Crate gloamy_robot 

Gloamy Robot

gloamy-robot is the standalone robot-control crate for Gloamy. It groups the robot-facing tool surface in one library so robot integrations can evolve without coupling every hardware concern into the root runtime.

Included tool surfaces

• DriveTool: movement commands for mock, serial, or ROS2-backed bases
• LookTool: image capture plus optional Ollama-based vision description
• ListenTool: offline speech-to-text using arecord and whisper.cpp
• SpeakTool: Piper-based text-to-speech and canned sound playback
• SenseTool: obstacle, distance, and motion reads
• EmoteTool: lightweight LED and sound-driven expression output
• SafetyMonitor and SafeDrive: movement gating and emergency-stop support

Integration model

This crate is a workspace member, but it is not auto-registered into the main gloamy tool factory. The expected pattern today is:

1. load or construct a RobotConfig
2. build tools with create_tools or create_safe_tools
3. optionally adapt this crate’s Tool trait into the main runtime

Quick start

use gloamy_robot::{create_tools, RobotConfig};

let config = RobotConfig::default();
let tools = create_tools(&config);

assert_eq!(tools.len(), 6);

Safety model

The control plane may request movement, but SafetyMonitor decides whether movement is allowed. That separation is intentional and keeps collision handling, watchdog behavior, and emergency-stop responses outside the LLM’s decision loop.

Re-exports

pub use config::RobotConfig;

pub use traits::Tool;

pub use traits::ToolResult;

pub use traits::ToolSpec;

pub use drive::DriveTool;

pub use emote::EmoteTool;

pub use listen::ListenTool;

pub use look::LookTool;

pub use sense::SenseTool;

pub use speak::SpeakTool;

pub use safety::preflight_check;

pub use safety::SafeDrive;

pub use safety::SafetyEvent;

pub use safety::SafetyMonitor;

pub use safety::SensorReading;

Modules

config

Robot-kit configuration types and file helpers.

drive

Movement tool implementations.

emote

Expression and non-verbal feedback tools.

listen

Speech capture and transcription tools.

look

Camera capture and scene-description tools.

safety

Safety monitor and movement-gating utilities.

sense

Sensor reading and obstacle-awareness tools.

speak

Speech synthesis and sound playback tools.

traits

Lightweight tool contracts used by gloamy-robot.

Constants

VERSION

Version of the published crate.

Functions

create_safe_tools

Build the standard robot tool set with safety-enforced drive control.

create_tools

Build the standard robot tool set from a shared configuration.