feat: refactor sgclaw around zeroclaw compat runtime

third_party/zeroclaw/src/peripherals/nucleo_flash.rs

@@ -0,0 +1,83 @@
+//! Flash ZeroClaw Nucleo-F401RE firmware via probe-rs.
+//!
+//! Builds the Embassy firmware and flashes via ST-Link (built into Nucleo).
+//! Requires: cargo install probe-rs-tools --locked
+
+use anyhow::{Context, Result};
+use std::path::PathBuf;
+use std::process::Command;
+
+const CHIP: &str = "STM32F401RETx";
+const TARGET: &str = "thumbv7em-none-eabihf";
+
+/// Check if probe-rs CLI is available (from probe-rs-tools).
+pub fn probe_rs_available() -> bool {
+    Command::new("probe-rs")
+        .arg("--version")
+        .output()
+        .map(|o| o.status.success())
+        .unwrap_or(false)
+}
+
+/// Flash ZeroClaw Nucleo firmware. Builds from firmware/nucleo.
+pub fn flash_nucleo_firmware() -> Result<()> {
+    if !probe_rs_available() {
+        anyhow::bail!(
+            "probe-rs not found. Install it:\n  cargo install probe-rs-tools --locked\n\n\
+             Or: curl -LsSf https://github.com/probe-rs/probe-rs/releases/latest/download/probe-rs-tools-installer.sh | sh\n\n\
+             Connect Nucleo via USB (ST-Link). Then run this command again."
+        );
+    }
+
+    // CARGO_MANIFEST_DIR = repo root (zeroclaw's Cargo.toml)
+    let repo_root = PathBuf::from(env!("CARGO_MANIFEST_DIR"));
+    let firmware_dir = repo_root.join("firmware").join("nucleo");
+    if !firmware_dir.join("Cargo.toml").exists() {
+        anyhow::bail!(
+            "Nucleo firmware not found at {}. Run from zeroclaw repo root.",
+            firmware_dir.display()
+        );
+    }
+
+    println!("Building ZeroClaw Nucleo firmware...");
+    let build = Command::new("cargo")
+        .args(["build", "--release", "--target", TARGET])
+        .current_dir(&firmware_dir)
+        .output()
+        .context("cargo build failed")?;
+
+    if !build.status.success() {
+        let stderr = String::from_utf8_lossy(&build.stderr);
+        anyhow::bail!("Build failed:\n{}", stderr);
+    }
+
+    let elf_path = firmware_dir
+        .join("target")
+        .join(TARGET)
+        .join("release")
+        .join("nucleo");
+
+    if !elf_path.exists() {
+        anyhow::bail!("Built binary not found at {}", elf_path.display());
+    }
+
+    println!("Flashing to Nucleo-F401RE (connect via USB)...");
+    let flash = Command::new("probe-rs")
+        .args(["run", "--chip", CHIP, elf_path.to_str().unwrap()])
+        .output()
+        .context("probe-rs run failed")?;
+
+    if !flash.status.success() {
+        let stderr = String::from_utf8_lossy(&flash.stderr);
+        anyhow::bail!(
+            "Flash failed:\n{}\n\n\
+             Ensure Nucleo is connected via USB. The ST-Link is built into the board.",
+            stderr
+        );
+    }
+
+    println!("ZeroClaw Nucleo firmware flashed successfully.");
+    println!("The Nucleo now supports: ping, capabilities, gpio_read, gpio_write.");
+    println!("Add to config.toml: board = \"nucleo-f401re\", transport = \"serial\", path = \"/dev/ttyACM0\"");
+    Ok(())
+}