harald/zeroclaw
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions 3

fix(robot-kit): format crate and harden cross-platform feature gating

Browse source
This commit is contained in:
Chummy 2026-02-18 14:06:34 +08:00
parent 0dfc707c49
commit d70324f4f7
11 changed files with 374 additions and 204 deletions
Download patch file Download diff file Expand all files Collapse all files

80
crates/robot-kit/src/sense.rs
View file

@ -76,7 +76,9 @@ impl SenseTool {
.map(|(i, &d)| (d, i as u16))
.unwrap_or((999.0, 0));
let forward_clear = ranges[0..30].iter().chain(ranges[330..360].iter())
let forward_clear = ranges[0..30]
.iter()
.chain(ranges[330..360].iter())
.all(|&d| d > self.config.safety.min_obstacle_distance);
Ok(LidarScan {
@ -118,10 +120,16 @@ impl SenseTool {
.map(|(i, &d)| (d, i as u16))
.unwrap_or((999.0, 0));
let forward_clear = ranges[0..30].iter().chain(ranges[330..360].iter())
let forward_clear = ranges[0..30]
.iter()
.chain(ranges[330..360].iter())
.all(|&d| d > self.config.safety.min_obstacle_distance);
Ok(LidarScan { ranges, nearest, forward_clear })
Ok(LidarScan {
ranges,
nearest,
forward_clear,
})
}
_ => {
// Fallback to mock if hardware unavailable
@ -159,10 +167,16 @@ impl SenseTool {
.map(|(i, &d)| (d, i as u16))
.unwrap_or((999.0, 0));
let forward_clear = ranges[0..30].iter().chain(ranges[330..360].iter())
let forward_clear = ranges[0..30]
.iter()
.chain(ranges[330..360].iter())
.all(|&d| d > self.config.safety.min_obstacle_distance);
Ok(LidarScan { ranges, nearest, forward_clear })
Ok(LidarScan {
ranges,
nearest,
forward_clear,
})
}
/// Check PIR motion sensors
@ -199,8 +213,10 @@ impl SenseTool {
// Ultrasonic requires µs-level timing, so shell out to helper
let output = tokio::process::Command::new("hc-sr04")
.args([
"--trigger", &trigger.to_string(),
"--echo", &echo.to_string(),
"--trigger",
&trigger.to_string(),
"--echo",
&echo.to_string(),
])
.output()
.await;
@ -265,7 +281,11 @@ impl Tool for SenseTool {
format!(
"Forward: {:.2}m {}. Nearest obstacle: {:.2}m at {}°",
fwd_dist,
if scan.forward_clear { "(clear)" } else { "(BLOCKED)" },
if scan.forward_clear {
"(clear)"
} else {
"(BLOCKED)"
},
scan.nearest.0,
scan.nearest.1
)
@ -291,9 +311,17 @@ impl Tool for SenseTool {
- Right (270°): {:.2}m\n\
- Nearest: {:.2}m at {}°\n\
- Forward path: {}",
scan.ranges[0], scan.ranges[90], scan.ranges[180], scan.ranges[270],
scan.nearest.0, scan.nearest.1,
if scan.forward_clear { "CLEAR" } else { "BLOCKED" }
scan.ranges[0],
scan.ranges[90],
scan.ranges[180],
scan.ranges[270],
scan.nearest.0,
scan.nearest.1,
if scan.forward_clear {
"CLEAR"
} else {
"BLOCKED"
}
)
}
_ => "Unknown direction".to_string(),
@ -344,7 +372,10 @@ impl Tool for SenseTool {
Ok(ToolResult {
success: true,
output: if scan.forward_clear {
format!("Path ahead is CLEAR (nearest obstacle: {:.2}m)", scan.nearest.0)
format!(
"Path ahead is CLEAR (nearest obstacle: {:.2}m)",
scan.nearest.0
)
} else {
format!("Path ahead is BLOCKED (obstacle at {:.2}m)", scan.ranges[0])
},
@ -362,9 +393,18 @@ impl Tool for SenseTool {
LIDAR: nearest {:.2}m at {}°, forward {}\n\
Motion: {}\n\
Ultrasonic: {:.2}m",
scan.nearest.0, scan.nearest.1,
if scan.forward_clear { "CLEAR" } else { "BLOCKED" },
if motion.detected { format!("DETECTED ({:?})", motion.sensors_triggered) } else { "none".to_string() },
scan.nearest.0,
scan.nearest.1,
if scan.forward_clear {
"CLEAR"
} else {
"BLOCKED"
},
if motion.detected {
format!("DETECTED ({:?})", motion.sensors_triggered)
} else {
"none".to_string()
},
distance
);
@ -397,7 +437,10 @@ mod tests {
#[tokio::test]
async fn sense_scan_mock() {
let tool = SenseTool::new(RobotConfig::default());
let result = tool.execute(json!({"action": "scan", "direction": "all"})).await.unwrap();
let result = tool
.execute(json!({"action": "scan", "direction": "all"}))
.await
.unwrap();
assert!(result.success);
assert!(result.output.contains("Forward"));
}
@ -405,7 +448,10 @@ mod tests {
#[tokio::test]
async fn sense_clear_ahead() {
let tool = SenseTool::new(RobotConfig::default());
let result = tool.execute(json!({"action": "clear_ahead"})).await.unwrap();
let result = tool
.execute(json!({"action": "clear_ahead"}))
.await
.unwrap();
assert!(result.success);
}
}