chore: align module metadata and docs

Author: molqzone

GreySensor.hpp

@@ -2,7 +2,7 @@
 
 // clang-format off
 /* === MODULE MANIFEST V2 ===
-module_description: Runtime-configurable digital grey sensor module with weighted line position and line-loss memory
+module_description: XRobot Module for digital grey sensors
 constructor_args:
   - channel_names:
       - "grey_sensor_gpio_0"

README.md

@@ -1,100 +1,56 @@
 # GreySensor
 
-[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](LICENSE)
-[![Language](https://img.shields.io/badge/language-C++20-orange.svg)](https://en.cppreference.com/)
-[![Framework](https://img.shields.io/badge/Framework-LibXR-green)](https://github.com/Jiu-xiao/libxr)
-[![GitHub stars](https://img.shields.io/github/stars/verdancy-org/GreySensor?style=social)](https://github.com/verdancy-org/GreySensor/stargazers)
-[![GitHub forks](https://img.shields.io/github/forks/verdancy-org/GreySensor?style=social)](https://github.com/verdancy-org/GreySensor/network/members)
-[![GitHub issues](https://img.shields.io/github/issues/verdancy-org/GreySensor)](https://github.com/verdancy-org/GreySensor/issues)
-
-**English** | [中文](README_CN.md)
-
-**GreySensor** is a runtime-configurable digital grey sensor module designed for
-line tracking and reflective optical sensor arrays.
-
-## Module Introduction
-
-GreySensor reads digital GPIO channels in the order provided by the application
-layer and publishes a compact line state through LibXR `Topic`. It keeps the
-driver independent from board-level pin names: the board or application registers
-GPIO hardware aliases, then passes those alias strings to the module constructor.
-
-The module calculates a weighted line position from active channels and keeps the
-last valid position when the line is temporarily lost, simplifying upper-level
-control loops that need stable direction feedback.
-
-## Features
-
-- Based on `LibXR::GPIO` for hardware abstraction, decoupling the module from
-  platform-specific GPIO implementations.
-
-- Follows `Application` framework specifications, supporting dependency
-  injection and automated lifecycle management through MANIFEST.
-
-- Supports runtime channel count detection from the `channel_names` initializer
-  list. The current bitmap payload supports 1-8 channels.
-
-- Publishes raw channel state, active channel state, weighted position, line-loss
-  state, remembered position, and consecutive lost-line count.
-
-- Uses a signed fixed-point position scale where the left side is negative, the
-  right side is positive, and the center is zero.
-
-## Hardware Requirements
-
-- GPIO device nodes matching each string in the `channel_names` configuration
-  must be provided.
-
-## Constructor Parameters
-
-- `channel_names`
-  - GPIO alias list ordered from left to right. The list length determines the
-    active channel count.
-
-- `active_low`
-  - Whether low GPIO level means the corresponding channel detects the line.
-
-- `topic_name`
-  - Topic name used to publish `GreySensor::Sample`.
-
-- `publish_period_ms`
-  - Minimum publish interval in milliseconds. Set to `0` to publish on every
-    monitor cycle.
-
-### API Reference
-
-```cpp
-struct Sample {
-    uint8_t raw_mask;
-    uint8_t active_mask;
-    uint8_t changed_mask;
-    uint8_t channel_count;
-    uint8_t active_count;
-    uint8_t line_detected;
-    uint8_t line_lost;
-    uint8_t lost_side;
-    int16_t weighted_position;
-    int16_t position;
-    int16_t remembered_position;
-    uint32_t lost_count;
-    uint32_t sequence;
-    std::array<uint8_t, MAX_CHANNEL_COUNT> raw;
-    std::array<uint8_t, MAX_CHANNEL_COUNT> active;
-};
-```
-
-For an 8-channel array, the default position scale maps channels to:
-
-```text
--3500, -2500, -1500, -500, 500, 1500, 2500, 3500
+Digital grey sensor array module for XRobot.
+
+This module reads runtime-configurable digital GPIO channels in the order
+provided by the application layer, converts them into a compact line-tracking
+sample, and publishes raw state, active state, weighted position, line-loss
+state, and position memory through a LibXR topic.
+
+The module stays independent from board-level pin names. The board or User layer
+registers GPIO aliases, then passes those alias strings in `channel_names`.
+
+## Required Hardware
+
+- `grey_sensor_gpio_0`
+- `grey_sensor_gpio_1`
+- `grey_sensor_gpio_2`
+- `grey_sensor_gpio_3`
+- `grey_sensor_gpio_4`
+- `grey_sensor_gpio_5`
+- `grey_sensor_gpio_6`
+- `grey_sensor_gpio_7`
+
+The GPIO names are constructor arguments, so projects may use other hardware
+aliases and channel counts up to `GreySensor::MAX_CHANNEL_COUNT`.
+
+## Constructor Arguments
+
+- `channel_names`: GPIO alias list ordered from left to right
+- `active_low`: default `false`
+- `topic_name`: default `"grey_sensor"`
+- `publish_period_ms`: default `10`
+
+## Published Topics
+
+- `topic_name`: `GreySensor::Sample`, including raw / active masks, changed mask, active count, weighted position, remembered position, lost-line side, lost-line count, and sequence number
+
+## XRobot Configuration Example
+
+```yaml
+- id: grey_sensor
+  name: GreySensor
+  constructor_args:
+    channel_names:
+      - "grey_sensor_gpio_0"
+      - "grey_sensor_gpio_1"
+      - "grey_sensor_gpio_2"
+      - "grey_sensor_gpio_3"
+      - "grey_sensor_gpio_4"
+      - "grey_sensor_gpio_5"
+      - "grey_sensor_gpio_6"
+      - "grey_sensor_gpio_7"
+    active_low: false
+    topic_name: "grey_sensor"
+    publish_period_ms: 10
 ```
-
-When no channel is active, `line_lost` is set and `position` keeps the most
-recent valid `weighted_position`. `lost_side` is `0` for unknown, `1` for left,
-and `2` for right.
-
-## Dependencies
-
-- No dependencies except for the LibXR basic framework.
-
-