@agentic-robotics/mcp 0.1.3 → 0.2.0

package/dist/server.js

@@ -0,0 +1,147 @@
+/**
+ * ROS3 MCP Server implementation - Simplified version
+ */
+import { ROS3Interface } from './interface.js';
+import { AgentDBMemory } from './memory.js';
+export class ROS3McpServer {
+    ros3;
+    memory;
+    name;
+    version;
+    constructor(config = {}) {
+        const { name = 'ros3-mcp-server', version = '1.0.0', dbPath = './ros3-agentdb.db', } = config;
+        this.name = name;
+        this.version = version;
+        // Initialize ROS3 interface
+        this.ros3 = new ROS3Interface();
+        // Initialize AgentDB memory
+        this.memory = new AgentDBMemory(dbPath);
+    }
+    async start() {
+        // Initialize AgentDB
+        await this.memory.initialize();
+        console.error(`${this.name} v${this.version} started`);
+        console.error('AgentDB initialized and ready');
+        console.error('');
+        console.error('Available tools:');
+        console.error('  - move_robot: Move robot to target pose');
+        console.error('  - get_pose: Get current robot pose');
+        console.error('  - get_status: Get robot status');
+        console.error('  - read_lidar: Read LIDAR data');
+        console.error('  - detect_objects: Detect objects from camera');
+        console.error('  - query_memory: Query past experiences');
+        console.error('  - consolidate_skills: Learn from experiences');
+        console.error('  - get_memory_stats: Get memory statistics');
+    }
+    async stop() {
+        await this.memory.close();
+        console.error(`${this.name} stopped`);
+    }
+    // Tool implementations
+    async moveRobot(params) {
+        const { x, y, z, roll, pitch, yaw, speed = 0.5, frame = 'world' } = params;
+        const startTime = Date.now();
+        try {
+            await this.ros3.moveToPose({ x, y, z, roll, pitch, yaw }, speed, frame);
+            const latency = Date.now() - startTime;
+            await this.memory.storeEpisode({
+                sessionId: `motion-${Date.now()}`,
+                taskName: 'move_robot',
+                confidence: 0.9,
+                success: true,
+                outcome: `Moved to [${x}, ${y}, ${z}] in ${latency}ms`,
+                strategy: `speed_${speed}_frame_${frame}`,
+                metadata: { x, y, z, roll, pitch, yaw, speed, frame, latency },
+            });
+            return `Robot moved to [${x}, ${y}, ${z}] in ${frame} frame. Completed in ${latency}ms.`;
+        }
+        catch (error) {
+            await this.memory.storeEpisode({
+                sessionId: `motion-${Date.now()}`,
+                taskName: 'move_robot',
+                confidence: 0.0,
+                success: false,
+                outcome: `Failed: ${error.message}`,
+                metadata: { x, y, z, roll, pitch, yaw, speed, frame },
+            });
+            throw error;
+        }
+    }
+    async getPose() {
+        const pose = await this.ros3.getCurrentPose();
+        return `Current pose: [${pose.x}, ${pose.y}, ${pose.z}] (roll=${pose.roll}, pitch=${pose.pitch}, yaw=${pose.yaw})`;
+    }
+    async getStatus() {
+        const status = await this.ros3.getStatus();
+        return `Robot status: ${status.status}, Health: ${status.health}`;
+    }
+    async readLidar(params) {
+        const { filter = 'all', max_points = 10000 } = params;
+        const startTime = Date.now();
+        const cloud = await this.ros3.getLidarData(filter, max_points);
+        const latency = Date.now() - startTime;
+        await this.memory.storeEpisode({
+            sessionId: `lidar-${Date.now()}`,
+            taskName: 'read_lidar',
+            confidence: 1.0,
+            success: true,
+            outcome: `Retrieved ${cloud.points.length} points in ${latency}ms`,
+            metadata: { filter, max_points, num_points: cloud.points.length, latency },
+        });
+        return `LIDAR data: ${cloud.points.length} points (filter: ${filter}, latency: ${latency}ms)`;
+    }
+    async detectObjects(params) {
+        const { camera, confidence_threshold = 0.5 } = params;
+        const startTime = Date.now();
+        const detections = await this.ros3.detectObjects(camera, confidence_threshold);
+        const latency = Date.now() - startTime;
+        await this.memory.storeEpisode({
+            sessionId: `vision-${Date.now()}`,
+            taskName: 'detect_objects',
+            confidence: 0.9,
+            success: true,
+            outcome: `Detected ${detections.length} objects in ${latency}ms`,
+            metadata: { camera, confidence_threshold, num_detections: detections.length, latency },
+        });
+        return `Detected ${detections.length} objects from ${camera} camera:\n${JSON.stringify(detections, null, 2)}`;
+    }
+    async queryMemory(params) {
+        const { query, k = 5, only_successes = false, min_confidence = 0.0 } = params;
+        const result = await this.memory.queryWithContext(query, { k, minConfidence: min_confidence });
+        const filteredMemories = only_successes
+            ? result.memories.filter((m) => m.success)
+            : result.memories;
+        return `Found ${filteredMemories.length} memories for "${query}":\n${JSON.stringify(filteredMemories, null, 2)}`;
+    }
+    async consolidateSkills(params) {
+        const { min_attempts = 3, min_reward = 0.7, time_window_days = 7 } = params || {};
+        await this.memory.consolidateSkills({
+            minAttempts: min_attempts,
+            minReward: min_reward,
+            timeWindowDays: time_window_days,
+        });
+        return `Skills consolidated (min_attempts: ${min_attempts}, min_reward: ${min_reward}, window: ${time_window_days} days)`;
+    }
+    async getMemoryStats() {
+        const stats = await this.memory.getStats();
+        return `AgentDB Statistics:\n${stats.stats}`;
+    }
+    // Get server info
+    getInfo() {
+        return {
+            name: this.name,
+            version: this.version,
+            tools: [
+                'move_robot',
+                'get_pose',
+                'get_status',
+                'read_lidar',
+                'detect_objects',
+                'query_memory',
+                'consolidate_skills',
+                'get_memory_stats',
+            ],
+        };
+    }
+}
+//# sourceMappingURL=server.js.map

package/dist/server.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@agentic-robotics/mcp",
-  "version": "0.1.3",
+  "version": "0.2.0",
   "description": "Model Context Protocol server for agentic robotics with AgentDB integration",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
@@ -27,6 +27,7 @@
   },
   "scripts": {
     "build": "tsc",
+    "prepublishOnly": "npm run build",
     "dev": "tsx src/cli.ts",
     "start": "node dist/cli.js",
     "test": "vitest",
@@ -34,7 +35,7 @@
     "benchmark:hybrid": "tsx src/hybrid-benchmark.ts"
   },
   "dependencies": {
-    "@agentic-robotics/core": "^0.1.3",
+    "@agentic-robotics/core": "^0.2.0",
     "@modelcontextprotocol/sdk": "^1.0.0",
     "agentdb": "^1.6.1",
     "agentic-flow": "^1.10.2",

package/src/enhanced-server.ts

@@ -27,7 +27,7 @@ export interface EnhancedROS3McpServerConfig {
 export class EnhancedROS3McpServer {
   private ros3: ROS3Interface;
   private memory: EnhancedAgentDBMemory;
-  private orchestrator: FlowOrchestrator;
+  private orchestrator?: FlowOrchestrator;
   private name: string;
   private version: string;
   private config: EnhancedROS3McpServerConfig;

package/src/flow-orchestrator.ts

@@ -1,15 +1,13 @@
 /**
- * Agentic Flow Orchestration Integration
+ * Agentic Flow Orchestration Integration - SECURE VERSION
  *
  * Integrates agentic-flow's 66 agents and 213 MCP tools for
  * multi-robot coordination and complex task execution
+ *
+ * SECURITY: All command execution uses secure spawn() with argument arrays
  */
 
 import { spawn } from 'child_process';
-import { promisify } from 'util';
-import { exec } from 'child_process';
-
-const execAsync = promisify(exec);
 
 export interface AgentTask {
   id: string;
@@ -47,12 +45,63 @@ export interface OrchestrationMetrics {
   toolUsage: Record<string, number>;
 }
 
+/**
+ * Secure helper to spawn commands with proper argument handling
+ */
+function spawnAsync(
+  command: string,
+  args: string[],
+  options: { timeout?: number } = {}
+): Promise<{ stdout: string; stderr: string; code: number }> {
+  return new Promise((resolve, reject) => {
+    const child = spawn(command, args, {
+      shell: false, // Critical: disable shell interpretation
+      timeout: options.timeout,
+    });
+
+    let stdout = '';
+    let stderr = '';
+
+    child.stdout?.on('data', (data) => {
+      stdout += data.toString();
+    });
+
+    child.stderr?.on('data', (data) => {
+      stderr += data.toString();
+    });
+
+    child.on('close', (code) => {
+      resolve({ stdout, stderr, code: code || 0 });
+    });
+
+    child.on('error', (error) => {
+      reject(error);
+    });
+  });
+}
+
+/**
+ * Validate and sanitize task parameters
+ */
+function validateTaskParams(params: Record<string, any>): void {
+  // Check for command injection attempts
+  const paramStr = JSON.stringify(params);
+  if (paramStr.includes(';') || paramStr.includes('|') || paramStr.includes('&')) {
+    throw new Error('Invalid characters in task parameters');
+  }
+}
+
 export class FlowOrchestrator {
   private config: SwarmConfig;
   private metrics: OrchestrationMetrics;
   private initialized: boolean = false;
 
   constructor(config: SwarmConfig = {}) {
+    // Validate config
+    if (config.numAgents && (config.numAgents < 1 || config.numAgents > 200)) {
+      throw new Error('numAgents must be between 1 and 200');
+    }
+
     this.config = {
       numAgents: config.numAgents || 66,
       strategy: config.strategy || 'adaptive',
@@ -77,16 +126,13 @@ export class FlowOrchestrator {
     const startTime = Date.now();
 
     try {
-      // Initialize agentic-flow with configuration
-      const cmd = [
-        'npx agentic-flow init',
-        `--agents ${this.config.numAgents}`,
-        `--strategy ${this.config.strategy}`,
-        this.config.reasoningEnabled ? '--enable-reasoning' : '',
-        this.config.learningEnabled ? '--enable-learning' : '',
-      ].filter(Boolean).join(' ');
+      // Secure initialization with spawn
+      const args = ['agentic-flow', 'init', '--agents', this.config.numAgents!.toString(), '--strategy', this.config.strategy!];
+
+      if (this.config.reasoningEnabled) args.push('--enable-reasoning');
+      if (this.config.learningEnabled) args.push('--enable-learning');
 
-      await execAsync(cmd);
+      await spawnAsync('npx', args);
 
       const initTime = Date.now() - startTime;
       console.error(`🌊 Agentic Flow initialized (${this.config.numAgents} agents, ${initTime}ms)`);
@@ -97,29 +143,45 @@ export class FlowOrchestrator {
     }
   }
 
-  /**
-   * Execute a single task using agentic-flow orchestration
-   */
   async executeTask(task: AgentTask): Promise<AgentResult> {
+    if (!this.initialized) {
+      throw new Error('FlowOrchestrator not initialized. Call initialize() first.');
+    }
+
+    // Validate input
+    validateTaskParams(task.params);
+
     const startTime = Date.now();
     this.metrics.totalTasks++;
 
     try {
-      const cmd = [
-        'npx agentic-flow execute',
-        `--task-type "${task.type}"`,
-        `--priority ${task.priority}`,
-        `--params '${JSON.stringify(task.params)}'`,
-        task.timeout ? `--timeout ${task.timeout}` : '',
-        task.retries ? `--retries ${task.retries}` : '',
-        this.config.reasoningEnabled ? '--enable-reasoning' : '',
-        '--format json',
-      ].filter(Boolean).join(' ');
-
-      const { stdout } = await execAsync(cmd, { timeout: task.timeout || 30000 });
+      const args = [
+        'agentic-flow',
+        'execute',
+        '--task-type',
+        task.type,
+        '--priority',
+        task.priority,
+        '--params',
+        JSON.stringify(task.params),
+        '--format',
+        'json',
+      ];
+
+      if (task.timeout) args.push('--timeout', task.timeout.toString());
+      if (task.retries) args.push('--retries', task.retries.toString());
+      if (this.config.reasoningEnabled) args.push('--enable-reasoning');
+
+      const { stdout, code } = await spawnAsync('npx', args, {
+        timeout: task.timeout || 30000,
+      });
+
+      if (code !== 0) {
+        throw new Error(`Agentic-flow execution failed with code ${code}`);
+      }
 
       const lines = stdout.trim().split('\n');
-      const jsonLine = lines.find(line => line.startsWith('{'));
+      const jsonLine = lines.find((line) => line.startsWith('{'));
 
       if (jsonLine) {
         const data = JSON.parse(jsonLine);
@@ -159,30 +221,41 @@ export class FlowOrchestrator {
     }
   }
 
-  /**
-   * Execute multiple tasks in parallel using swarm intelligence
-   */
   async executeSwarm(tasks: AgentTask[]): Promise<AgentResult[]> {
-    const startTime = Date.now();
+    if (!this.initialized) {
+      throw new Error('FlowOrchestrator not initialized. Call initialize() first.');
+    }
 
+    const startTime = Date.now();
     console.error(`🐝 Executing swarm with ${tasks.length} tasks`);
 
     try {
-      // Use agentic-flow's swarm coordination
-      const tasksJson = JSON.stringify(tasks);
-      const cmd = [
-        'npx agentic-flow swarm',
-        `--tasks '${tasksJson}'`,
-        `--strategy ${this.config.strategy}`,
-        `--num-agents ${this.config.numAgents}`,
-        this.config.reasoningEnabled ? '--enable-reasoning' : '',
-        '--format json',
-      ].filter(Boolean).join(' ');
-
-      const { stdout } = await execAsync(cmd, { timeout: 60000 });
+      // Validate all tasks
+      tasks.forEach((task) => validateTaskParams(task.params));
+
+      const args = [
+        'agentic-flow',
+        'swarm',
+        '--tasks',
+        JSON.stringify(tasks),
+        '--strategy',
+        this.config.strategy!,
+        '--num-agents',
+        this.config.numAgents!.toString(),
+        '--format',
+        'json',
+      ];
+
+      if (this.config.reasoningEnabled) args.push('--enable-reasoning');
+
+      const { stdout, code } = await spawnAsync('npx', args, { timeout: 60000 });
+
+      if (code !== 0) {
+        throw new Error(`Swarm execution failed with code ${code}`);
+      }
 
       const lines = stdout.trim().split('\n');
-      const jsonLine = lines.find(line => line.startsWith('[') || line.startsWith('{'));
+      const jsonLine = lines.find((line) => line.startsWith('[') || line.startsWith('{'));
 
       if (jsonLine) {
         const data = JSON.parse(jsonLine);
@@ -206,8 +279,7 @@ export class FlowOrchestrator {
     } catch (error: any) {
       console.error(`❌ Swarm execution failed: ${error.message}`);
 
-      // Return individual failures
-      return tasks.map(task => ({
+      return tasks.map((task) => ({
         taskId: task.id,
         success: false,
         result: { error: error.message },
@@ -218,9 +290,6 @@ export class FlowOrchestrator {
     }
   }
 
-  /**
-   * Coordinate multiple robots using agentic-flow
-   */
   async coordinateRobots(
     robots: string[],
     mission: {
@@ -234,22 +303,38 @@ export class FlowOrchestrator {
     executionPlan: any;
     estimatedTime: number;
   }> {
+    if (!this.initialized) {
+      throw new Error('FlowOrchestrator not initialized. Call initialize() first.');
+    }
+
     const startTime = Date.now();
 
     try {
-      const cmd = [
-        'npx agentic-flow coordinate',
-        `--robots '${JSON.stringify(robots)}'`,
-        `--mission-type "${mission.type}"`,
-        `--objectives '${JSON.stringify(mission.objectives)}'`,
-        mission.constraints ? `--constraints '${JSON.stringify(mission.constraints)}'` : '',
-        '--format json',
-      ].filter(Boolean).join(' ');
+      const args = [
+        'agentic-flow',
+        'coordinate',
+        '--robots',
+        JSON.stringify(robots),
+        '--mission-type',
+        mission.type,
+        '--objectives',
+        JSON.stringify(mission.objectives),
+        '--format',
+        'json',
+      ];
+
+      if (mission.constraints) {
+        args.push('--constraints', JSON.stringify(mission.constraints));
+      }
+
+      const { stdout, code } = await spawnAsync('npx', args, { timeout: 30000 });
 
-      const { stdout } = await execAsync(cmd, { timeout: 30000 });
+      if (code !== 0) {
+        throw new Error(`Coordination failed with code ${code}`);
+      }
 
       const lines = stdout.trim().split('\n');
-      const jsonLine = lines.find(line => line.startsWith('{'));
+      const jsonLine = lines.find((line) => line.startsWith('{'));
 
       if (jsonLine) {
         const data = JSON.parse(jsonLine);
@@ -267,20 +352,10 @@ export class FlowOrchestrator {
 
       throw new Error('No valid JSON response from coordination');
     } catch (error: any) {
-      console.error(`❌ Coordination failed: ${error.message}`);
-
-      return {
-        success: false,
-        assignments: {},
-        executionPlan: {},
-        estimatedTime: 0,
-      };
+      throw new Error(`Robot coordination failed: ${error.message}`);
     }
   }
 
-  /**
-   * Use ReasoningBank for complex decision making
-   */
   async reasonAboutTask(
     context: string,
     options: {
@@ -294,29 +369,29 @@ export class FlowOrchestrator {
     confidence: number;
     alternatives: string[];
   }> {
-    const startTime = Date.now();
+    if (!this.initialized) {
+      throw new Error('FlowOrchestrator not initialized. Call initialize() first.');
+    }
 
     try {
-      const cmd = [
-        'npx agentic-flow reason',
-        `--context "${context}"`,
-        options.useMemory ? '--use-memory' : '',
-        options.synthesizeStrategy ? '--synthesize-strategy' : '',
-        options.explainReasoning ? '--explain-reasoning' : '',
-        '--format json',
-      ].filter(Boolean).join(' ');
+      const args = ['agentic-flow', 'reason', '--context', context, '--format', 'json'];
+
+      if (options.useMemory) args.push('--use-memory');
+      if (options.synthesizeStrategy) args.push('--synthesize-strategy');
+      if (options.explainReasoning) args.push('--explain-reasoning');
 
-      const { stdout } = await execAsync(cmd, { timeout: 15000 });
+      const { stdout, code } = await spawnAsync('npx', args, { timeout: 15000 });
+
+      if (code !== 0) {
+        throw new Error(`Reasoning failed with code ${code}`);
+      }
 
       const lines = stdout.trim().split('\n');
-      const jsonLine = lines.find(line => line.startsWith('{'));
+      const jsonLine = lines.find((line) => line.startsWith('{'));
 
       if (jsonLine) {
         const data = JSON.parse(jsonLine);
 
-        const reasonTime = Date.now() - startTime;
-        console.error(`🧠 Reasoning completed in ${reasonTime}ms`);
-
         return {
           decision: data.decision || '',
           reasoning: data.reasoning || '',
@@ -327,26 +402,25 @@ export class FlowOrchestrator {
 
       throw new Error('No valid JSON response from reasoning');
     } catch (error: any) {
-      console.error(`❌ Reasoning failed: ${error.message}`);
-
-      return {
-        decision: '',
-        reasoning: error.message,
-        confidence: 0,
-        alternatives: [],
-      };
+      throw new Error(`Reasoning failed: ${error.message}`);
     }
   }
 
-  /**
-   * Get available MCP tools from agentic-flow
-   */
   async getAvailableTools(): Promise<string[]> {
     try {
-      const { stdout } = await execAsync('npx agentic-flow list-tools --format json');
+      const { stdout, code } = await spawnAsync('npx', [
+        'agentic-flow',
+        'list-tools',
+        '--format',
+        'json',
+      ]);
+
+      if (code !== 0) {
+        throw new Error('Failed to list tools');
+      }
 
       const lines = stdout.trim().split('\n');
-      const jsonLine = lines.find(line => line.startsWith('['));
+      const jsonLine = lines.find((line) => line.startsWith('['));
 
       if (jsonLine) {
         const tools = JSON.parse(jsonLine);
@@ -356,38 +430,27 @@ export class FlowOrchestrator {
 
       return [];
     } catch (error: any) {
-      console.error('⚠️ Could not list tools:', error.message);
-      return [];
+      throw new Error(`Failed to list tools: ${error.message}`);
     }
   }
 
-  /**
-   * Get metrics and statistics
-   */
   getMetrics(): OrchestrationMetrics {
     return {
       ...this.metrics,
-      avgExecutionTime: this.metrics.totalTasks > 0
-        ? this.metrics.avgExecutionTime / this.metrics.totalTasks
-        : 0,
+      avgExecutionTime:
+        this.metrics.totalTasks > 0 ? this.metrics.avgExecutionTime / this.metrics.totalTasks : 0,
     };
   }
 
-  /**
-   * Update internal metrics
-   */
   private updateMetrics(data: any, executionTime: number): void {
-    // Update execution time
     this.metrics.avgExecutionTime += executionTime;
 
-    // Track agent utilization
     if (data.agents_used) {
       for (const agent of data.agents_used) {
         this.metrics.agentUtilization[agent] = (this.metrics.agentUtilization[agent] || 0) + 1;
       }
     }
 
-    // Track tool usage
     if (data.tools_used) {
       for (const tool of data.tools_used) {
         this.metrics.toolUsage[tool] = (this.metrics.toolUsage[tool] || 0) + 1;
@@ -395,9 +458,6 @@ export class FlowOrchestrator {
     }
   }
 
-  /**
-   * Reset metrics
-   */
   resetMetrics(): void {
     this.metrics = {
       totalTasks: 0,

package/src/hybrid-memory.ts

@@ -13,7 +13,7 @@ import type { Episode, Memory } from './memory.js';
 const execAsync = promisify(exec);
 
 export class HybridAgentDBMemory {
-  private db: Database.Database;
+  private db!: Database.Database;
   private dbPath: string;
   private initialized: boolean = false;
   private performanceMetrics: {
@@ -363,7 +363,7 @@ export class HybridAgentDBMemory {
         COUNT(DISTINCT task_name) as unique_tasks,
         AVG(confidence) as avg_confidence
       FROM reflexion_episodes
-    `).get();
+    `).get() || {};
 
     return {
       ...stats,