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
411
crates/robot-kit/src/sense.rs
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411
crates/robot-kit/src/sense.rs
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//! Sense Tool - LIDAR, motion sensors, ultrasonic distance
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//!
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//! Provides environmental awareness through various sensors.
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//! Supports multiple backends: direct GPIO, ROS2 topics, or mock.
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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::sync::Arc;
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use tokio::sync::Mutex;
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/// LIDAR scan result
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#[derive(Debug, Clone)]
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pub struct LidarScan {
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/// Distances in meters, 360 values (1 per degree)
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pub ranges: Vec<f64>,
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/// Minimum distance and its angle
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pub nearest: (f64, u16),
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/// Is path clear in forward direction (±30°)?
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pub forward_clear: bool,
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}
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/// Motion detection result
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#[derive(Debug, Clone)]
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pub struct MotionResult {
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pub detected: bool,
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pub sensors_triggered: Vec<u8>,
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}
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pub struct SenseTool {
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config: RobotConfig,
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last_scan: Arc<Mutex<Option<LidarScan>>>,
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}
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impl SenseTool {
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pub fn new(config: RobotConfig) -> Self {
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Self {
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config,
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last_scan: Arc::new(Mutex::new(None)),
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}
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}
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/// Read LIDAR scan
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async fn scan_lidar(&self) -> Result<LidarScan> {
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match self.config.sensors.lidar_type.as_str() {
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"rplidar" => self.scan_rplidar().await,
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"ros2" => self.scan_ros2().await,
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_ => self.scan_mock().await,
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}
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}
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/// Mock LIDAR for testing
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async fn scan_mock(&self) -> Result<LidarScan> {
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// Simulate a room with walls
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let mut ranges = vec![3.0; 360];
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// Wall in front at 2m
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for range in &mut ranges[350..360] {
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*range = 2.0;
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}
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for range in &mut ranges[0..10] {
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*range = 2.0;
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}
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// Object on left at 1m
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for range in &mut ranges[80..100] {
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*range = 1.0;
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}
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let nearest = ranges
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.iter()
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.enumerate()
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.min_by(|a, b| a.1.partial_cmp(b.1).unwrap())
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.map(|(i, &d)| (d, i as u16))
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.unwrap_or((999.0, 0));
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let forward_clear = ranges[0..30].iter().chain(ranges[330..360].iter())
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.all(|&d| d > self.config.safety.min_obstacle_distance);
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Ok(LidarScan {
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ranges,
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nearest,
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forward_clear,
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})
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}
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/// Read from RPLidar via serial
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async fn scan_rplidar(&self) -> Result<LidarScan> {
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// In production, use rplidar_drv crate
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// For now, shell out to rplidar_scan tool if available
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let port = &self.config.sensors.lidar_port;
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let output = tokio::process::Command::new("rplidar_scan")
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.args(["--port", port, "--single"])
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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() => {
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// Parse output (format: angle,distance per line)
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let mut ranges = vec![999.0; 360];
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for line in String::from_utf8_lossy(&out.stdout).lines() {
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if let Some((angle, dist)) = line.split_once(',') {
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if let (Ok(a), Ok(d)) = (angle.parse::<usize>(), dist.parse::<f64>()) {
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if a < 360 {
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ranges[a] = d;
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}
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}
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}
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}
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let nearest = ranges
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.iter()
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.enumerate()
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.min_by(|a, b| a.1.partial_cmp(b.1).unwrap())
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.map(|(i, &d)| (d, i as u16))
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.unwrap_or((999.0, 0));
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let forward_clear = ranges[0..30].iter().chain(ranges[330..360].iter())
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.all(|&d| d > self.config.safety.min_obstacle_distance);
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Ok(LidarScan { ranges, nearest, forward_clear })
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}
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_ => {
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// Fallback to mock if hardware unavailable
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tracing::warn!("RPLidar unavailable, using mock data");
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self.scan_mock().await
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}
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}
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}
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/// Read from ROS2 /scan topic
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async fn scan_ros2(&self) -> Result<LidarScan> {
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let output = tokio::process::Command::new("ros2")
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.args(["topic", "echo", "--once", "/scan"])
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.output()
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.await?;
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if !output.status.success() {
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return self.scan_mock().await;
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}
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// Parse ROS2 LaserScan message (simplified)
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let stdout = String::from_utf8_lossy(&output.stdout);
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let ranges = vec![999.0; 360];
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// Very simplified parsing - in production use rclrs
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if let Some(_ranges_line) = stdout.lines().find(|l| l.contains("ranges:")) {
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// Extract array values
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// Format: ranges: [1.0, 2.0, ...]
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}
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let nearest = ranges
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.iter()
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.enumerate()
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.min_by(|a, b| a.1.partial_cmp(b.1).unwrap())
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.map(|(i, &d)| (d, i as u16))
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.unwrap_or((999.0, 0));
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let forward_clear = ranges[0..30].iter().chain(ranges[330..360].iter())
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.all(|&d| d > self.config.safety.min_obstacle_distance);
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Ok(LidarScan { ranges, nearest, forward_clear })
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}
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/// Check PIR motion sensors
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async fn check_motion(&self) -> Result<MotionResult> {
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let pins = &self.config.sensors.motion_pins;
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// In production, use rppal GPIO
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// For now, mock or read from sysfs
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let mut triggered = Vec::new();
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for &pin in pins {
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let gpio_path = format!("/sys/class/gpio/gpio{}/value", pin);
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match tokio::fs::read_to_string(&gpio_path).await {
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Ok(value) if value.trim() == "1" => {
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triggered.push(pin);
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}
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_ => {}
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}
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}
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Ok(MotionResult {
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detected: !triggered.is_empty(),
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sensors_triggered: triggered,
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})
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}
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/// Read ultrasonic distance sensor
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async fn check_distance(&self) -> Result<f64> {
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let Some((trigger, echo)) = self.config.sensors.ultrasonic_pins else {
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return Ok(999.0); // No sensor configured
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};
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// In production, use rppal with precise timing
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// Ultrasonic requires µs-level timing, so shell out to helper
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let output = tokio::process::Command::new("hc-sr04")
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.args([
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"--trigger", &trigger.to_string(),
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"--echo", &echo.to_string(),
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])
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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() => {
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let distance = String::from_utf8_lossy(&out.stdout)
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.trim()
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.parse::<f64>()
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.unwrap_or(999.0);
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Ok(distance)
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}
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_ => Ok(999.0), // Sensor unavailable
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}
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}
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}
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#[async_trait]
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impl Tool for SenseTool {
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fn name(&self) -> &str {
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"sense"
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}
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fn description(&self) -> &str {
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"Check robot sensors. Actions: 'scan' for LIDAR (360° obstacle map), \
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'motion' for PIR motion detection, 'distance' for ultrasonic range, \
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'all' for combined sensor report."
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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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"action": {
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"type": "string",
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"enum": ["scan", "motion", "distance", "all", "clear_ahead"],
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"description": "Which sensor(s) to read"
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},
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"direction": {
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"type": "string",
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"enum": ["forward", "left", "right", "back", "all"],
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"description": "For 'scan': which direction to report (default 'forward')"
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}
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},
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"required": ["action"]
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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 action = args["action"]
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.as_str()
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.ok_or_else(|| anyhow::anyhow!("Missing 'action' parameter"))?;
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match action {
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"scan" => {
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let scan = self.scan_lidar().await?;
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let direction = args["direction"].as_str().unwrap_or("forward");
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let report = match direction {
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"forward" => {
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let fwd_dist = scan.ranges[0];
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format!(
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"Forward: {:.2}m {}. Nearest obstacle: {:.2}m at {}°",
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fwd_dist,
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if scan.forward_clear { "(clear)" } else { "(BLOCKED)" },
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scan.nearest.0,
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scan.nearest.1
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)
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}
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"left" => {
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let left_dist = scan.ranges[90];
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format!("Left (90°): {:.2}m", left_dist)
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}
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"right" => {
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let right_dist = scan.ranges[270];
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format!("Right (270°): {:.2}m", right_dist)
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}
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"back" => {
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let back_dist = scan.ranges[180];
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format!("Back (180°): {:.2}m", back_dist)
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}
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"all" => {
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format!(
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"LIDAR 360° scan:\n\
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- Forward (0°): {:.2}m\n\
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- Left (90°): {:.2}m\n\
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- Back (180°): {:.2}m\n\
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- Right (270°): {:.2}m\n\
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- Nearest: {:.2}m at {}°\n\
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- Forward path: {}",
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scan.ranges[0], scan.ranges[90], scan.ranges[180], scan.ranges[270],
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scan.nearest.0, scan.nearest.1,
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if scan.forward_clear { "CLEAR" } else { "BLOCKED" }
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)
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}
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_ => "Unknown direction".to_string(),
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};
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// Cache scan
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*self.last_scan.lock().await = Some(scan);
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Ok(ToolResult {
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success: true,
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output: report,
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error: None,
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})
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}
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"motion" => {
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let motion = self.check_motion().await?;
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let output = if motion.detected {
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format!("Motion DETECTED on sensors: {:?}", motion.sensors_triggered)
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} else {
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"No motion detected".to_string()
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};
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Ok(ToolResult {
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success: true,
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output,
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error: None,
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})
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}
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"distance" => {
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let distance = self.check_distance().await?;
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let output = if distance < 999.0 {
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format!("Ultrasonic distance: {:.2}m", distance)
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} else {
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"Ultrasonic sensor not available or out of range".to_string()
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};
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Ok(ToolResult {
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success: true,
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output,
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error: None,
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})
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}
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"clear_ahead" => {
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let scan = self.scan_lidar().await?;
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Ok(ToolResult {
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success: true,
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output: if scan.forward_clear {
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format!("Path ahead is CLEAR (nearest obstacle: {:.2}m)", scan.nearest.0)
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} else {
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format!("Path ahead is BLOCKED (obstacle at {:.2}m)", scan.ranges[0])
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},
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error: None,
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})
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}
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"all" => {
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let scan = self.scan_lidar().await?;
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let motion = self.check_motion().await?;
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let distance = self.check_distance().await?;
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let report = format!(
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"=== SENSOR REPORT ===\n\
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LIDAR: nearest {:.2}m at {}°, forward {}\n\
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Motion: {}\n\
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Ultrasonic: {:.2}m",
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scan.nearest.0, scan.nearest.1,
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if scan.forward_clear { "CLEAR" } else { "BLOCKED" },
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if motion.detected { format!("DETECTED ({:?})", motion.sensors_triggered) } else { "none".to_string() },
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distance
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);
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Ok(ToolResult {
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success: true,
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output: report,
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error: None,
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})
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}
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_ => Ok(ToolResult {
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success: false,
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output: String::new(),
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error: Some(format!("Unknown action: {action}")),
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}),
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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 sense_tool_name() {
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let tool = SenseTool::new(RobotConfig::default());
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assert_eq!(tool.name(), "sense");
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}
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#[tokio::test]
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async fn sense_scan_mock() {
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let tool = SenseTool::new(RobotConfig::default());
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let result = tool.execute(json!({"action": "scan", "direction": "all"})).await.unwrap();
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assert!(result.success);
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assert!(result.output.contains("Forward"));
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}
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#[tokio::test]
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async fn sense_clear_ahead() {
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let tool = SenseTool::new(RobotConfig::default());
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let result = tool.execute(json!({"action": "clear_ahead"})).await.unwrap();
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assert!(result.success);
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}
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}
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