@agenticros/core 0.5.0 → 0.7.0

package/dist/heartbeat.d.ts

@@ -0,0 +1,70 @@
+/**
+ * RobotInfo heartbeat helpers — Phase 1.d completion.
+ *
+ * `agenticros_discovery` publishes `<ns>/agenticros/robot_info` at 1 Hz.
+ * Consumers treat a robot as online when the last stamp is within
+ * {@link DEFAULT_HEARTBEAT_STALENESS_MS} (5 s per strategy memo).
+ *
+ * Topic-scan path: when adapters only have `listTopics()`, presence of
+ * `/<ns>/agenticros/robot_info` on the graph is a weak online signal
+ * (same as cmd_vel). Prefer {@link mergeRobotHeartbeats} when message
+ * payloads with stamps are available.
+ */
+import type { TopicInfo } from "./transport/types.js";
+import type { RobotSensors } from "./robots.js";
+/** Default staleness window — strategy §4(d): 1 Hz + 5 s. */
+export declare const DEFAULT_HEARTBEAT_STALENESS_MS = 5000;
+/** Parsed robot_info payload (subset of agenticros_msgs/RobotInfo). */
+export interface RobotHeartbeat {
+    /** Stable id (falls back to namespace). */
+    id: string;
+    name: string;
+    kind: string;
+    /** ROS namespace without leading slash. */
+    robot_namespace: string;
+    capability_ids: string[];
+    sensors: RobotSensors;
+    /** Epoch ms of the heartbeat stamp (0 when unknown). */
+    stamp_ms: number;
+    /** Topic the heartbeat was observed on. */
+    topic: string;
+}
+export interface HeartbeatOnlineOptions {
+    /** Wall clock now (ms). Defaults to Date.now(). */
+    nowMs?: number;
+    /** Staleness window in ms. Defaults to 5000. */
+    stalenessMs?: number;
+}
+/**
+ * Extract namespace from `/<ns>/agenticros/robot_info` (or without leading slash).
+ * Returns "" for unnamespaced `/agenticros/robot_info`.
+ */
+export declare function namespaceFromRobotInfoTopic(topic: string): string;
+/** True when the topic name is a robot_info heartbeat topic. */
+export declare function isRobotInfoTopic(topic: string): boolean;
+/**
+ * Detect namespaces that advertise `agenticros/robot_info` on the topic graph
+ * (no stamp available — treat as online for discovery fallback).
+ */
+export declare function detectHeartbeatNamespacesFromTopics(topics: TopicInfo[]): string[];
+/**
+ * Parse a plain RobotInfo-like message into {@link RobotHeartbeat}.
+ * Tolerates missing optional fields.
+ */
+export declare function parseRobotInfoMessage(topic: string, msg: Record<string, unknown>): RobotHeartbeat;
+/** True when the heartbeat stamp is within the staleness window. */
+export declare function isHeartbeatFresh(heartbeat: RobotHeartbeat, options?: HeartbeatOnlineOptions): boolean;
+/**
+ * Merge heartbeats into an online-id set keyed by configured robot id
+ * when `configuredIdByNamespace` is provided, else by heartbeat id /
+ * effective namespace.
+ */
+export declare function onlineIdsFromHeartbeats(heartbeats: readonly RobotHeartbeat[], options?: HeartbeatOnlineOptions & {
+    /** Map effective cmd_vel namespace → configured robot id. */
+    configuredIdByNamespace?: ReadonlyMap<string, string>;
+}): Set<string>;
+/**
+ * Build a map of effective-namespace → latest fresh heartbeat.
+ */
+export declare function mergeRobotHeartbeats(heartbeats: readonly RobotHeartbeat[], options?: HeartbeatOnlineOptions): Map<string, RobotHeartbeat>;
+//# sourceMappingURL=heartbeat.d.ts.map

package/dist/heartbeat.d.ts.map

@@ -0,0 +1 @@
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package/dist/heartbeat.js

@@ -0,0 +1,124 @@
+/**
+ * RobotInfo heartbeat helpers — Phase 1.d completion.
+ *
+ * `agenticros_discovery` publishes `<ns>/agenticros/robot_info` at 1 Hz.
+ * Consumers treat a robot as online when the last stamp is within
+ * {@link DEFAULT_HEARTBEAT_STALENESS_MS} (5 s per strategy memo).
+ *
+ * Topic-scan path: when adapters only have `listTopics()`, presence of
+ * `/<ns>/agenticros/robot_info` on the graph is a weak online signal
+ * (same as cmd_vel). Prefer {@link mergeRobotHeartbeats} when message
+ * payloads with stamps are available.
+ */
+import { effectiveCmdVelNamespace } from "./discovery.js";
+/** Default staleness window — strategy §4(d): 1 Hz + 5 s. */
+export const DEFAULT_HEARTBEAT_STALENESS_MS = 5_000;
+/**
+ * Extract namespace from `/<ns>/agenticros/robot_info` (or without leading slash).
+ * Returns "" for unnamespaced `/agenticros/robot_info`.
+ */
+export function namespaceFromRobotInfoTopic(topic) {
+    const m = topic.match(/^\/?([^/]+)\/agenticros\/robot_info$/);
+    if (m)
+        return m[1];
+    if (topic === "/agenticros/robot_info" || topic === "agenticros/robot_info")
+        return "";
+    return "";
+}
+/** True when the topic name is a robot_info heartbeat topic. */
+export function isRobotInfoTopic(topic) {
+    return /(?:^|\/)agenticros\/robot_info$/.test(topic);
+}
+/**
+ * Detect namespaces that advertise `agenticros/robot_info` on the topic graph
+ * (no stamp available — treat as online for discovery fallback).
+ */
+export function detectHeartbeatNamespacesFromTopics(topics) {
+    const out = new Set();
+    for (const t of topics) {
+        if (!isRobotInfoTopic(t.name))
+            continue;
+        out.add(namespaceFromRobotInfoTopic(t.name));
+    }
+    return [...out];
+}
+function rosTimeToMs(stamp) {
+    if (!stamp || typeof stamp !== "object")
+        return 0;
+    const s = stamp;
+    const sec = Number(s.sec ?? s.secs ?? 0) || 0;
+    const nanosec = Number(s.nanosec ?? s.nsecs ?? 0) || 0;
+    return sec * 1000 + Math.floor(nanosec / 1e6);
+}
+/**
+ * Parse a plain RobotInfo-like message into {@link RobotHeartbeat}.
+ * Tolerates missing optional fields.
+ */
+export function parseRobotInfoMessage(topic, msg) {
+    const nsFromTopic = namespaceFromRobotInfoTopic(topic);
+    const robot_namespace = String(msg.robot_namespace ?? msg.namespace ?? nsFromTopic ?? "");
+    const id = String(msg.id ?? (robot_namespace || "default"));
+    const capability_ids = Array.isArray(msg.capability_ids)
+        ? msg.capability_ids.map((c) => String(c))
+        : Array.isArray(msg.capabilities)
+            ? msg.capabilities.map((c) => String(c))
+            : [];
+    return {
+        id,
+        name: String(msg.name ?? "Robot"),
+        kind: String(msg.kind ?? "amr"),
+        robot_namespace,
+        capability_ids,
+        sensors: {
+            has_realsense: Boolean(msg.has_realsense),
+            has_lidar: Boolean(msg.has_lidar),
+            has_arm: Boolean(msg.has_arm),
+        },
+        stamp_ms: rosTimeToMs(msg.stamp),
+        topic,
+    };
+}
+/** True when the heartbeat stamp is within the staleness window. */
+export function isHeartbeatFresh(heartbeat, options = {}) {
+    const now = options.nowMs ?? Date.now();
+    const window = options.stalenessMs ?? DEFAULT_HEARTBEAT_STALENESS_MS;
+    if (!heartbeat.stamp_ms) {
+        // No stamp — treat as fresh if we just received the message (caller
+        // should only pass live subscribe results here).
+        return true;
+    }
+    return now - heartbeat.stamp_ms <= window;
+}
+/**
+ * Merge heartbeats into an online-id set keyed by configured robot id
+ * when `configuredIdByNamespace` is provided, else by heartbeat id /
+ * effective namespace.
+ */
+export function onlineIdsFromHeartbeats(heartbeats, options = {}) {
+    const online = new Set();
+    for (const hb of heartbeats) {
+        if (!isHeartbeatFresh(hb, options))
+            continue;
+        const eff = effectiveCmdVelNamespace(hb.robot_namespace);
+        const cfgId = options.configuredIdByNamespace?.get(eff);
+        online.add(cfgId ?? hb.id);
+    }
+    return online;
+}
+/**
+ * Build a map of effective-namespace → latest fresh heartbeat.
+ */
+export function mergeRobotHeartbeats(heartbeats, options = {}) {
+    const byNs = new Map();
+    for (const hb of heartbeats) {
+        if (!isHeartbeatFresh(hb, options))
+            continue;
+        const key = effectiveCmdVelNamespace(hb.robot_namespace);
+        const prev = byNs.get(key);
+        if (!prev || hb.stamp_ms >= prev.stamp_ms) {
+            byNs.set(key, hb);
+        }
+    }
+    return byNs;
+}
+//# sourceMappingURL=heartbeat.js.map

package/dist/heartbeat.js.map

@@ -0,0 +1 @@
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package/dist/index.d.ts

@@ -2,7 +2,7 @@
  * @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
  */
 export type { AgenticROSConfig, RobotTransportOverride } from "./config.js";
-export { AgenticROSConfigSchema, parseConfig, getTransportConfig, } from "./config.js";
+export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
 export { createTransport } from "./transport/factory.js";
 export type { RosTransport } from "./transport/transport.js";
 export type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, TransportConfig, } from "./transport/types.js";
@@ -14,8 +14,14 @@ export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
 export type { MemoryProvider, MemoryRecord, MemoryStatus, RememberInput, RecallInput, ForgetInput, } from "./memory/index.js";
 export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
 export type { Capability, CapabilityField, CapabilityImplementation, CapabilitySource, } from "./capabilities.js";
+export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
+export type { ParsedCapability } from "./capability-schema.js";
+export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
+export type { ExecuteExternalOptions, ExecuteExternalResult, } from "./external-capability.js";
 export { runMission } from "./mission.js";
-export type { Mission, MissionStep, MissionResult, MissionStepResult, MissionToolDispatcher, CapabilityToolBinding, CapabilityToolBindings, MissionCancellationToken, MissionTranscriptEntry, MissionTranscriptSink, RunMissionOptions, } from "./mission.js";
+export type { Mission, MissionStep, MissionResult, MissionStepResult, MissionToolDispatcher, CapabilityToolBinding, CapabilityToolBindings, MissionCancellationToken, MissionControlToken, MissionTranscriptEntry, MissionTranscriptSink, RunMissionOptions, } from "./mission.js";
+export { BUILTIN_MISSION_BINDINGS, EXTERNAL_TOOL_PREFIX, buildMissionBindings, capabilityIdFromExternalTool, defaultToolForCapability, externalToolName, isExternalToolName, passthroughBuildArgs, } from "./mission-bindings.js";
+export type { BuildMissionBindingsOptions, CapabilityWithTool, } from "./mission-bindings.js";
 export { MissionRegistry, generateMissionId, missionTranscriptNamespace, } from "./mission-registry.js";
 export type { MissionRegistryEntry } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
@@ -25,8 +31,16 @@ export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTr
 export type { ResolvedRobot, RobotSensors } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";
 export type { DetectedRobot, RobotDiscoveryResult } from "./discovery.js";
+export { DEFAULT_HEARTBEAT_STALENESS_MS, detectHeartbeatNamespacesFromTopics, isHeartbeatFresh, isRobotInfoTopic, mergeRobotHeartbeats, namespaceFromRobotInfoTopic, onlineIdsFromHeartbeats, parseRobotInfoMessage, } from "./heartbeat.js";
+export type { HeartbeatOnlineOptions, RobotHeartbeat } from "./heartbeat.js";
+export { DEFAULT_FLEET_FILENAME, applyFleetOverride, loadFleetFile, resolveFleetPath, } from "./fleet-config.js";
+export type { FleetFileResult } from "./fleet-config.js";
 export { findRobotsFor } from "./find-robots-for.js";
 export type { FindRobotsForQuery, FindRobotsForMatch, FindRobotsForResult, } from "./find-robots-for.js";
+export { DEFAULT_SKILLS_API, DEFAULT_SKILLS_CACHE_DIR, ensureSkillRefCached, fetchInstallDescriptor, githubRepoBasename, parseSkillRef, resolveSkillRefs, skillsApiBase, skillsCacheDir, withResolvedSkillRefs, applyCachedSkillRefs, } from "./skill-refs.js";
+export type { InstallDescriptor, ParsedSkillRef, ResolveSkillRefsOptions, ResolveSkillRefsResult, } from "./skill-refs.js";
+export { fetchMarketplaceSkills, listCapabilitiesWithDiscoverable, } from "./discoverable-capabilities.js";
+export type { DiscoverableCapability, ListCapabilitiesOptions, ListedCapability, } from "./discoverable-capabilities.js";
 export { TransportPool, TRANSPORT_POOL_GLOBAL_KEY } from "./transport-pool.js";
 export type { TransportFactory } from "./transport-pool.js";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -1,7 +1,7 @@
 /**
  * @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
  */
-export { AgenticROSConfigSchema, parseConfig, getTransportConfig, } from "./config.js";
+export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
 export { createTransport } from "./transport/factory.js";
 export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
 export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
@@ -9,12 +9,19 @@ export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
 export { renderAgenticROSBanner, agenticROSBannerLines, } from "./banner.js";
 export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
 export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
+export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
+export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
 export { runMission } from "./mission.js";
+export { BUILTIN_MISSION_BINDINGS, EXTERNAL_TOOL_PREFIX, buildMissionBindings, capabilityIdFromExternalTool, defaultToolForCapability, externalToolName, isExternalToolName, passthroughBuildArgs, } from "./mission-bindings.js";
 export { MissionRegistry, generateMissionId, missionTranscriptNamespace, } from "./mission-registry.js";
 export { createMemoryTranscriptSink } from "./mission-transcript-sink.js";
 export { compileGoalToMission } from "./planner/index.js";
 export { listRobots, resolveRobot, resolveRobotFromArgs, getActiveRobotId, getTransportConfigForRobot, hasRobotTransportOverride, } from "./robots.js";
 export { detectRobotsFromTopics, discoverRobots, effectiveCmdVelNamespace, } from "./discovery.js";
+export { DEFAULT_HEARTBEAT_STALENESS_MS, detectHeartbeatNamespacesFromTopics, isHeartbeatFresh, isRobotInfoTopic, mergeRobotHeartbeats, namespaceFromRobotInfoTopic, onlineIdsFromHeartbeats, parseRobotInfoMessage, } from "./heartbeat.js";
+export { DEFAULT_FLEET_FILENAME, applyFleetOverride, loadFleetFile, resolveFleetPath, } from "./fleet-config.js";
 export { findRobotsFor } from "./find-robots-for.js";
+export { DEFAULT_SKILLS_API, DEFAULT_SKILLS_CACHE_DIR, ensureSkillRefCached, fetchInstallDescriptor, githubRepoBasename, parseSkillRef, resolveSkillRefs, skillsApiBase, skillsCacheDir, withResolvedSkillRefs, applyCachedSkillRefs, } from "./skill-refs.js";
+export { fetchMarketplaceSkills, listCapabilitiesWithDiscoverable, } from "./discoverable-capabilities.js";
 export { TransportPool, TRANSPORT_POOL_GLOBAL_KEY } from "./transport-pool.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

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package/dist/memory/mem0/provider.d.ts.map

@@ -1 +1 @@
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package/dist/memory/mem0/provider.js

@@ -149,9 +149,12 @@ export async function createMem0Provider(args) {
     const { config } = args;
     let MemoryCtor;
     try {
-        // mem0ai is an optional peer dependency — resolved at runtime, never
-        // installed unless the user opts into backend: "mem0".
-        // @ts-ignore: optional peer dep not declared in this package's deps
+        // mem0ai is an optional runtime dependency — NOT listed in @agenticros/core's
+        // package.json (neither as a regular dep nor as a peer dep) because it pulls
+        // in a long native-build chain (better-sqlite3, etc.) that breaks installs in
+        // restricted sandboxes (NemoClaw, Docker without build tools, etc.). Users who
+        // opt into `backend: "mem0"` install it themselves — see docs/memory.md.
+        // @ts-ignore: intentionally not declared in this package's deps
         const mod = await import("mem0ai/oss");
         MemoryCtor = mod.Memory ?? mod.default?.Memory;
     }

package/dist/memory/mem0/provider.js.map

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package/dist/mission-bindings.d.ts

@@ -0,0 +1,50 @@
+/**
+ * Capability → tool bindings for `run_mission`.
+ *
+ * Builtins live here once; adapters import `buildMissionBindings()` instead
+ * of triplicating MISSION_BINDINGS. Skill-declared capabilities get a
+ * default tool name (`ros2_<id>`, or `capability.tool` when set) and a
+ * passthrough `buildArgs` that forwards resolved inputs.
+ *
+ * External ROS-node capabilities map to the synthetic tool
+ * `external:<capability_id>` so adapters can dispatch via
+ * `executeExternalCapability` before looking up a real tool.
+ */
+import type { Capability } from "./capabilities.js";
+import type { CapabilityToolBindings } from "./mission.js";
+/** Optional explicit tool name on a capability (skill authors may set this). */
+export type CapabilityWithTool = Capability & {
+    tool?: string;
+};
+/** Built-in capability → tool mappings shared by all adapters. */
+export declare const BUILTIN_MISSION_BINDINGS: CapabilityToolBindings;
+/** Synthetic tool prefix for external_ros_node capabilities. */
+export declare const EXTERNAL_TOOL_PREFIX = "external:";
+export declare function externalToolName(capabilityId: string): string;
+export declare function isExternalToolName(toolName: string): boolean;
+export declare function capabilityIdFromExternalTool(toolName: string): string;
+/**
+ * Default tool name for a skill-declared capability.
+ * Prefer explicit `tool`, then external synthetic name, else `ros2_<id>`.
+ */
+export declare function defaultToolForCapability(cap: CapabilityWithTool): string;
+/** Passthrough: forward resolved inputs as tool args (skill tools). */
+export declare function passthroughBuildArgs(inputs: Record<string, unknown>): Record<string, unknown>;
+export interface BuildMissionBindingsOptions {
+    /**
+     * Override tool name resolution for a capability id.
+     * Useful when OpenClaw registers a skill tool under a non-default name.
+     */
+    toolNameResolver?: (cap: Capability) => string | undefined;
+    /**
+     * Extra bindings merged last (win over builtins and auto-derived).
+     */
+    extra?: CapabilityToolBindings;
+}
+/**
+ * Build the full capability → tool map for a mission run.
+ *
+ * Order: builtins → auto-derived from non-builtin capabilities → extra.
+ */
+export declare function buildMissionBindings(capabilities: readonly Capability[], options?: BuildMissionBindingsOptions): CapabilityToolBindings;
+//# sourceMappingURL=mission-bindings.d.ts.map

package/dist/mission-bindings.d.ts.map

@@ -0,0 +1 @@
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package/dist/mission-bindings.js

@@ -0,0 +1,157 @@
+/**
+ * Capability → tool bindings for `run_mission`.
+ *
+ * Builtins live here once; adapters import `buildMissionBindings()` instead
+ * of triplicating MISSION_BINDINGS. Skill-declared capabilities get a
+ * default tool name (`ros2_<id>`, or `capability.tool` when set) and a
+ * passthrough `buildArgs` that forwards resolved inputs.
+ *
+ * External ROS-node capabilities map to the synthetic tool
+ * `external:<capability_id>` so adapters can dispatch via
+ * `executeExternalCapability` before looking up a real tool.
+ */
+function copyNumber(out, inputs, key) {
+    if (typeof inputs[key] === "number")
+        out[key] = inputs[key];
+}
+function copyString(out, inputs, key) {
+    if (typeof inputs[key] === "string")
+        out[key] = inputs[key];
+}
+function copyBoolean(out, inputs, key) {
+    if (typeof inputs[key] === "boolean")
+        out[key] = inputs[key];
+}
+/** Built-in capability → tool mappings shared by all adapters. */
+export const BUILTIN_MISSION_BINDINGS = {
+    drive_base: {
+        tool: "ros2_publish",
+        buildArgs: (inputs) => {
+            const lx = Number(inputs.linear_x ?? 0) || 0;
+            const az = Number(inputs.angular_z ?? 0) || 0;
+            return {
+                topic: "/cmd_vel",
+                type: "geometry_msgs/msg/Twist",
+                message: {
+                    linear: { x: lx, y: 0, z: 0 },
+                    angular: { x: 0, y: 0, z: az },
+                },
+            };
+        },
+    },
+    take_snapshot: {
+        tool: "ros2_camera_snapshot",
+        buildArgs: (inputs) => {
+            const out = {};
+            copyString(out, inputs, "topic");
+            copyString(out, inputs, "message_type");
+            copyNumber(out, inputs, "timeout");
+            return out;
+        },
+    },
+    measure_depth: {
+        tool: "ros2_depth_distance",
+        buildArgs: (inputs) => {
+            const out = {};
+            copyString(out, inputs, "topic");
+            copyNumber(out, inputs, "timeout");
+            return out;
+        },
+    },
+    list_topics: {
+        tool: "ros2_list_topics",
+        buildArgs: () => ({}),
+    },
+    publish_topic: {
+        tool: "ros2_publish",
+        buildArgs: (inputs) => ({
+            topic: String(inputs.topic ?? ""),
+            type: String(inputs.type ?? inputs.msg_type ?? ""),
+            message: inputs.message ?? inputs.msg ?? {},
+        }),
+    },
+    subscribe_once: {
+        tool: "ros2_subscribe_once",
+        buildArgs: (inputs) => {
+            const out = { topic: String(inputs.topic ?? "") };
+            copyString(out, inputs, "type");
+            copyNumber(out, inputs, "timeout");
+            return out;
+        },
+    },
+    follow_person: {
+        tool: "ros2_follow_me_start",
+        buildArgs: (inputs) => {
+            const out = {};
+            copyNumber(out, inputs, "target_distance");
+            copyString(out, inputs, "mode");
+            return out;
+        },
+    },
+    find_object: {
+        tool: "ros2_find_object",
+        buildArgs: (inputs) => {
+            const out = { target: String(inputs.target ?? "") };
+            copyNumber(out, inputs, "angular_speed");
+            copyBoolean(out, inputs, "clockwise");
+            copyNumber(out, inputs, "timeout_seconds");
+            copyNumber(out, inputs, "min_confidence");
+            return out;
+        },
+    },
+};
+/** Synthetic tool prefix for external_ros_node capabilities. */
+export const EXTERNAL_TOOL_PREFIX = "external:";
+export function externalToolName(capabilityId) {
+    return `${EXTERNAL_TOOL_PREFIX}${capabilityId}`;
+}
+export function isExternalToolName(toolName) {
+    return toolName.startsWith(EXTERNAL_TOOL_PREFIX);
+}
+export function capabilityIdFromExternalTool(toolName) {
+    return toolName.slice(EXTERNAL_TOOL_PREFIX.length);
+}
+/**
+ * Default tool name for a skill-declared capability.
+ * Prefer explicit `tool`, then external synthetic name, else `ros2_<id>`.
+ */
+export function defaultToolForCapability(cap) {
+    if (typeof cap.tool === "string" && cap.tool.trim().length > 0) {
+        return cap.tool.trim();
+    }
+    if (cap.implementation?.kind === "external_ros_node") {
+        return externalToolName(cap.id);
+    }
+    return `ros2_${cap.id}`;
+}
+/** Passthrough: forward resolved inputs as tool args (skill tools). */
+export function passthroughBuildArgs(inputs) {
+    return { ...inputs };
+}
+/**
+ * Build the full capability → tool map for a mission run.
+ *
+ * Order: builtins → auto-derived from non-builtin capabilities → extra.
+ */
+export function buildMissionBindings(capabilities, options = {}) {
+    const out = { ...BUILTIN_MISSION_BINDINGS };
+    for (const cap of capabilities) {
+        if (cap.source?.kind === "builtin")
+            continue;
+        // Skip if already covered by builtins (e.g. follow_person from a skill
+        // that duplicates the builtin id — keep the richer builtin binding).
+        if (out[cap.id] && BUILTIN_MISSION_BINDINGS[cap.id])
+            continue;
+        const resolved = options.toolNameResolver?.(cap) ?? defaultToolForCapability(cap);
+        const binding = {
+            tool: resolved,
+            buildArgs: passthroughBuildArgs,
+        };
+        out[cap.id] = binding;
+    }
+    if (options.extra) {
+        Object.assign(out, options.extra);
+    }
+    return out;
+}
+//# sourceMappingURL=mission-bindings.js.map

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