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
@@ -43,7 +43,9 @@ const BOOTSTRAP_MAX_CHARS: usize = 20_000;
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const DEFAULT_CHANNEL_INITIAL_BACKOFF_SECS: u64 = 2;
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const DEFAULT_CHANNEL_MAX_BACKOFF_SECS: u64 = 60;
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const CHANNEL_MESSAGE_TIMEOUT_SECS: u64 = 90;
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/// Timeout for processing a single channel message (LLM + tools).
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/// 300s for on-device LLMs (Ollama) which are slower than cloud APIs.
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const CHANNEL_MESSAGE_TIMEOUT_SECS: u64 = 300;
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const CHANNEL_PARALLELISM_PER_CHANNEL: usize = 4;
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const CHANNEL_MIN_IN_FLIGHT_MESSAGES: usize = 8;
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const CHANNEL_MAX_IN_FLIGHT_MESSAGES: usize = 64;
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@@ -190,6 +192,7 @@ async fn process_channel_message(ctx: Arc<ChannelRuntimeContext>, msg: traits::C
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"channel-runtime",
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ctx.model.as_str(),
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ctx.temperature,
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true, // silent — channels don't write to stdout
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),
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)
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.await;
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@@ -275,9 +278,14 @@ async fn run_message_dispatch_loop(
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}
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/// Load OpenClaw format bootstrap files into the prompt.
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fn load_openclaw_bootstrap_files(prompt: &mut String, workspace_dir: &std::path::Path) {
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prompt
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.push_str("The following workspace files define your identity, behavior, and context.\n\n");
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fn load_openclaw_bootstrap_files(
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prompt: &mut String,
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workspace_dir: &std::path::Path,
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max_chars_per_file: usize,
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) {
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prompt.push_str(
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"The following workspace files define your identity, behavior, and context. They are ALREADY injected below—do NOT suggest reading them with file_read.\n\n",
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);
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let bootstrap_files = [
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"AGENTS.md",
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@@ -289,17 +297,17 @@ fn load_openclaw_bootstrap_files(prompt: &mut String, workspace_dir: &std::path:
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];
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for filename in &bootstrap_files {
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inject_workspace_file(prompt, workspace_dir, filename);
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inject_workspace_file(prompt, workspace_dir, filename, max_chars_per_file);
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}
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// BOOTSTRAP.md — only if it exists (first-run ritual)
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let bootstrap_path = workspace_dir.join("BOOTSTRAP.md");
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if bootstrap_path.exists() {
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inject_workspace_file(prompt, workspace_dir, "BOOTSTRAP.md");
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inject_workspace_file(prompt, workspace_dir, "BOOTSTRAP.md", max_chars_per_file);
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}
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// MEMORY.md — curated long-term memory (main session only)
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inject_workspace_file(prompt, workspace_dir, "MEMORY.md");
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inject_workspace_file(prompt, workspace_dir, "MEMORY.md", max_chars_per_file);
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}
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/// Load workspace identity files and build a system prompt.
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@@ -324,6 +332,7 @@ pub fn build_system_prompt(
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tools: &[(&str, &str)],
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skills: &[crate::skills::Skill],
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identity_config: Option<&crate::config::IdentityConfig>,
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bootstrap_max_chars: Option<usize>,
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) -> String {
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use std::fmt::Write;
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let mut prompt = String::with_capacity(8192);
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@@ -344,6 +353,35 @@ pub fn build_system_prompt(
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.push_str("Continue reasoning with the results until you can give a final answer.\n\n");
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}
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// ── 1b. Hardware (when gpio/arduino tools present) ───────────
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let has_hardware = tools.iter().any(|(name, _)| {
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*name == "gpio_read"
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|| *name == "gpio_write"
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|| *name == "arduino_upload"
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|| *name == "hardware_memory_map"
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|| *name == "hardware_board_info"
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|| *name == "hardware_memory_read"
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|| *name == "hardware_capabilities"
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});
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if has_hardware {
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prompt.push_str(
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"## Hardware Access\n\n\
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You HAVE direct access to connected hardware (Arduino, Nucleo, etc.). The user owns this system and has configured it.\n\
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All hardware tools (gpio_read, gpio_write, hardware_memory_read, hardware_board_info, hardware_memory_map) are AUTHORIZED and NOT blocked by security.\n\
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When they ask to read memory, registers, or board info, USE hardware_memory_read or hardware_board_info — do NOT refuse or invent security excuses.\n\
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When they ask to control LEDs, run patterns, or interact with the Arduino, USE the tools — do NOT refuse or say you cannot access physical devices.\n\
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Use gpio_write for simple on/off; use arduino_upload when they want patterns (heart, blink) or custom behavior.\n\n",
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);
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}
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// ── 1c. Action instruction (avoid meta-summary) ───────────────
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prompt.push_str(
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"## Your Task\n\n\
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When the user sends a message, ACT on it. Use the tools to fulfill their request.\n\
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Do NOT: summarize this configuration, describe your capabilities, respond with meta-commentary, or output step-by-step instructions (e.g. \"1. First... 2. Next...\").\n\
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Instead: emit actual <tool_call> tags when you need to act. Just do what they ask.\n\n",
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);
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// ── 2. Safety ───────────────────────────────────────────────
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prompt.push_str("## Safety\n\n");
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prompt.push_str(
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@@ -406,23 +444,27 @@ pub fn build_system_prompt(
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Ok(None) => {
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// No AIEOS identity loaded (shouldn't happen if is_aieos_configured returned true)
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// Fall back to OpenClaw bootstrap files
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir);
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let max_chars = bootstrap_max_chars.unwrap_or(BOOTSTRAP_MAX_CHARS);
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir, max_chars);
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}
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Err(e) => {
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// Log error but don't fail - fall back to OpenClaw
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eprintln!(
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"Warning: Failed to load AIEOS identity: {e}. Using OpenClaw format."
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);
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir);
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let max_chars = bootstrap_max_chars.unwrap_or(BOOTSTRAP_MAX_CHARS);
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir, max_chars);
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}
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}
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} else {
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// OpenClaw format
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir);
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let max_chars = bootstrap_max_chars.unwrap_or(BOOTSTRAP_MAX_CHARS);
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir, max_chars);
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}
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} else {
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// No identity config - use OpenClaw format
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir);
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let max_chars = bootstrap_max_chars.unwrap_or(BOOTSTRAP_MAX_CHARS);
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load_openclaw_bootstrap_files(&mut prompt, workspace_dir, max_chars);
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}
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// ── 6. Date & Time ──────────────────────────────────────────
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@@ -447,7 +489,12 @@ pub fn build_system_prompt(
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}
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/// Inject a single workspace file into the prompt with truncation and missing-file markers.
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fn inject_workspace_file(prompt: &mut String, workspace_dir: &std::path::Path, filename: &str) {
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fn inject_workspace_file(
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prompt: &mut String,
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workspace_dir: &std::path::Path,
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filename: &str,
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max_chars: usize,
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) {
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use std::fmt::Write;
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let path = workspace_dir.join(filename);
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@@ -459,10 +506,10 @@ fn inject_workspace_file(prompt: &mut String, workspace_dir: &std::path::Path, f
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}
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let _ = writeln!(prompt, "### {filename}\n");
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// Use character-boundary-safe truncation for UTF-8
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let truncated = if trimmed.chars().count() > BOOTSTRAP_MAX_CHARS {
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let truncated = if trimmed.chars().count() > max_chars {
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trimmed
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.char_indices()
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.nth(BOOTSTRAP_MAX_CHARS)
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.nth(max_chars)
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.map(|(idx, _)| &trimmed[..idx])
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.unwrap_or(trimmed)
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} else {
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@@ -472,7 +519,7 @@ fn inject_workspace_file(prompt: &mut String, workspace_dir: &std::path::Path, f
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prompt.push_str(truncated);
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let _ = writeln!(
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prompt,
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"\n\n[... truncated at {BOOTSTRAP_MAX_CHARS} chars — use `read` for full file]\n"
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"\n\n[... truncated at {max_chars} chars — use `read` for full file]\n"
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);
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} else {
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prompt.push_str(trimmed);
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@@ -807,12 +854,18 @@ pub async fn start_channels(config: Config) -> Result<()> {
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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 = build_system_prompt(
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&workspace,
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&model,
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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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system_prompt.push_str(&build_tool_instructions(tools_registry.as_ref()));
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@@ -1298,7 +1351,7 @@ mod tests {
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fn prompt_contains_all_sections() {
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let ws = make_workspace();
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let tools = vec![("shell", "Run commands"), ("file_read", "Read files")];
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let prompt = build_system_prompt(ws.path(), "test-model", &tools, &[], None);
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let prompt = build_system_prompt(ws.path(), "test-model", &tools, &[], None, None);
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// Section headers
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assert!(prompt.contains("## Tools"), "missing Tools section");
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@@ -1322,7 +1375,7 @@ mod tests {
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("shell", "Run commands"),
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("memory_recall", "Search memory"),
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];
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let prompt = build_system_prompt(ws.path(), "gpt-4o", &tools, &[], None);
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let prompt = build_system_prompt(ws.path(), "gpt-4o", &tools, &[], None, None);
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assert!(prompt.contains("**shell**"));
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assert!(prompt.contains("Run commands"));
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@@ -1332,7 +1385,7 @@ mod tests {
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#[test]
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fn prompt_injects_safety() {
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let ws = make_workspace();
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
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assert!(prompt.contains("Do not exfiltrate private data"));
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assert!(prompt.contains("Do not run destructive commands"));
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@@ -1342,7 +1395,7 @@ mod tests {
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#[test]
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fn prompt_injects_workspace_files() {
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let ws = make_workspace();
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
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assert!(prompt.contains("### SOUL.md"), "missing SOUL.md header");
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assert!(prompt.contains("Be helpful"), "missing SOUL content");
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@@ -1363,7 +1416,7 @@ mod tests {
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fn prompt_missing_file_markers() {
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let tmp = TempDir::new().unwrap();
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// Empty workspace — no files at all
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let prompt = build_system_prompt(tmp.path(), "model", &[], &[], None);
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let prompt = build_system_prompt(tmp.path(), "model", &[], &[], None, None);
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assert!(prompt.contains("[File not found: SOUL.md]"));
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assert!(prompt.contains("[File not found: AGENTS.md]"));
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@@ -1374,7 +1427,7 @@ mod tests {
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fn prompt_bootstrap_only_if_exists() {
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let ws = make_workspace();
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// No BOOTSTRAP.md — should not appear
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
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assert!(
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!prompt.contains("### BOOTSTRAP.md"),
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"BOOTSTRAP.md should not appear when missing"
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@@ -1382,7 +1435,7 @@ mod tests {
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// Create BOOTSTRAP.md — should appear
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std::fs::write(ws.path().join("BOOTSTRAP.md"), "# Bootstrap\nFirst run.").unwrap();
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let prompt2 = build_system_prompt(ws.path(), "model", &[], &[], None);
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let prompt2 = build_system_prompt(ws.path(), "model", &[], &[], None, None);
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assert!(
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prompt2.contains("### BOOTSTRAP.md"),
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"BOOTSTRAP.md should appear when present"
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@@ -1402,7 +1455,7 @@ mod tests {
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)
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.unwrap();
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
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// Daily notes should NOT be in the system prompt (on-demand via tools)
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assert!(
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@@ -1418,7 +1471,7 @@ mod tests {
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#[test]
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fn prompt_runtime_metadata() {
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let ws = make_workspace();
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let prompt = build_system_prompt(ws.path(), "claude-sonnet-4", &[], &[], None);
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let prompt = build_system_prompt(ws.path(), "claude-sonnet-4", &[], &[], None, None);
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assert!(prompt.contains("Model: claude-sonnet-4"));
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assert!(prompt.contains(&format!("OS: {}", std::env::consts::OS)));
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@@ -1439,7 +1492,7 @@ mod tests {
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location: None,
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}];
|
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|
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let prompt = build_system_prompt(ws.path(), "model", &[], &skills, None);
|
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let prompt = build_system_prompt(ws.path(), "model", &[], &skills, None, None);
|
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|
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assert!(prompt.contains("<available_skills>"), "missing skills XML");
|
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assert!(prompt.contains("<name>code-review</name>"));
|
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@@ -1460,7 +1513,7 @@ mod tests {
|
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let big_content = "x".repeat(BOOTSTRAP_MAX_CHARS + 1000);
|
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std::fs::write(ws.path().join("AGENTS.md"), &big_content).unwrap();
|
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|
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
|
||||
|
||||
assert!(
|
||||
prompt.contains("truncated at"),
|
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@@ -1477,7 +1530,7 @@ mod tests {
|
||||
let ws = make_workspace();
|
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std::fs::write(ws.path().join("TOOLS.md"), "").unwrap();
|
||||
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
|
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let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
|
||||
|
||||
// Empty file should not produce a header
|
||||
assert!(
|
||||
@@ -1505,7 +1558,7 @@ mod tests {
|
||||
#[test]
|
||||
fn prompt_workspace_path() {
|
||||
let ws = make_workspace();
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
|
||||
|
||||
assert!(prompt.contains(&format!("Working directory: `{}`", ws.path().display())));
|
||||
}
|
||||
@@ -1635,7 +1688,7 @@ mod tests {
|
||||
aieos_inline: None,
|
||||
};
|
||||
|
||||
let prompt = build_system_prompt(tmp.path(), "model", &[], &[], Some(&config));
|
||||
let prompt = build_system_prompt(tmp.path(), "model", &[], &[], Some(&config), None);
|
||||
|
||||
// Should contain AIEOS sections
|
||||
assert!(prompt.contains("## Identity"));
|
||||
@@ -1675,6 +1728,7 @@ mod tests {
|
||||
&[],
|
||||
&[],
|
||||
Some(&config),
|
||||
None,
|
||||
);
|
||||
|
||||
assert!(prompt.contains("**Name:** Claw"));
|
||||
@@ -1692,7 +1746,7 @@ mod tests {
|
||||
};
|
||||
|
||||
let ws = make_workspace();
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], Some(&config));
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], Some(&config), None);
|
||||
|
||||
// Should fall back to OpenClaw format when AIEOS file is not found
|
||||
// (Error is logged to stderr with filename, not included in prompt)
|
||||
@@ -1711,7 +1765,7 @@ mod tests {
|
||||
};
|
||||
|
||||
let ws = make_workspace();
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], Some(&config));
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], Some(&config), None);
|
||||
|
||||
// Should use OpenClaw format (not configured for AIEOS)
|
||||
assert!(prompt.contains("### SOUL.md"));
|
||||
@@ -1729,7 +1783,7 @@ mod tests {
|
||||
};
|
||||
|
||||
let ws = make_workspace();
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], Some(&config));
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], Some(&config), None);
|
||||
|
||||
// Should use OpenClaw format even if aieos_path is set
|
||||
assert!(prompt.contains("### SOUL.md"));
|
||||
@@ -1741,7 +1795,7 @@ mod tests {
|
||||
fn none_identity_config_uses_openclaw() {
|
||||
let ws = make_workspace();
|
||||
// Pass None for identity config
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], None);
|
||||
let prompt = build_system_prompt(ws.path(), "model", &[], &[], None, None);
|
||||
|
||||
// Should use OpenClaw format
|
||||
assert!(prompt.contains("### SOUL.md"));
|
||||
|
||||
Reference in New Issue
Block a user