* 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>
295 lines
9.5 KiB
Rust
295 lines
9.5 KiB
Rust
use crate::config::Config;
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use anyhow::Result;
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use chrono::Utc;
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use std::future::Future;
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use std::path::PathBuf;
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use tokio::task::JoinHandle;
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use tokio::time::Duration;
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const STATUS_FLUSH_SECONDS: u64 = 5;
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pub async fn run(config: Config, host: String, port: u16) -> Result<()> {
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let initial_backoff = config.reliability.channel_initial_backoff_secs.max(1);
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let max_backoff = config
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.reliability
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.channel_max_backoff_secs
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.max(initial_backoff);
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crate::health::mark_component_ok("daemon");
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if config.heartbeat.enabled {
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let _ =
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crate::heartbeat::engine::HeartbeatEngine::ensure_heartbeat_file(&config.workspace_dir)
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.await;
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}
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let mut handles: Vec<JoinHandle<()>> = vec![spawn_state_writer(config.clone())];
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{
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let gateway_cfg = config.clone();
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let gateway_host = host.clone();
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handles.push(spawn_component_supervisor(
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"gateway",
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initial_backoff,
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max_backoff,
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move || {
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let cfg = gateway_cfg.clone();
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let host = gateway_host.clone();
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async move { crate::gateway::run_gateway(&host, port, cfg).await }
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},
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));
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}
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{
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if has_supervised_channels(&config) {
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let channels_cfg = config.clone();
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handles.push(spawn_component_supervisor(
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"channels",
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initial_backoff,
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max_backoff,
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move || {
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let cfg = channels_cfg.clone();
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async move { crate::channels::start_channels(cfg).await }
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},
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));
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} else {
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crate::health::mark_component_ok("channels");
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tracing::info!("No real-time channels configured; channel supervisor disabled");
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}
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}
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if config.heartbeat.enabled {
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let heartbeat_cfg = config.clone();
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handles.push(spawn_component_supervisor(
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"heartbeat",
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initial_backoff,
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max_backoff,
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move || {
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let cfg = heartbeat_cfg.clone();
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async move { run_heartbeat_worker(cfg).await }
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},
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));
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}
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{
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let scheduler_cfg = config.clone();
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handles.push(spawn_component_supervisor(
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"scheduler",
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initial_backoff,
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max_backoff,
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move || {
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let cfg = scheduler_cfg.clone();
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async move { crate::cron::scheduler::run(cfg).await }
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},
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));
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}
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println!("🧠 ZeroClaw daemon started");
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println!(" Gateway: http://{host}:{port}");
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println!(" Components: gateway, channels, heartbeat, scheduler");
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println!(" Ctrl+C to stop");
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tokio::signal::ctrl_c().await?;
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crate::health::mark_component_error("daemon", "shutdown requested");
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for handle in &handles {
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handle.abort();
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}
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for handle in handles {
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let _ = handle.await;
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}
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Ok(())
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}
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pub fn state_file_path(config: &Config) -> PathBuf {
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config
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.config_path
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.parent()
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.map_or_else(|| PathBuf::from("."), PathBuf::from)
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.join("daemon_state.json")
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}
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fn spawn_state_writer(config: Config) -> JoinHandle<()> {
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tokio::spawn(async move {
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let path = state_file_path(&config);
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if let Some(parent) = path.parent() {
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let _ = tokio::fs::create_dir_all(parent).await;
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}
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let mut interval = tokio::time::interval(Duration::from_secs(STATUS_FLUSH_SECONDS));
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loop {
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interval.tick().await;
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let mut json = crate::health::snapshot_json();
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if let Some(obj) = json.as_object_mut() {
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obj.insert(
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"written_at".into(),
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serde_json::json!(Utc::now().to_rfc3339()),
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);
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}
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let data = serde_json::to_vec_pretty(&json).unwrap_or_else(|_| b"{}".to_vec());
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let _ = tokio::fs::write(&path, data).await;
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}
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})
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}
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fn spawn_component_supervisor<F, Fut>(
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name: &'static str,
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initial_backoff_secs: u64,
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max_backoff_secs: u64,
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mut run_component: F,
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) -> JoinHandle<()>
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where
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F: FnMut() -> Fut + Send + 'static,
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Fut: Future<Output = Result<()>> + Send + 'static,
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{
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tokio::spawn(async move {
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let mut backoff = initial_backoff_secs.max(1);
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let max_backoff = max_backoff_secs.max(backoff);
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loop {
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crate::health::mark_component_ok(name);
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match run_component().await {
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Ok(()) => {
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crate::health::mark_component_error(name, "component exited unexpectedly");
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tracing::warn!("Daemon component '{name}' exited unexpectedly");
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// Clean exit — reset backoff since the component ran successfully
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backoff = initial_backoff_secs.max(1);
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}
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Err(e) => {
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crate::health::mark_component_error(name, e.to_string());
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tracing::error!("Daemon component '{name}' failed: {e}");
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}
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}
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crate::health::bump_component_restart(name);
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tokio::time::sleep(Duration::from_secs(backoff)).await;
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// Double backoff AFTER sleeping so first error uses initial_backoff
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backoff = backoff.saturating_mul(2).min(max_backoff);
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}
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})
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}
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async fn run_heartbeat_worker(config: Config) -> Result<()> {
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let observer: std::sync::Arc<dyn crate::observability::Observer> =
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std::sync::Arc::from(crate::observability::create_observer(&config.observability));
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let engine = crate::heartbeat::engine::HeartbeatEngine::new(
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config.heartbeat.clone(),
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config.workspace_dir.clone(),
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observer,
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);
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let interval_mins = config.heartbeat.interval_minutes.max(5);
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let mut interval = tokio::time::interval(Duration::from_secs(u64::from(interval_mins) * 60));
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loop {
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interval.tick().await;
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let tasks = engine.collect_tasks().await?;
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if tasks.is_empty() {
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continue;
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}
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for task in tasks {
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let prompt = format!("[Heartbeat Task] {task}");
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let temp = config.default_temperature;
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if let Err(e) =
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crate::agent::run(config.clone(), Some(prompt), None, None, temp, vec![]).await
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{
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crate::health::mark_component_error("heartbeat", e.to_string());
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tracing::warn!("Heartbeat task failed: {e}");
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} else {
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crate::health::mark_component_ok("heartbeat");
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}
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}
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}
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}
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fn has_supervised_channels(config: &Config) -> bool {
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config.channels_config.telegram.is_some()
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|| config.channels_config.discord.is_some()
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|| config.channels_config.slack.is_some()
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|| config.channels_config.imessage.is_some()
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|| config.channels_config.matrix.is_some()
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|| config.channels_config.whatsapp.is_some()
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|| config.channels_config.email.is_some()
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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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use tempfile::TempDir;
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fn test_config(tmp: &TempDir) -> Config {
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let config = Config {
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workspace_dir: tmp.path().join("workspace"),
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config_path: tmp.path().join("config.toml"),
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..Config::default()
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};
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std::fs::create_dir_all(&config.workspace_dir).unwrap();
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config
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}
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#[test]
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fn state_file_path_uses_config_directory() {
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let tmp = TempDir::new().unwrap();
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let config = test_config(&tmp);
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let path = state_file_path(&config);
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assert_eq!(path, tmp.path().join("daemon_state.json"));
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}
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#[tokio::test]
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async fn supervisor_marks_error_and_restart_on_failure() {
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let handle = spawn_component_supervisor("daemon-test-fail", 1, 1, || async {
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anyhow::bail!("boom")
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});
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tokio::time::sleep(Duration::from_millis(50)).await;
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handle.abort();
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let _ = handle.await;
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let snapshot = crate::health::snapshot_json();
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let component = &snapshot["components"]["daemon-test-fail"];
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assert_eq!(component["status"], "error");
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assert!(component["restart_count"].as_u64().unwrap_or(0) >= 1);
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assert!(component["last_error"]
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.as_str()
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.unwrap_or("")
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.contains("boom"));
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}
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#[tokio::test]
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async fn supervisor_marks_unexpected_exit_as_error() {
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let handle = spawn_component_supervisor("daemon-test-exit", 1, 1, || async { Ok(()) });
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tokio::time::sleep(Duration::from_millis(50)).await;
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handle.abort();
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let _ = handle.await;
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let snapshot = crate::health::snapshot_json();
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let component = &snapshot["components"]["daemon-test-exit"];
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assert_eq!(component["status"], "error");
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assert!(component["restart_count"].as_u64().unwrap_or(0) >= 1);
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assert!(component["last_error"]
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.as_str()
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.unwrap_or("")
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.contains("component exited unexpectedly"));
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}
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#[test]
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fn detects_no_supervised_channels() {
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let config = Config::default();
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assert!(!has_supervised_channels(&config));
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}
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#[test]
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fn detects_supervised_channels_present() {
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let mut config = Config::default();
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config.channels_config.telegram = Some(crate::config::TelegramConfig {
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bot_token: "token".into(),
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allowed_users: vec![],
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});
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assert!(has_supervised_channels(&config));
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}
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}
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