Ehu shubham shaw contribution --> Hardware support (#306)
* feat: add ZeroClaw firmware for ESP32 and Nucleo * Introduced new firmware for ZeroClaw on ESP32 and Nucleo-F401RE, enabling JSON-over-serial communication for GPIO control. * Added `zeroclaw-esp32` with support for commands like `gpio_read` and `gpio_write`, along with capabilities reporting. * Implemented `zeroclaw-nucleo` firmware with similar functionality for STM32, ensuring compatibility with existing ZeroClaw protocols. * Updated `.gitignore` to include new firmware targets and added necessary dependencies in `Cargo.toml` for both platforms. * Created README files for both firmware projects detailing setup, build, and usage instructions. Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> * feat: enhance hardware peripheral support and documentation - Added `Peripheral` trait implementation in `src/peripherals/` to manage hardware boards (STM32, RPi GPIO). - Updated `AGENTS.md` to include new extension points for peripherals and their configuration. - Introduced comprehensive documentation for adding boards and tools, including a quick start guide and supported boards. - Enhanced `Cargo.toml` to include optional dependencies for PDF extraction and peripheral support. - Created new datasheets for Arduino Uno, ESP32, and Nucleo-F401RE, detailing pin aliases and GPIO usage. - Implemented new tools for hardware memory reading and board information retrieval in the agent loop. This update significantly improves the integration and usability of hardware peripherals within the ZeroClaw framework. * feat: add ZeroClaw firmware for ESP32 and Nucleo * Introduced new firmware for ZeroClaw on ESP32 and Nucleo-F401RE, enabling JSON-over-serial communication for GPIO control. * Added `zeroclaw-esp32` with support for commands like `gpio_read` and `gpio_write`, along with capabilities reporting. * Implemented `zeroclaw-nucleo` firmware with similar functionality for STM32, ensuring compatibility with existing ZeroClaw protocols. * Updated `.gitignore` to include new firmware targets and added necessary dependencies in `Cargo.toml` for both platforms. * Created README files for both firmware projects detailing setup, build, and usage instructions. Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> * feat: enhance hardware peripheral support and documentation - Added `Peripheral` trait implementation in `src/peripherals/` to manage hardware boards (STM32, RPi GPIO). - Updated `AGENTS.md` to include new extension points for peripherals and their configuration. - Introduced comprehensive documentation for adding boards and tools, including a quick start guide and supported boards. - Enhanced `Cargo.toml` to include optional dependencies for PDF extraction and peripheral support. - Created new datasheets for Arduino Uno, ESP32, and Nucleo-F401RE, detailing pin aliases and GPIO usage. - Implemented new tools for hardware memory reading and board information retrieval in the agent loop. This update significantly improves the integration and usability of hardware peripherals within the ZeroClaw framework. * feat: Introduce hardware auto-discovery and expanded configuration options for agents, hardware, and security. * chore: update dependencies and improve probe-rs integration - Updated `Cargo.lock` to remove specific version constraints for several dependencies, including `zerocopy`, `syn`, and `strsim`, allowing for more flexibility in version resolution. - Upgraded `bincode` and `bitfield` to their latest versions, enhancing serialization and memory management capabilities. - Updated `Cargo.toml` to reflect the new version of `probe-rs` from `0.24` to `0.30`, improving hardware probing functionality. - Refactored code in `src/hardware` and `src/tools` to utilize the new `SessionConfig` for session management in `probe-rs`, ensuring better compatibility and performance. - Cleaned up documentation in `docs/datasheets/nucleo-f401re.md` by removing unnecessary lines. * fix: apply cargo fmt * docs: add hardware architecture diagram. --------- Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
ehu shubham shaw
GitHub
parent
b36f23784a
commit
de3ec87d16
59 changed files with 9607 additions and 1885 deletions
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@ -143,6 +143,46 @@ async fn build_context(mem: &dyn Memory, user_msg: &str) -> String {
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context
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}
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/// Build hardware datasheet context from RAG when peripherals are enabled.
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/// Includes pin-alias lookup (e.g. "red_led" → 13) when query matches, plus retrieved chunks.
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fn build_hardware_context(
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rag: &crate::rag::HardwareRag,
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user_msg: &str,
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boards: &[String],
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chunk_limit: usize,
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) -> String {
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if rag.is_empty() || boards.is_empty() {
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return String::new();
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}
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let mut context = String::new();
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// Pin aliases: when user says "red led", inject "red_led: 13" for matching boards
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let pin_ctx = rag.pin_alias_context(user_msg, boards);
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if !pin_ctx.is_empty() {
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context.push_str(&pin_ctx);
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}
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let chunks = rag.retrieve(user_msg, boards, chunk_limit);
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if chunks.is_empty() && pin_ctx.is_empty() {
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return String::new();
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}
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if !chunks.is_empty() {
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context.push_str("[Hardware documentation]\n");
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}
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for chunk in chunks {
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let board_tag = chunk.board.as_deref().unwrap_or("generic");
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let _ = writeln!(
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context,
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"--- {} ({}) ---\n{}\n",
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chunk.source, board_tag, chunk.content
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);
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}
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context.push('\n');
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context
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}
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/// Find a tool by name in the registry.
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fn find_tool<'a>(tools: &'a [Box<dyn Tool>], name: &str) -> Option<&'a dyn Tool> {
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tools.iter().find(|t| t.name() == name).map(|t| t.as_ref())
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@ -370,10 +410,9 @@ struct ParsedToolCall {
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arguments: serde_json::Value,
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}
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/// Execute a single turn for channel runtime paths.
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///
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/// Channel runtime now provides an explicit provider label so observer events
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/// stay consistent with the main agent loop execution path.
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/// Execute a single turn of the agent loop: send messages, parse tool calls,
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/// execute tools, and loop until the LLM produces a final text response.
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/// When `silent` is true, suppresses stdout (for channel use).
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pub(crate) async fn agent_turn(
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provider: &dyn Provider,
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history: &mut Vec<ChatMessage>,
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@ -382,6 +421,7 @@ pub(crate) async fn agent_turn(
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provider_name: &str,
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model: &str,
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temperature: f64,
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silent: bool,
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) -> Result<String> {
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run_tool_call_loop(
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provider,
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@ -391,6 +431,7 @@ pub(crate) async fn agent_turn(
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provider_name,
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model,
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temperature,
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silent,
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)
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.await
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}
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@ -405,6 +446,7 @@ pub(crate) async fn run_tool_call_loop(
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provider_name: &str,
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model: &str,
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temperature: f64,
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silent: bool,
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) -> Result<String> {
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for _iteration in 0..MAX_TOOL_ITERATIONS {
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observer.record_event(&ObserverEvent::LlmRequest {
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@ -458,17 +500,16 @@ pub(crate) async fn run_tool_call_loop(
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if tool_calls.is_empty() {
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// No tool calls — this is the final response
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let final_text = if parsed_text.is_empty() {
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history.push(ChatMessage::assistant(response_text.clone()));
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return Ok(if parsed_text.is_empty() {
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response_text
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} else {
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parsed_text
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};
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history.push(ChatMessage::assistant(&final_text));
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return Ok(final_text);
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});
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}
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// Print any text the LLM produced alongside tool calls
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if !parsed_text.is_empty() {
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// Print any text the LLM produced alongside tool calls (unless silent)
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if !silent && !parsed_text.is_empty() {
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print!("{parsed_text}");
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let _ = std::io::stdout().flush();
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}
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@ -515,7 +556,7 @@ pub(crate) async fn run_tool_call_loop(
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}
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// Add assistant message with tool calls + tool results to history
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history.push(ChatMessage::assistant(&assistant_history_content));
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history.push(ChatMessage::assistant(assistant_history_content.clone()));
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history.push(ChatMessage::user(format!("[Tool results]\n{tool_results}")));
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}
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@ -529,6 +570,10 @@ pub(crate) fn build_tool_instructions(tools_registry: &[Box<dyn Tool>]) -> Strin
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instructions.push_str("\n## Tool Use Protocol\n\n");
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instructions.push_str("To use a tool, wrap a JSON object in <tool_call></tool_call> tags:\n\n");
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instructions.push_str("```\n<tool_call>\n{\"name\": \"tool_name\", \"arguments\": {\"param\": \"value\"}}\n</tool_call>\n```\n\n");
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instructions.push_str(
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"CRITICAL: Output actual <tool_call> tags—never describe steps or give examples.\n\n",
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);
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instructions.push_str("Example: User says \"what's the date?\". You MUST respond with:\n<tool_call>\n{\"name\":\"shell\",\"arguments\":{\"command\":\"date\"}}\n</tool_call>\n\n");
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instructions.push_str("You may use multiple tool calls in a single response. ");
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instructions.push_str("After tool execution, results appear in <tool_result> tags. ");
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instructions
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@ -555,18 +600,11 @@ pub async fn run(
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provider_override: Option<String>,
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model_override: Option<String>,
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temperature: f64,
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verbose: bool,
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peripheral_overrides: Vec<String>,
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) -> Result<()> {
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// ── Wire up agnostic subsystems ──────────────────────────────
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let base_observer = observability::create_observer(&config.observability);
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let observer: Arc<dyn Observer> = if verbose {
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Arc::from(Box::new(observability::MultiObserver::new(vec![
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base_observer,
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Box::new(observability::VerboseObserver::new()),
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])) as Box<dyn Observer>)
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} else {
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Arc::from(base_observer)
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};
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let observer: Arc<dyn Observer> = Arc::from(base_observer);
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let runtime: Arc<dyn runtime::RuntimeAdapter> =
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Arc::from(runtime::create_runtime(&config.runtime)?);
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let security = Arc::new(SecurityPolicy::from_config(
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@ -582,7 +620,15 @@ pub async fn run(
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)?);
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tracing::info!(backend = mem.name(), "Memory initialized");
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// ── Tools (including memory tools) ────────────────────────────
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// ── Peripherals (merge peripheral tools into registry) ─
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if !peripheral_overrides.is_empty() {
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tracing::info!(
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peripherals = ?peripheral_overrides,
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"Peripheral overrides from CLI (config boards take precedence)"
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);
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}
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// ── Tools (including memory tools and peripherals) ────────────
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let (composio_key, composio_entity_id) = if config.composio.enabled {
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(
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config.composio.api_key.as_deref(),
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@ -591,7 +637,7 @@ pub async fn run(
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} else {
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(None, None)
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};
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let tools_registry = tools::all_tools_with_runtime(
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let mut tools_registry = tools::all_tools_with_runtime(
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&security,
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runtime,
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mem.clone(),
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@ -605,6 +651,13 @@ pub async fn run(
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&config,
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);
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let peripheral_tools: Vec<Box<dyn Tool>> =
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crate::peripherals::create_peripheral_tools(&config.peripherals).await?;
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if !peripheral_tools.is_empty() {
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tracing::info!(count = peripheral_tools.len(), "Peripheral tools added");
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tools_registry.extend(peripheral_tools);
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}
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// ── Resolve provider ─────────────────────────────────────────
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let provider_name = provider_override
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.as_deref()
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@ -629,6 +682,26 @@ pub async fn run(
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model: model_name.to_string(),
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});
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// ── Hardware RAG (datasheet retrieval when peripherals + datasheet_dir) ──
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let hardware_rag: Option<crate::rag::HardwareRag> = config
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.peripherals
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.datasheet_dir
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.as_ref()
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.filter(|d| !d.trim().is_empty())
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.map(|dir| crate::rag::HardwareRag::load(&config.workspace_dir, dir.trim()))
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.and_then(Result::ok)
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.filter(|r: &crate::rag::HardwareRag| !r.is_empty());
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if let Some(ref rag) = hardware_rag {
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tracing::info!(chunks = rag.len(), "Hardware RAG loaded");
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}
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let board_names: Vec<String> = config
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.peripherals
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.boards
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.iter()
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.map(|b| b.board.clone())
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.collect();
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// ── Build system prompt from workspace MD files (OpenClaw framework) ──
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let skills = crate::skills::load_skills(&config.workspace_dir);
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let mut tool_descs: Vec<(&str, &str)> = vec![
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@ -684,17 +757,51 @@ pub async fn run(
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if !config.agents.is_empty() {
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tool_descs.push((
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"delegate",
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"Delegate a subtask to a specialized agent. Use when: a task benefits from a different model \
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(e.g. fast summarization, deep reasoning, code generation). The sub-agent runs a single \
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prompt and returns its response.",
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"Delegate a sub-task to a specialized agent. Use when: task needs different model/capability, or to parallelize work.",
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));
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}
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if config.peripherals.enabled && !config.peripherals.boards.is_empty() {
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tool_descs.push((
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"gpio_read",
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"Read GPIO pin value (0 or 1) on connected hardware (STM32, Arduino). Use when: checking sensor/button state, LED status.",
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));
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tool_descs.push((
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"gpio_write",
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"Set GPIO pin high (1) or low (0) on connected hardware. Use when: turning LED on/off, controlling actuators.",
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));
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tool_descs.push((
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"arduino_upload",
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"Upload agent-generated Arduino sketch. Use when: user asks for 'make a heart', 'blink pattern', or custom LED behavior on Arduino. You write the full .ino code; ZeroClaw compiles and uploads it. Pin 13 = built-in LED on Uno.",
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));
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tool_descs.push((
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"hardware_memory_map",
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"Return flash and RAM address ranges for connected hardware. Use when: user asks for 'upper and lower memory addresses', 'memory map', or 'readable addresses'.",
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));
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tool_descs.push((
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"hardware_board_info",
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"Return full board info (chip, architecture, memory map) for connected hardware. Use when: user asks for 'board info', 'what board do I have', 'connected hardware', 'chip info', or 'what hardware'.",
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));
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tool_descs.push((
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"hardware_memory_read",
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"Read actual memory/register values from Nucleo via USB. Use when: user asks to 'read register values', 'read memory', 'dump lower memory 0-126', 'give address and value'. Params: address (hex, default 0x20000000), length (bytes, default 128).",
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));
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tool_descs.push((
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"hardware_capabilities",
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"Query connected hardware for reported GPIO pins and LED pin. Use when: user asks what pins are available.",
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));
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}
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let bootstrap_max_chars = if config.agent.compact_context {
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Some(6000)
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} else {
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None
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};
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let mut system_prompt = crate::channels::build_system_prompt(
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&config.workspace_dir,
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model_name,
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&tool_descs,
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&skills,
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Some(&config.identity),
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bootstrap_max_chars,
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);
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// Append structured tool-use instructions with schemas
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@ -712,8 +819,14 @@ pub async fn run(
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.await;
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}
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// Inject memory context into user message
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let context = build_context(mem.as_ref(), &msg).await;
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// Inject memory + hardware RAG context into user message
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let mem_context = build_context(mem.as_ref(), &msg).await;
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let rag_limit = if config.agent.compact_context { 2 } else { 5 };
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let hw_context = hardware_rag
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.as_ref()
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.map(|r| build_hardware_context(r, &msg, &board_names, rag_limit))
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.unwrap_or_default();
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let context = format!("{mem_context}{hw_context}");
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let enriched = if context.is_empty() {
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msg.clone()
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} else {
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|
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@ -733,6 +846,7 @@ pub async fn run(
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provider_name,
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model_name,
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temperature,
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false,
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)
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.await?;
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println!("{response}");
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@ -770,8 +884,14 @@ pub async fn run(
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.await;
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}
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// Inject memory context into user message
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let context = build_context(mem.as_ref(), &msg.content).await;
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// Inject memory + hardware RAG context into user message
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let mem_context = build_context(mem.as_ref(), &msg.content).await;
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let rag_limit = if config.agent.compact_context { 2 } else { 5 };
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let hw_context = hardware_rag
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.as_ref()
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.map(|r| build_hardware_context(r, &msg.content, &board_names, rag_limit))
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.unwrap_or_default();
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let context = format!("{mem_context}{hw_context}");
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let enriched = if context.is_empty() {
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msg.content.clone()
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} else {
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|
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@ -788,6 +908,7 @@ pub async fn run(
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provider_name,
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model_name,
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temperature,
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false,
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)
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.await
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{
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|
|
@ -833,6 +954,166 @@ pub async fn run(
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Ok(())
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}
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/// Process a single message through the full agent (with tools, peripherals, memory).
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/// Used by channels (Telegram, Discord, etc.) to enable hardware and tool use.
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pub async fn process_message(config: Config, message: &str) -> Result<String> {
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let observer: Arc<dyn Observer> =
|
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Arc::from(observability::create_observer(&config.observability));
|
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let runtime: Arc<dyn runtime::RuntimeAdapter> =
|
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Arc::from(runtime::create_runtime(&config.runtime)?);
|
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let security = Arc::new(SecurityPolicy::from_config(
|
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&config.autonomy,
|
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&config.workspace_dir,
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));
|
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let mem: Arc<dyn Memory> = Arc::from(memory::create_memory(
|
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&config.memory,
|
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&config.workspace_dir,
|
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config.api_key.as_deref(),
|
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)?);
|
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|
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let (composio_key, composio_entity_id) = if config.composio.enabled {
|
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(
|
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config.composio.api_key.as_deref(),
|
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Some(config.composio.entity_id.as_str()),
|
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)
|
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} else {
|
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(None, None)
|
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};
|
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let mut tools_registry = tools::all_tools_with_runtime(
|
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&security,
|
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runtime,
|
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mem.clone(),
|
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composio_key,
|
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composio_entity_id,
|
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&config.browser,
|
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&config.http_request,
|
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&config.workspace_dir,
|
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&config.agents,
|
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config.api_key.as_deref(),
|
||||
&config,
|
||||
);
|
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let peripheral_tools: Vec<Box<dyn Tool>> =
|
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crate::peripherals::create_peripheral_tools(&config.peripherals).await?;
|
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tools_registry.extend(peripheral_tools);
|
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|
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let provider_name = config.default_provider.as_deref().unwrap_or("openrouter");
|
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let model_name = config
|
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.default_model
|
||||
.clone()
|
||||
.unwrap_or_else(|| "anthropic/claude-sonnet-4-20250514".into());
|
||||
let provider: Box<dyn Provider> = providers::create_routed_provider(
|
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provider_name,
|
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config.api_key.as_deref(),
|
||||
&config.reliability,
|
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&config.model_routes,
|
||||
&model_name,
|
||||
)?;
|
||||
|
||||
let hardware_rag: Option<crate::rag::HardwareRag> = config
|
||||
.peripherals
|
||||
.datasheet_dir
|
||||
.as_ref()
|
||||
.filter(|d| !d.trim().is_empty())
|
||||
.map(|dir| crate::rag::HardwareRag::load(&config.workspace_dir, dir.trim()))
|
||||
.and_then(Result::ok)
|
||||
.filter(|r: &crate::rag::HardwareRag| !r.is_empty());
|
||||
let board_names: Vec<String> = config
|
||||
.peripherals
|
||||
.boards
|
||||
.iter()
|
||||
.map(|b| b.board.clone())
|
||||
.collect();
|
||||
|
||||
let skills = crate::skills::load_skills(&config.workspace_dir);
|
||||
let mut tool_descs: Vec<(&str, &str)> = vec![
|
||||
("shell", "Execute terminal commands."),
|
||||
("file_read", "Read file contents."),
|
||||
("file_write", "Write file contents."),
|
||||
("memory_store", "Save to memory."),
|
||||
("memory_recall", "Search memory."),
|
||||
("memory_forget", "Delete a memory entry."),
|
||||
("screenshot", "Capture a screenshot."),
|
||||
("image_info", "Read image metadata."),
|
||||
];
|
||||
if config.browser.enabled {
|
||||
tool_descs.push(("browser_open", "Open approved URLs in browser."));
|
||||
}
|
||||
if config.composio.enabled {
|
||||
tool_descs.push(("composio", "Execute actions on 1000+ apps via Composio."));
|
||||
}
|
||||
if config.peripherals.enabled && !config.peripherals.boards.is_empty() {
|
||||
tool_descs.push(("gpio_read", "Read GPIO pin value on connected hardware."));
|
||||
tool_descs.push((
|
||||
"gpio_write",
|
||||
"Set GPIO pin high or low on connected hardware.",
|
||||
));
|
||||
tool_descs.push((
|
||||
"arduino_upload",
|
||||
"Upload Arduino sketch. Use for 'make a heart', custom patterns. You write full .ino code; ZeroClaw uploads it.",
|
||||
));
|
||||
tool_descs.push((
|
||||
"hardware_memory_map",
|
||||
"Return flash and RAM address ranges. Use when user asks for memory addresses or memory map.",
|
||||
));
|
||||
tool_descs.push((
|
||||
"hardware_board_info",
|
||||
"Return full board info (chip, architecture, memory map). Use when user asks for board info, what board, connected hardware, or chip info.",
|
||||
));
|
||||
tool_descs.push((
|
||||
"hardware_memory_read",
|
||||
"Read actual memory/register values from Nucleo. Use when user asks to read registers, read memory, dump lower memory 0-126, or give address and value.",
|
||||
));
|
||||
tool_descs.push((
|
||||
"hardware_capabilities",
|
||||
"Query connected hardware for reported GPIO pins and LED pin. Use when user asks what pins are available.",
|
||||
));
|
||||
}
|
||||
let bootstrap_max_chars = if config.agent.compact_context {
|
||||
Some(6000)
|
||||
} else {
|
||||
None
|
||||
};
|
||||
let mut system_prompt = crate::channels::build_system_prompt(
|
||||
&config.workspace_dir,
|
||||
&model_name,
|
||||
&tool_descs,
|
||||
&skills,
|
||||
Some(&config.identity),
|
||||
bootstrap_max_chars,
|
||||
);
|
||||
system_prompt.push_str(&build_tool_instructions(&tools_registry));
|
||||
|
||||
let mem_context = build_context(mem.as_ref(), message).await;
|
||||
let rag_limit = if config.agent.compact_context { 2 } else { 5 };
|
||||
let hw_context = hardware_rag
|
||||
.as_ref()
|
||||
.map(|r| build_hardware_context(r, message, &board_names, rag_limit))
|
||||
.unwrap_or_default();
|
||||
let context = format!("{mem_context}{hw_context}");
|
||||
let enriched = if context.is_empty() {
|
||||
message.to_string()
|
||||
} else {
|
||||
format!("{context}{message}")
|
||||
};
|
||||
|
||||
let mut history = vec![
|
||||
ChatMessage::system(&system_prompt),
|
||||
ChatMessage::user(&enriched),
|
||||
];
|
||||
|
||||
agent_turn(
|
||||
provider.as_ref(),
|
||||
&mut history,
|
||||
&tools_registry,
|
||||
observer.as_ref(),
|
||||
provider_name,
|
||||
&model_name,
|
||||
config.default_temperature,
|
||||
true,
|
||||
)
|
||||
.await
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
|
|
|||
|
|
@ -1,16 +1,3 @@
|
|||
pub mod loop_;
|
||||
|
||||
pub use loop_::run;
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
fn assert_reexport_exists<F>(_value: F) {}
|
||||
|
||||
#[test]
|
||||
fn run_function_is_reexported() {
|
||||
assert_reexport_exists(run);
|
||||
assert_reexport_exists(loop_::run);
|
||||
}
|
||||
}
|
||||
pub use loop_::{process_message, run};
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue