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>
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ehu shubham shaw
GitHub
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59 changed files with 9607 additions and 1885 deletions
173
src/peripherals/rpi.rs
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173
src/peripherals/rpi.rs
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//! Raspberry Pi GPIO peripheral — native rppal access.
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//!
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//! Only compiled when `peripheral-rpi` feature is enabled and target is Linux.
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//! Uses BCM pin numbering (e.g. GPIO 17, 27).
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use crate::config::PeripheralBoardConfig;
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use crate::peripherals::traits::Peripheral;
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use crate::tools::{Tool, ToolResult};
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use async_trait::async_trait;
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use serde_json::{json, Value};
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/// RPi GPIO peripheral — direct access via rppal.
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pub struct RpiGpioPeripheral {
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board: PeripheralBoardConfig,
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}
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impl RpiGpioPeripheral {
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/// Create a new RPi GPIO peripheral from config.
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pub fn new(board: PeripheralBoardConfig) -> Self {
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Self { board }
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}
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/// Attempt to connect (init rppal). Returns Ok if GPIO is available.
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pub async fn connect_from_config(board: &PeripheralBoardConfig) -> anyhow::Result<Self> {
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let mut peripheral = Self::new(board.clone());
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peripheral.connect().await?;
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Ok(peripheral)
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}
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}
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#[async_trait]
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impl Peripheral for RpiGpioPeripheral {
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fn name(&self) -> &str {
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&self.board.board
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}
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fn board_type(&self) -> &str {
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"rpi-gpio"
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}
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async fn connect(&mut self) -> anyhow::Result<()> {
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// Verify GPIO is accessible by doing a no-op init
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let result = tokio::task::spawn_blocking(|| rppal::gpio::Gpio::new()).await??;
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drop(result);
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Ok(())
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}
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async fn disconnect(&mut self) -> anyhow::Result<()> {
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Ok(())
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}
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async fn health_check(&self) -> bool {
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tokio::task::spawn_blocking(|| rppal::gpio::Gpio::new().is_ok())
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.await
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.unwrap_or(false)
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}
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fn tools(&self) -> Vec<Box<dyn Tool>> {
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vec![Box::new(RpiGpioReadTool), Box::new(RpiGpioWriteTool)]
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}
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}
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/// Tool: read GPIO pin value (BCM numbering).
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struct RpiGpioReadTool;
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#[async_trait]
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impl Tool for RpiGpioReadTool {
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fn name(&self) -> &str {
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"gpio_read"
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}
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fn description(&self) -> &str {
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"Read the value (0 or 1) of a GPIO pin on Raspberry Pi. Uses BCM pin numbers (e.g. 17, 27)."
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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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"pin": {
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"type": "integer",
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"description": "BCM GPIO pin number (e.g. 17, 27)"
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}
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},
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"required": ["pin"]
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})
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}
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async fn execute(&self, args: Value) -> anyhow::Result<ToolResult> {
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let pin = args
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.get("pin")
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.and_then(|v| v.as_u64())
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.ok_or_else(|| anyhow::anyhow!("Missing 'pin' parameter"))?;
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let pin_u8 = pin as u8;
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let value = tokio::task::spawn_blocking(move || {
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let gpio = rppal::gpio::Gpio::new()?;
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let pin = gpio.get(pin_u8)?.into_input();
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Ok::<_, anyhow::Error>(match pin.read() {
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rppal::gpio::Level::Low => 0,
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rppal::gpio::Level::High => 1,
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})
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})
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.await??;
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Ok(ToolResult {
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success: true,
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output: format!("pin {} = {}", pin, value),
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error: None,
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})
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}
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}
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/// Tool: write GPIO pin value (BCM numbering).
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struct RpiGpioWriteTool;
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#[async_trait]
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impl Tool for RpiGpioWriteTool {
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fn name(&self) -> &str {
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"gpio_write"
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}
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fn description(&self) -> &str {
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"Set a GPIO pin high (1) or low (0) on Raspberry Pi. Uses BCM pin numbers."
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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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"pin": {
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"type": "integer",
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"description": "BCM GPIO pin number"
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},
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"value": {
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"type": "integer",
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"description": "0 for low, 1 for high"
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}
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},
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"required": ["pin", "value"]
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})
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}
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async fn execute(&self, args: Value) -> anyhow::Result<ToolResult> {
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let pin = args
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.get("pin")
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.and_then(|v| v.as_u64())
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.ok_or_else(|| anyhow::anyhow!("Missing 'pin' parameter"))?;
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let value = args
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.get("value")
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.and_then(|v| v.as_u64())
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.ok_or_else(|| anyhow::anyhow!("Missing 'value' parameter"))?;
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let pin_u8 = pin as u8;
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let level = match value {
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0 => rppal::gpio::Level::Low,
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_ => rppal::gpio::Level::High,
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};
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tokio::task::spawn_blocking(move || {
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let gpio = rppal::gpio::Gpio::new()?;
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let mut pin = gpio.get(pin_u8)?.into_output();
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pin.write(level);
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Ok::<_, anyhow::Error>(())
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})
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.await??;
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Ok(ToolResult {
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success: true,
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output: format!("pin {} = {}", pin, value),
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error: None,
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})
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}
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}
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