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
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commit
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59 changed files with 9607 additions and 1885 deletions
231
src/peripherals/mod.rs
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231
src/peripherals/mod.rs
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//! Hardware peripherals — STM32, RPi GPIO, etc.
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//!
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//! Peripherals extend the agent with physical capabilities. See
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//! `docs/hardware-peripherals-design.md` for the full design.
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pub mod traits;
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#[cfg(feature = "hardware")]
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pub mod serial;
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#[cfg(feature = "hardware")]
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pub mod arduino_flash;
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#[cfg(feature = "hardware")]
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pub mod arduino_upload;
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#[cfg(feature = "hardware")]
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pub mod capabilities_tool;
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#[cfg(feature = "hardware")]
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pub mod nucleo_flash;
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#[cfg(feature = "hardware")]
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pub mod uno_q_bridge;
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#[cfg(feature = "hardware")]
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pub mod uno_q_setup;
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#[cfg(all(feature = "peripheral-rpi", target_os = "linux"))]
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pub mod rpi;
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pub use traits::Peripheral;
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use crate::config::{Config, PeripheralBoardConfig, PeripheralsConfig};
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use crate::tools::{HardwareMemoryMapTool, Tool};
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use anyhow::Result;
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/// List configured boards from config (no connection yet).
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pub fn list_configured_boards(config: &PeripheralsConfig) -> Vec<&PeripheralBoardConfig> {
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if !config.enabled {
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return Vec::new();
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}
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config.boards.iter().collect()
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}
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/// Handle `zeroclaw peripheral` subcommands.
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#[allow(clippy::module_name_repetitions)]
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pub fn handle_command(cmd: crate::PeripheralCommands, config: &Config) -> Result<()> {
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match cmd {
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crate::PeripheralCommands::List => {
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let boards = list_configured_boards(&config.peripherals);
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if boards.is_empty() {
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println!("No peripherals configured.");
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println!();
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println!("Add one with: zeroclaw peripheral add <board> <path>");
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println!(" Example: zeroclaw peripheral add nucleo-f401re /dev/ttyACM0");
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println!();
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println!("Or add to config.toml:");
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println!(" [peripherals]");
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println!(" enabled = true");
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println!();
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println!(" [[peripherals.boards]]");
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println!(" board = \"nucleo-f401re\"");
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println!(" transport = \"serial\"");
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println!(" path = \"/dev/ttyACM0\"");
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} else {
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println!("Configured peripherals:");
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for b in boards {
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let path = b.path.as_deref().unwrap_or("(native)");
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println!(" {} {} {}", b.board, b.transport, path);
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}
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}
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}
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crate::PeripheralCommands::Add { board, path } => {
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let transport = if path == "native" { "native" } else { "serial" };
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let path_opt = if path == "native" {
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None
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} else {
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Some(path.clone())
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};
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let mut cfg = crate::config::Config::load_or_init()?;
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cfg.peripherals.enabled = true;
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if cfg
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.peripherals
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.boards
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.iter()
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.any(|b| b.board == board && b.path.as_deref() == path_opt.as_deref())
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{
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println!("Board {} at {:?} already configured.", board, path_opt);
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return Ok(());
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}
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cfg.peripherals.boards.push(PeripheralBoardConfig {
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board: board.clone(),
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transport: transport.to_string(),
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path: path_opt,
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baud: 115200,
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});
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cfg.save()?;
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println!("Added {} at {}. Restart daemon to apply.", board, path);
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}
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#[cfg(feature = "hardware")]
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crate::PeripheralCommands::Flash { port } => {
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let port_str = arduino_flash::resolve_port(config, port.as_deref())
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.or_else(|| port.clone())
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.ok_or_else(|| anyhow::anyhow!(
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"No port specified. Use --port /dev/cu.usbmodem* or add arduino-uno to config.toml"
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))?;
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arduino_flash::flash_arduino_firmware(&port_str)?;
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}
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#[cfg(not(feature = "hardware"))]
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crate::PeripheralCommands::Flash { .. } => {
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println!("Arduino flash requires the 'hardware' feature.");
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println!("Build with: cargo build --features hardware");
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}
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#[cfg(feature = "hardware")]
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crate::PeripheralCommands::SetupUnoQ { host } => {
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uno_q_setup::setup_uno_q_bridge(host.as_deref())?;
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}
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#[cfg(not(feature = "hardware"))]
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crate::PeripheralCommands::SetupUnoQ { .. } => {
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println!("Uno Q setup requires the 'hardware' feature.");
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println!("Build with: cargo build --features hardware");
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}
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#[cfg(feature = "hardware")]
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crate::PeripheralCommands::FlashNucleo => {
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nucleo_flash::flash_nucleo_firmware()?;
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}
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#[cfg(not(feature = "hardware"))]
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crate::PeripheralCommands::FlashNucleo => {
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println!("Nucleo flash requires the 'hardware' feature.");
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println!("Build with: cargo build --features hardware");
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}
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}
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Ok(())
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}
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/// Create and connect peripherals from config, returning their tools.
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/// Returns empty vec if peripherals disabled or hardware feature off.
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#[cfg(feature = "hardware")]
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pub async fn create_peripheral_tools(config: &PeripheralsConfig) -> Result<Vec<Box<dyn Tool>>> {
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if !config.enabled || config.boards.is_empty() {
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return Ok(Vec::new());
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}
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let mut tools: Vec<Box<dyn Tool>> = Vec::new();
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let mut serial_transports: Vec<(String, std::sync::Arc<serial::SerialTransport>)> = Vec::new();
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for board in &config.boards {
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// Arduino Uno Q: Bridge transport (socket to local Bridge app)
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if board.transport == "bridge" && (board.board == "arduino-uno-q" || board.board == "uno-q")
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{
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tools.push(Box::new(uno_q_bridge::UnoQGpioReadTool));
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tools.push(Box::new(uno_q_bridge::UnoQGpioWriteTool));
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tracing::info!(board = %board.board, "Uno Q Bridge GPIO tools added");
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continue;
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}
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// Native transport: RPi GPIO (Linux only)
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#[cfg(all(feature = "peripheral-rpi", target_os = "linux"))]
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if board.transport == "native"
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&& (board.board == "rpi-gpio" || board.board == "raspberry-pi")
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{
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match rpi::RpiGpioPeripheral::connect_from_config(board).await {
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Ok(peripheral) => {
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tools.extend(peripheral.tools());
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tracing::info!(board = %board.board, "RPi GPIO peripheral connected");
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}
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Err(e) => {
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tracing::warn!("Failed to connect RPi GPIO {}: {}", board.board, e);
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}
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}
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continue;
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}
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// Serial transport (STM32, ESP32, Arduino, etc.)
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if board.transport != "serial" {
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continue;
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}
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if board.path.is_none() {
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tracing::warn!("Skipping serial board {}: no path", board.board);
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continue;
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}
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match serial::SerialPeripheral::connect(board).await {
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Ok(peripheral) => {
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let mut p = peripheral;
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if p.connect().await.is_err() {
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tracing::warn!("Peripheral {} connect warning (continuing)", p.name());
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}
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serial_transports.push((board.board.clone(), p.transport()));
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tools.extend(p.tools());
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if board.board == "arduino-uno" {
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if let Some(ref path) = board.path {
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tools.push(Box::new(arduino_upload::ArduinoUploadTool::new(
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path.clone(),
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)));
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tracing::info!("Arduino upload tool added (port: {})", path);
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}
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}
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tracing::info!(board = %board.board, "Serial peripheral connected");
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}
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Err(e) => {
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tracing::warn!("Failed to connect {}: {}", board.board, e);
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}
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}
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}
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// Phase B: Add hardware tools when any boards configured
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if !tools.is_empty() {
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let board_names: Vec<String> = config.boards.iter().map(|b| b.board.clone()).collect();
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tools.push(Box::new(HardwareMemoryMapTool::new(board_names.clone())));
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tools.push(Box::new(crate::tools::HardwareBoardInfoTool::new(
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board_names.clone(),
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)));
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tools.push(Box::new(crate::tools::HardwareMemoryReadTool::new(
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board_names,
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)));
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}
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// Phase C: Add hardware_capabilities tool when any serial boards
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if !serial_transports.is_empty() {
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tools.push(Box::new(capabilities_tool::HardwareCapabilitiesTool::new(
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serial_transports,
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)));
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}
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Ok(tools)
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}
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#[cfg(not(feature = "hardware"))]
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pub async fn create_peripheral_tools(_config: &PeripheralsConfig) -> Result<Vec<Box<dyn Tool>>> {
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Ok(Vec::new())
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}
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