UGV pyo3 sensor modules

.mise/config.coverage.toml

@@ -44,7 +44,7 @@ version = "0.9.1"
 # only be asserted where that path runs. A crate belongs to exactly one list: naming it in both would let a
 # gap in one pipeline be answered by the other.
 native_cov_libs = """
-{{ "actix-web-config core-guest edge-toolkit et-otlp math1 path sanitise test-helpers " ~
+{{ "actix-web-config core-guest edge-toolkit et-otlp gpu-probe lidar math1 path sanitise test-helpers " ~
   "test-nats test-otlp test-recovery ws-runner-common" -}}
 """
 wasm_cov_libs = "wasi-guest web"

.mise/config.maint.toml

@@ -848,9 +848,9 @@ crates=(
   et-otlp et-web et-rest-client et-ws-runner-common et-ws-wasm-agent
   et-wasi-guest et-ws-comm1 et-ws-data1 et-ws-math1 et-ws-math1-sender
   et-ws-wasi-comm1 et-ws-wasi-data1 et-ws-wasi-math1 et-ws-wasi-math1-sender et-modules-service
-  et-storage-service et-websockify-service et-ws-service et-ws-test-server et-ws-pyo3-runner
-  et-actix-web-config et-ws-server et-ws-wasi-runner et-ws-web-runner et-cli
-  et-onnx
+  et-storage-service et-websockify-service et-ws-service et-lidar et-ws-test-server
+  et-ws-pyo3-runner et-actix-web-config et-ws-server et-ws-wasi-runner et-ws-web-runner
+  et-cli et-onnx et-ws-wasi-lidar1
 )
 per_batch=5
 # `set --` then `$#` counts the array without the `${` + `#` pair, which mise's Tera pass reads as a comment.

.mise/config.python.toml

@@ -8,6 +8,11 @@
 "pipx:openapi-python-client" = "0.29.1"
 "pipx:pyrefly" = "latest"
 "pipx:pytest" = "latest"
+# The libraries the pyo3 modules reach a robot's devices through.
+# pyserial for serial ports, OpenCV for cameras and sounddevice for microphones, which the runner's embedded
+# interpreter imports from mise's site-packages. OpenCV and sounddevice have no command, which a pipx tool needs, so
+# they install beside pyserial's.
+"pipx:pyserial" = { version = "latest", uvx_args = "--with opencv-python-headless --with sounddevice" }
 # PyTorch, for the et-ws-pyo3-runner `torch_inference` test.
 # Python-only (not in the always-loaded config) -- it's a large optional dependency, and the test skips itself
 # when torch isn't among the mise-installed packages on sys.path. Skipped on macos/x64: PyTorch dropped macOS

.mise/config.rust.toml

@@ -110,7 +110,7 @@ run = """
 target=thumbv8m.main-none-eabihf
 features=et-modules-service/board,et-storage-service/board,et-ws-service/board
 set -- -p et-org -p edge-toolkit -p et-modules-service -p et-storage-service -p et-ws-service
-set -- "$@" -p et-core-guest -p et-math1
+set -- "$@" -p et-core-guest -p et-lidar -p et-math1
 cargo build --lib --target "$target" --no-default-features --features "$features" "$@"
 cargo build --lib --target "$target" --no-default-features --features board,core-modules -p et-ws-wasi-runner
 """
@@ -250,6 +250,18 @@ coreutils cp "target/wasm32-wasip2/release/$wasm" "modules/wasi/wasi-math1/pkg/$
 """
 shell = "{{ vars.task_shell }}"
 
+[tasks.build-ws-wasi-lidar1-module]
+depends = ["build-et-cli"]
+description = "Build the Rust WASI lidar1 module as a WASI Preview 2 component"
+run = """
+{{ vars.wasm_cov }} cargo build --release -p et-ws-wasi-lidar1 --target wasm32-wasip2{{ vars.wasi_cov_feat }}
+coreutils mkdir -p modules/wasi/wasi-lidar1/pkg
+wasm=et_ws_wasi_lidar1.wasm
+coreutils cp "target/wasm32-wasip2/release/$wasm" "modules/wasi/wasi-lidar1/pkg/$wasm"
+{{ vars.et_cli }} module-package-json --module-dir modules/wasi/wasi-lidar1
+"""
+shell = "{{ vars.task_shell }}"
+
 [tasks.build-ws-core-math1-module]
 depends = ["build-et-cli"]
 description = "Build the Rust core math1 module as a Wasm 1.0 core module, for SpaceWasm"

.mise/config.toml

@@ -2855,7 +2855,7 @@ shell = "{{ vars.task_shell }}"
 
 [tasks."gen:wasmtime-bindings"]
 depends = ["gen:ws-spec"]
-description = "Run et-int-gen: emit the ws-wasi-runner host bindings for the `runner` world"
+description = "Run et-int-gen: emit the ws-wasi-runner host bindings for the `runner` and `serial-host` worlds"
 # Output lands in the consuming crate, not generated/.
 # `cargo package` only includes files under a crate's own directory, so bindings that live anywhere else
 # leave et-ws-wasi-runner unable to build from its own tarball -- which is what retired the

AGENTS.md

@@ -548,9 +548,10 @@ Languages:
 - **Kotlin -> WASM (WasmGC)**: kotlin-data1, kotlin-math1 -- compiled by the Kotlin Gradle plugin's `wasmJs` target;
   each module is a WasmGC binary (browser GC manages the Kotlin heap), so it needs a WasmGC-capable engine
 - **Python (Pyodide)**: pydata1, pyeye1, pyface1, pymath1
-- **Python (native CPython)**: pyo3-math1 -- runs in `et-ws-pyo3-runner` rather than the browser, so it is plain
-  `.py` source committed as-is rather than a wheel or a wasm binary. The runner fetches the single file its
-  `main` field names and compiles it in process; the same file also runs from `PYO3_PYTHONPATH` unchanged.
+- **Python (native CPython)**: pyo3-imu1, pyo3-lidar1, pyo3-math1, pyo3-media1 -- run in `et-ws-pyo3-runner` rather
+  than the browser, so each is plain `.py` source committed as-is rather than a wheel or a wasm binary. The runner
+  fetches the single file its `main` field names and compiles it in process; the same file also runs from
+  `PYO3_PYTHONPATH` unchanged.
 - **C# (.NET WASM)**: dotnet-data1, dotnet-math1
 - **Java (TeaVM -> JS)**: java-data1, java-math1 -- both built by the single root `pom.xml` (one compilation, one
   teavm-maven-plugin execution per module)
@@ -1545,23 +1546,33 @@ new deps there, not in individual crate `[dependencies]`.
 Before adding, changing or dropping an entry in `config/deny.toml`'s `[advisories] ignore` list, read the comments
 above that list and follow them -- they say which date an entry takes and when one may go.
 
-## Avoid GPL and LGPL dependencies
+## Avoid GPL dependencies, and link an LGPL C or C++ library only dynamically
 
-Every license `config/deny.toml`'s `[licenses] allow` list currently accepts is permissive (Apache-2.0, MIT,
-BSD, Zlib, ISC, MPL-2.0, etc.) -- none copyleft. Keep it that way: do not add a new direct or transitive
-dependency whose license is GPL (any version) or LGPL (any version), and do not add GPL/LGPL to the
-`config/deny.toml` allow list, even when the license is individually OSI-approved (LGPL is). Being OSI-approved is
-not sufficient on its own here -- copyleft obligations are a different category of concern from a permissive
-license, and accepting one is a project-policy decision, not a mechanical license check.
+Every license `config/deny.toml`'s `[licenses] allow` list currently accepts is permissive (Apache-2.0, MIT, BSD,
+Zlib, ISC, MPL-2.0, etc.) -- none copyleft. Keep it that way: do not add a new direct or transitive dependency whose
+license is GPL (any version), and do not add GPL or LGPL to the `config/deny.toml` allow list, even when the license
+is individually OSI-approved. Being OSI-approved is not sufficient on its own here -- copyleft obligations are a
+different category of concern from a permissive license, and accepting one is a project-policy decision, not a
+mechanical license check.
+
+The one exception is a C or C++ library under the LGPL (any version), such as libusb or libudev, which a `-sys` crate
+may link **dynamically**: loaded at run time from the system's shared library, so whoever runs our binary can swap in
+their own build of it, which is what the LGPL asks. It must never be compiled into one of our binaries. Keep off any
+`-sys` feature that builds the library from bundled source (`vendored`, `static`, `bundled`), and read the build
+script for a fallback that does the same when the system library is missing -- `libusb1-sys` compiles its bundled
+libusb whenever `pkg-config` cannot find one. No license check sees any of this, because the `-sys` crate carries
+its own permissive license (`libusb1-sys` is MIT), so it is settled in review. A Rust crate under the LGPL is not
+covered: cargo links Rust dependencies statically.
 
 Concrete precedent: `viuer` (added for the storage service's tty image-preview feature) pulled in
 `ansi_colours` under LGPL-3.0-or-later as an unconditional dependency for its RGB-to-256-color quantization
 path. Rather than allow-listing LGPL, the feature was reimplemented as a small hand-rolled ANSI truecolor
 renderer in `services/storage/src/tty_image.rs`, built on the `image` crate the workspace already depended on
 via `deno_image`/`ws-web-runner` -- truecolor output needs no palette quantization at all, so there was
-nothing left for the LGPL dependency to do. If a future dependency's only viable path involves a GPL/LGPL
-component, treat that the same way: look for a permissively-licensed alternative or a narrower reimplementation
-first, and only bring the question to the user if neither is workable -- don't add the exception yourself.
+nothing left for the LGPL dependency to do. If a future dependency's only viable path involves a GPL component,
+or an LGPL one that would be linked statically, treat that the same way: look for a permissively-licensed
+alternative or a narrower reimplementation first, and only bring the question to the user if neither is workable --
+don't add the exception yourself.
 
 ## Clippy lints
 

CHANGELOG.md

@@ -7,6 +7,30 @@ Changelog 1.1.0.
 
 ### Added
 
+- The `graphics-info` module tells GPUs apart by their arithmetic. It puts sixteen expressions to the WebGPU device,
+  each as a compute shader of its own so that a device refusing one still answers the rest, and its `info_detected`
+  event gains a `gpu_numeric_probe` object: how many probes were answered, how many were not correctly rounded, which
+  of two legal answers the device gave where there are two, a fingerprint of every result, and the known GPU that
+  answers the same way. The probe set, its shaders and correctly rounded answers are the new `et-gpu-probe` crate,
+  which drives no GPU itself. The module's `gpu.renderer` now falls back to WebGL's renderer string where a browser
+  blanks the WebGPU adapter's.
+- A WASI module can read a lidar. `et-ws-wasi-runner`'s new `lidar` feature, on by default, hosts
+  `et:ws-wasi/serial`, lending a guest the serial ports its `SERIAL_PORTS_<NAME>` variables name: a device, or
+  `tcp://<host>:<port>` for one a bridge such as ser2net serves. The interface's own `serial-host` world, which the
+  `module` world now includes, keeps it out of `runner`. A guest that imports it fails to instantiate on a board or on
+  a runner built without the feature. The new `wasi-lidar1` module reads the COIN-D6 lidar on Hiwonder's MentorPi
+  robot through the port lent as `lidar`, storing each revolution as `lidar-scan.json` in its agent's bucket. The new
+  `et-lidar` crate decodes the COIN-D6's serial stream, `no_std` for a board, and encodes its packets for a simulated
+  lidar such as the one `et_ws_test_server::lidar` serves.
+- Three pyo3 modules read Hiwonder's MentorPi robot, each from a worker thread its `init` starts, storing the latest
+  of what it reads in its agent's bucket. `pyo3-lidar1` stores the same `lidar-scan.json` as `wasi-lidar1`;
+  `pyo3-imu1` reads the IMU on the robot's controller board, from the port `SERIAL_PORTS_CONTROLLER` names, as
+  `imu-reading.json`; and `pyo3-media1` captures the camera that `MEDIA_CAMERA` names as `camera-frame.jpg` and the
+  microphone that `MEDIA_MICROPHONE` names as `microphone-clip.wav`. The `python` mise env installs what they import
+  as `pipx:pyserial`, with OpenCV and sounddevice beside it.
+- `edge-toolkit`'s new `edge_toolkit.serial` opens the port a `SERIAL_PORTS_<NAME>` variable names, a device through
+  pyserial (the new `serial` extra) or a TCP bridge. A pyo3 module imports it from this repository's source by naming
+  `libs/python-edge-toolkit` on `PYO3_PYTHONPATH`.
 - `et-ws-wasi-runner` runs Wasm 1.0 core modules beside WASI components, on NASA's SpaceWasm interpreter, with its
   new `core-modules` feature, on by default. It picks the engine from the fetched module's header, so a scenario's
   `runner: wasi` covers both. A core module reaches the hub through the `et` imports, which the new `et-core-guest`
@@ -152,6 +176,9 @@ Changelog 1.1.0.
 
 ### Changed
 
+- **Breaking:** `et_ws_wasi_runner::run_module` takes the serial ports it lends a component as a fifth argument, a
+  `BTreeMap` from each port's name to its device. Pass an empty map to lend none, as a build without the `lidar`
+  feature does whatever it is given.
 - **Breaking:** The modules moved from `services/ws-modules/` to `modules/<type>/`, the type being the runtime that
   loads them: `web`, `wasi`, `core` or `pyo3`, as `edge_toolkit::config::MODULE_TYPE_DIRS` lists them.
   `default_modules_folders` returns those four in place of `services/ws-modules`, and a generated deployment stages

CHECKS.md

@@ -5,7 +5,7 @@
 - **Tools:** 49
 - **Shell-script checks:** 10
 - **Checks with a repair pass:** 22
-- **Rules:** 379 custom local rules, or non-default strict linter settings
+- **Rules:** 381 custom local rules, or non-default strict linter settings
 - **Meta rules:** 22 of those rules are rules about rules
 
 Every check is listed across every `MISE_ENV`, filed under the tool it runs. Each entry names the env whose config
@@ -760,6 +760,7 @@ Rules, from `config/conftest/policy`:
 - `pyproject` (`config/conftest/policy/pyproject/pyproject.rego`):
   - A `path = ".."` uv source points at the parent directory, which isn't a package -- almost always a mistake.
   - A pyproject's uv_build requirement must pin the uv version mise installs.
+  - A pyproject may not link this repository's GitHub issues in [project.urls], under `Issues` or any other label.
 - `tera_comment` (`config/conftest/policy/tera_comment/tera_comment.rego`):
   - A mise config value must not contain `{#`, which Tera reads as the start of a comment.
 
@@ -1199,6 +1200,9 @@ Rules, from `config/semgrep`:
   path is relative to wherever a command happens to run rather than to anything the deployment fixes. Fetch what the
   deployment needs from its releases, and let each tool's own default stand for "this directory", so the deployment
   builds and runs from its directory alone.
+- `pyo3-assigned-hooks-in-all` -- A runner hook bound by assignment rather than `def` is a global the module itself
+  never reads, so CodeQL reports it as unused. et-ws-pyo3-runner reads it by name, so export it: list every hook the
+  module binds this way in an `__all__` placed after the module docstring and any `from __future__` import.
 - `python-silent-broad-except` -- Silently discarding every ordinary exception can conceal programming errors and lost
   work. Catch the expected exception types and explicitly report, recover from, or propagate the failure. Check-only: a
   safe recovery policy cannot be inferred from the handler alone.