::Result;
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use async_trait::async_trait;
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use serde_json::{json, Value};
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use std::path::PathBuf;
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/// Predefined LED expressions
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#[derive(Debug, Clone, Copy)]
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pub enum Expression {
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Happy, // :)
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Sad, // :(
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Surprised, // :O
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Thinking, // :?
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Sleepy, // -_-
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Excited, // ^_^
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Love, // <3 <3
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Angry, // >:(
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Confused, // @_@
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Wink, // ;)
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}
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impl Expression {
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fn from_str(s: &str) -> Option<Self> {
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match s.to_lowercase().as_str() {
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"happy" | "smile" => Some(Self::Happy),
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"sad" | "frown" => Some(Self::Sad),
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"surprised" | "wow" => Some(Self::Surprised),
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"thinking" | "hmm" => Some(Self::Thinking),
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"sleepy" | "tired" => Some(Self::Sleepy),
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"excited" | "yay" => Some(Self::Excited),
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"love" | "heart" => Some(Self::Love),
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"angry" | "mad" => Some(Self::Angry),
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"confused" | "huh" => Some(Self::Confused),
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"wink" => Some(Self::Wink),
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_ => None,
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}
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}
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/// Get LED matrix pattern (8x8 example)
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/// Returns array of 64 RGB values
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fn pattern(&self) -> Vec<(u8, u8, u8)> {
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let black = (0, 0, 0);
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let white = (255, 255, 255);
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let yellow = (255, 255, 0);
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let red = (255, 0, 0);
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let blue = (0, 100, 255);
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let pink = (255, 100, 150);
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// 8x8 patterns (simplified representations)
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match self {
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Self::Happy => {
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// Simple smiley
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vec![
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black, black, yellow, yellow, yellow, yellow, black, black,
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black, yellow, black, black, black, black, yellow, black,
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yellow, black, white, black, black, white, black, yellow,
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yellow, black, black, black, black, black, black, yellow,
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yellow, black, white, black, black, white, black, yellow,
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yellow, black, black, white, white, black, black, yellow,
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black, yellow, black, black, black, black, yellow, black,
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black, black, yellow, yellow, yellow, yellow, black, black,
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]
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}
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Self::Sad => {
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vec![
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black, black, blue, blue, blue, blue, black, black,
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black, blue, black, black, black, black, blue, black,
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blue, black, white, black, black, white, black, blue,
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blue, black, black, black, black, black, black, blue,
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blue, black, black, white, white, black, black, blue,
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blue, black, white, black, black, white, black, blue,
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black, blue, black, black, black, black, blue, black,
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black, black, blue, blue, blue, blue, black, black,
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]
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}
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Self::Excited => {
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vec![
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yellow, yellow, yellow, yellow, yellow, yellow, yellow, yellow,
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yellow, black, black, yellow, yellow, black, black, yellow,
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yellow, black, white, yellow, yellow, white, black, yellow,
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yellow, yellow, yellow, yellow, yellow, yellow, yellow, yellow,
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yellow, black, black, black, black, black, black, yellow,
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yellow, black, white, white, white, white, black, yellow,
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yellow, black, black, black, black, black, black, yellow,
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yellow, yellow, yellow, yellow, yellow, yellow, yellow, yellow,
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]
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}
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Self::Love => {
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vec![
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black, pink, pink, black, black, pink, pink, black,
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pink, pink, pink, pink, pink, pink, pink, pink,
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pink, pink, pink, pink, pink, pink, pink, pink,
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pink, pink, pink, pink, pink, pink, pink, pink,
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black, pink, pink, pink, pink, pink, pink, black,
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black, black, pink, pink, pink, pink, black, black,
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black, black, black, pink, pink, black, black, black,
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black, black, black, black, black, black, black, black,
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]
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}
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Self::Angry => {
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vec![
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red, red, black, black, black, black, red, red,
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black, red, red, black, black, red, red, black,
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black, black, red, black, black, red, black, black,
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black, black, white, black, black, white, black, black,
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black, black, black, black, black, black, black, black,
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black, black, white, white, white, white, black, black,
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black, white, black, black, black, black, white, black,
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black, black, black, black, black, black, black, black,
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]
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}
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_ => {
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// Default neutral
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vec![white; 64]
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}
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}
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}
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}
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pub struct EmoteTool {
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#[allow(dead_code)]
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config: RobotConfig,
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sounds_dir: PathBuf,
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}
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impl EmoteTool {
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pub fn new(config: RobotConfig) -> Self {
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let sounds_dir = directories::UserDirs::new()
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.map(|d| d.home_dir().join(".zeroclaw/sounds"))
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.unwrap_or_else(|| PathBuf::from("/usr/local/share/zeroclaw/sounds"));
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Self { config, sounds_dir }
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}
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/// Set LED matrix expression
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async fn set_expression(&self, expr: Expression) -> Result<()> {
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let pattern = expr.pattern();
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// Convert to format for LED driver
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// In production, use rs_ws281x or similar
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let pattern_json = serde_json::to_string(&pattern)?;
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// Try to write to LED controller
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// Option 1: Write to FIFO/socket if LED daemon is running
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let led_fifo = PathBuf::from("/tmp/zeroclaw_led.fifo");
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if led_fifo.exists() {
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tokio::fs::write(&led_fifo, pattern_json).await?;
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return Ok(());
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}
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// Option 2: Shell out to LED control script
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let output = tokio::process::Command::new("zeroclaw-led")
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.args(["--pattern", &format!("{:?}", expr)])
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.output()
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.await;
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match output {
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Ok(out) if out.status.success() => Ok(()),
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_ => {
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tracing::info!("LED display: {:?} (hardware not connected)", expr);
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Ok(()) // Don't fail if LED hardware isn't available
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}
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}
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}
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/// Play emotion sound effect
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async fn play_emotion_sound(&self, emotion: &str) -> Result<()> {
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let sound_file = self.sounds_dir.join(format!("{}.wav", emotion));
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if !sound_file.exists() {
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tracing::debug!("No sound file for emotion: {}", emotion);
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return Ok(());
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}
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tokio::process::Command::new("aplay")
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.arg(sound_file)
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.output()
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.await?;
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Ok(())
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}
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/// Animate expression (e.g., blinking)
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async fn animate(&self, animation: &str) -> Result<()> {
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match animation {
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"blink" => {
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self.set_expression(Expression::Happy).await?;
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tokio::time::sleep(std::time::Duration::from_millis(100)).await;
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// "Closed eyes" - simplified
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tokio::time::sleep(std::time::Duration::from_millis(100)).await;
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self.set_expression(Expression::Happy).await?;
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}
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"nod" => {
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// Would control servo if available
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tracing::info!("Animation: nod");
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}
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"shake" => {
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tracing::info!("Animation: shake");
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}
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"dance" => {
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// Cycle through expressions
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for expr in [Expression::Happy, Expression::Excited, Expression::Love, Expression::Happy] {
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self.set_expression(expr).await?;
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tokio::time::sleep(std::time::Duration::from_millis(500)).await;
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}
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}
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_ => {}
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}
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Ok(())
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}
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}
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#[async_trait]
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impl Tool for EmoteTool {
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fn name(&self) -> &str {
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"emote"
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}
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fn description(&self) -> &str {
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"Express emotions through LED display and sounds. Use this to show the robot's \
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emotional state - happy when playing, sad when saying goodbye, excited for games, etc. \
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This makes interactions with kids more engaging!"
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}
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fn parameters_schema(&self) -> Value {
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json!({
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"type": "object",
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"properties": {
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"expression": {
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"type": "string",
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"enum": ["happy", "sad", "surprised", "thinking", "sleepy", "excited", "love", "angry", "confused", "wink"],
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"description": "Facial expression to display on LED matrix"
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},
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"animation": {
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"type": "string",
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"enum": ["blink", "nod", "shake", "dance"],
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"description": "Optional animation to perform"
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},
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"sound": {
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"type": "boolean",
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"description": "Play matching sound effect (default true)"
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},
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"duration": {
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"type": "integer",
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"description": "How long to hold expression in seconds (default 3)"
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}
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},
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"required": ["expression"]
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})
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}
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async fn execute(&self, args: Value) -> Result<ToolResult> {
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let expression_str = args["expression"]
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.as_str()
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.ok_or_else(|| anyhow::anyhow!("Missing 'expression' parameter"))?;
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let expression = Expression::from_str(expression_str)
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.ok_or_else(|| anyhow::anyhow!("Unknown expression: {}", expression_str))?;
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let play_sound = args["sound"].as_bool().unwrap_or(true);
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let duration = args["duration"].as_u64().unwrap_or(3);
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// Set expression
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self.set_expression(expression).await?;
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// Play sound if enabled
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if play_sound {
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let _ = self.play_emotion_sound(expression_str).await;
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}
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// Run animation if specified
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if let Some(animation) = args["animation"].as_str() {
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self.animate(animation).await?;
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}
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// Hold expression
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if duration > 0 {
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tokio::time::sleep(std::time::Duration::from_secs(duration.min(10))).await;
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}
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Ok(ToolResult {
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success: true,
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output: format!("Expressing: {} for {}s", expression_str, duration),
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error: None,
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})
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn emote_tool_name() {
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let tool = EmoteTool::new(RobotConfig::default());
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assert_eq!(tool.name(), "emote");
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}
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#[test]
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fn expression_parsing() {
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assert!(Expression::from_str("happy").is_some());
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assert!(Expression::from_str("EXCITED").is_some());
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assert!(Expression::from_str("unknown").is_none());
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}
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#[test]
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fn expression_pattern_size() {
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let expr = Expression::Happy;
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assert_eq!(expr.pattern().len(), 64); // 8x8
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}
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#[tokio::test]
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async fn emote_happy() {
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let tool = EmoteTool::new(RobotConfig::default());
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let result = tool.execute(json!({
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"expression": "happy",
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"duration": 0
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})).await.unwrap();
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assert!(result.success);
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}
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}
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