@agenticros/core 0.5.0

package/dist/transport/local/conversion.d.ts.map

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package/dist/transport/local/conversion.js

@@ -0,0 +1,340 @@
+/**
+ * Message conversion between plain JS objects and rclnodejs typed messages.
+ *
+ * The RosTransport interface works with `Record<string, unknown>`, but
+ * rclnodejs works with typed message class instances. This module bridges
+ * the two — analogous to rosbridge_library's `dict_to_msg` / `msg_to_dict`.
+ */
+import { createRequire } from "node:module";
+const require = createRequire(import.meta.url);
+/** Cached message classes keyed by normalized type string. */
+const typeCache = new Map();
+/**
+ * Resolve the rclnodejs module. Uses createRequire because rclnodejs is CJS.
+ * Returns `any` — rclnodejs is an optional dependency and types may not be present.
+ */
+function getRclnodejs() {
+    return require("rclnodejs");
+}
+/**
+ * Normalize a ROS2 type string to the format rclnodejs expects.
+ * Accepts: "geometry_msgs/msg/Twist", "geometry_msgs/Twist", etc.
+ */
+function normalizeType(typeStr) {
+    const parts = typeStr.split("/");
+    // Already fully qualified: "pkg/msg/Type" or "pkg/srv/Type" or "pkg/action/Type"
+    if (parts.length === 3)
+        return typeStr;
+    // Short form: "pkg/Type" → assume msg
+    if (parts.length === 2)
+        return `${parts[0]}/msg/${parts[1]}`;
+    return typeStr;
+}
+/**
+ * Load a ROS2 message/service/action class via rclnodejs, with caching.
+ */
+export function loadMessageClass(typeStr) {
+    const normalized = normalizeType(typeStr);
+    const cached = typeCache.get(normalized);
+    if (cached)
+        return cached;
+    const rclnodejs = getRclnodejs();
+    const cls = rclnodejs.require(normalized);
+    typeCache.set(normalized, cls);
+    return cls;
+}
+/**
+ * Convert a plain JS object to an rclnodejs message instance.
+ *
+ * Recursively assigns fields from `obj` onto a new message instance,
+ * handling nested sub-messages (e.g. Twist.linear is a Vector3).
+ */
+export function toRosMessage(typeStr, obj) {
+    const MessageClass = loadMessageClass(typeStr);
+    const msg = new MessageClass();
+    assignFields(msg, obj);
+    return msg;
+}
+/**
+ * Recursively assign plain-object fields onto an rclnodejs message instance.
+ */
+function assignFields(target, source) {
+    for (const [key, value] of Object.entries(source)) {
+        if (value === undefined || value === null)
+            continue;
+        if (typeof value === "object" && !Array.isArray(value)) {
+            // Nested sub-message — the target field should already be initialized
+            // by rclnodejs with default values. Recurse into it.
+            if (target[key] !== undefined && target[key] !== null && typeof target[key] === "object") {
+                assignFields(target[key], value);
+            }
+            else {
+                target[key] = value;
+            }
+        }
+        else if (Array.isArray(value)) {
+            // Array field — could be primitives or nested messages.
+            // For nested message arrays, each element needs recursive assignment
+            // if the target has typed array elements. For now, assign directly —
+            // rclnodejs handles primitive arrays and typed arrays via setter coercion.
+            target[key] = value;
+        }
+        else {
+            target[key] = value;
+        }
+    }
+}
+/**
+ * True for message shapes whose `data` must stay as raw bytes.
+ * rclnodejs `toPlainObject()` often expands or mis-serializes `uint8[]` / sequences
+ * (e.g. sensor_msgs Image / CompressedImage), which breaks camera snapshot and similar tools.
+ *
+ * Use `in` / typeof — fields may be accessors on the prototype (not own properties).
+ */
+function isSensorImageLikeForExtraction(msg) {
+    if (msg == null || typeof msg !== "object")
+        return false;
+    if (!("data" in msg))
+        return false;
+    // sensor_msgs/msg/Image — PointCloud2 has width/height/data but no `encoding`.
+    // Width/height may be ref-wrapped in rclnodejs; only require presence + string encoding.
+    if (typeof msg.encoding === "string" && "width" in msg && "height" in msg) {
+        return true;
+    }
+    // sensor_msgs/msg/CompressedImage — `format` + `data`; no top-level `encoding` (unlike Image).
+    if (typeof msg.format === "string" && !(typeof msg.encoding === "string")) {
+        return true;
+    }
+    return false;
+}
+/** std_msgs/Header — read by name; stamp may be a nested ROS object. */
+function copyHeaderField(header) {
+    if (header == null || typeof header !== "object")
+        return {};
+    const out = {};
+    if ("frame_id" in header)
+        out.frame_id = header.frame_id;
+    if ("stamp" in header && header.stamp != null && typeof header.stamp === "object") {
+        const s = header.stamp;
+        const stamp = {};
+        if (typeof s.sec === "number" || typeof s.sec === "bigint")
+            stamp.sec = Number(s.sec);
+        if (typeof s.nanosec === "number" || typeof s.nanosec === "bigint") {
+            stamp.nanosec = Number(s.nanosec);
+        }
+        out.stamp = stamp;
+    }
+    return out;
+}
+/** rclnodejs / ref-array `uint8[]` — numeric `.length` and indexed elements. */
+function tryBufferFromArrayLike(value) {
+    if (value == null || typeof value !== "object")
+        return null;
+    const v = value;
+    const len = v.length;
+    if (typeof len !== "number" || !Number.isFinite(len) || len < 0 || len > 200_000_000) {
+        return null;
+    }
+    try {
+        const anyVal = value;
+        const u8 = new Uint8Array(len);
+        for (let i = 0; i < len; i++) {
+            const el = anyVal[i];
+            const n = typeof el === "number" ? el : Number(el);
+            if (!Number.isFinite(n))
+                return null;
+            u8[i] = n & 0xff;
+        }
+        return Buffer.from(u8);
+    }
+    catch {
+        return null;
+    }
+}
+function tryBufferFromIterable(value) {
+    if (value == null || typeof value !== "object")
+        return null;
+    if (typeof Buffer !== "undefined" && Buffer.isBuffer(value))
+        return Buffer.from(value);
+    if (typeof value[Symbol.iterator] !== "function")
+        return null;
+    try {
+        const arr = Uint8Array.from(value);
+        if (arr.length === 0)
+            return null;
+        return Buffer.from(arr);
+    }
+    catch {
+        return null;
+    }
+}
+/** Unwrap `data` for Image / CompressedImage (Buffer, views, JSON Buffer, nested `{ data }`). */
+function coerceSensorImageDataField(value, depth = 0) {
+    if (value == null || depth > 4)
+        return value;
+    if (typeof Buffer !== "undefined" && Buffer.isBuffer(value)) {
+        return Buffer.from(value);
+    }
+    if (typeof ArrayBuffer !== "undefined" && ArrayBuffer.isView(value)) {
+        const view = value;
+        return Buffer.from(view.buffer, view.byteOffset, view.byteLength);
+    }
+    if (Array.isArray(value))
+        return value;
+    if (typeof value === "object") {
+        const rec = value;
+        if (rec["type"] === "Buffer" && Array.isArray(rec["data"])) {
+            return coerceSensorImageDataField(rec["data"], depth + 1);
+        }
+        if ("data" in rec && rec["data"] !== undefined) {
+            return coerceSensorImageDataField(rec["data"], depth + 1);
+        }
+    }
+    const fromIterable = tryBufferFromIterable(value);
+    if (fromIterable !== null)
+        return fromIterable;
+    const fromArrayLike = tryBufferFromArrayLike(value);
+    if (fromArrayLike !== null)
+        return fromArrayLike;
+    return value;
+}
+/**
+ * Copy one field value from an rclnodejs message for plain-object consumers.
+ * Preserves byte blobs; recurses into typical nested ROS structs (not full generic graph).
+ */
+function copyValueForPlainTransport(value) {
+    if (value === null || value === undefined)
+        return value;
+    if (typeof value === "function")
+        return undefined;
+    if (typeof Buffer !== "undefined" && Buffer.isBuffer(value)) {
+        return Buffer.from(value);
+    }
+    if (typeof ArrayBuffer !== "undefined" && ArrayBuffer.isView(value)) {
+        const view = value;
+        return Buffer.from(view.buffer, view.byteOffset, view.byteLength);
+    }
+    if (Array.isArray(value)) {
+        return value.map((item) => typeof item === "object" && item !== null ? copyValueForPlainTransport(item) : item);
+    }
+    if (typeof value === "object") {
+        if (value.constructor && value.constructor.name !== "Object") {
+            return extractFields(value);
+        }
+        return value;
+    }
+    return value;
+}
+/**
+ * rclnodejs often exposes Image/CompressedImage fields via prototype getters, so
+ * `Object.keys(msg)` is empty and `extractFields` produced `{}`. Read the known
+ * sensor_msgs field names explicitly.
+ */
+function extractSensorImageToPlain(msg) {
+    const keys = [
+        "header",
+        "format",
+        "encoding",
+        "height",
+        "width",
+        "is_bigendian",
+        "step",
+        "data",
+    ];
+    const result = {};
+    for (const key of keys) {
+        if (!(key in msg))
+            continue;
+        const value = msg[key];
+        if (typeof value === "function")
+            continue;
+        if (key === "header") {
+            result.header = copyHeaderField(value);
+        }
+        else if (key === "data") {
+            result.data = coerceSensorImageDataField(value);
+        }
+        else {
+            result[key] = copyValueForPlainTransport(value);
+        }
+    }
+    return result;
+}
+/**
+ * Convert an rclnodejs message instance to a plain JS object.
+ *
+ * Uses `toPlainObject()` if available (rclnodejs >= 0.21), otherwise
+ * falls back to manual recursive field extraction.
+ */
+export function fromRosMessage(msg, rosTypeHint) {
+    if (msg === null || msg === undefined)
+        return {};
+    const hinted = rosTypeHint ? normalizeType(rosTypeHint) : "";
+    if (hinted === "sensor_msgs/msg/Image" ||
+        hinted === "sensor_msgs/msg/CompressedImage") {
+        return extractSensorImageToPlain(msg);
+    }
+    if (isSensorImageLikeForExtraction(msg)) {
+        return extractSensorImageToPlain(msg);
+    }
+    // Preferred path: rclnodejs provides toPlainObject()
+    if (typeof msg.toPlainObject === "function") {
+        return msg.toPlainObject();
+    }
+    // Fallback: manual extraction
+    return extractFields(msg);
+}
+/**
+ * Recursively extract fields from an rclnodejs message into a plain object.
+ */
+function extractFields(msg) {
+    if (msg === null || msg === undefined)
+        return {};
+    if (typeof msg !== "object")
+        return {};
+    const result = {};
+    // Get enumerable own properties
+    const keys = Object.keys(msg);
+    for (const key of keys) {
+        // Skip internal/private properties
+        if (key.startsWith("_"))
+            continue;
+        const value = msg[key];
+        if (typeof value === "function")
+            continue;
+        if (value === null || value === undefined) {
+            result[key] = value;
+        }
+        else if (typeof Buffer !== "undefined" && Buffer.isBuffer(value)) {
+            // Keep raw byte blobs intact (sensor_msgs Image/CompressedImage `data`, etc.).
+            result[key] = Buffer.from(value);
+        }
+        else if (typeof ArrayBuffer !== "undefined" && ArrayBuffer.isView(value)) {
+            const view = value;
+            result[key] = Buffer.from(view.buffer, view.byteOffset, view.byteLength);
+        }
+        else if (Array.isArray(value)) {
+            result[key] = value.map((item) => typeof item === "object" && item !== null ? extractFields(item) : item);
+        }
+        else if (typeof value === "object") {
+            // Check if it looks like a typed message (has constructor beyond Object)
+            if (value.constructor && value.constructor.name !== "Object") {
+                result[key] = extractFields(value);
+            }
+            else {
+                result[key] = value;
+            }
+        }
+        else {
+            result[key] = value;
+        }
+    }
+    return result;
+}
+/**
+ * Clear the type cache. Called during shutdown.
+ */
+export function clearTypeCache() {
+    typeCache.clear();
+}
+//# sourceMappingURL=conversion.js.map

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package/dist/transport/local/entities.d.ts

@@ -0,0 +1,34 @@
+/**
+ * Entity cache for rclnodejs publishers, subscribers, and service clients.
+ *
+ * Lazily creates and caches DDS entities so repeated publishes to the same
+ * topic reuse a single publisher, etc. Same pattern as the reference agents'
+ * `_pubs`, `_subs`, `_srv_clients` maps.
+ */
+import type { Subscription } from "../types.js";
+type Node = any;
+type MessageHandler = (msg: Record<string, unknown>) => void;
+export declare class EntityCache {
+    private publishers;
+    private subscriptions;
+    private serviceClients;
+    /**
+     * Get or create a cached publisher for the given topic and type.
+     */
+    getPublisher(node: Node, topic: string, typeStr: string): any;
+    /**
+     * Subscribe to a topic. If already subscribed, adds the handler to the
+     * existing subscription's handler set. Returns a Subscription handle.
+     */
+    addSubscription(node: Node, topic: string, typeStr: string, handler: MessageHandler): Subscription;
+    /**
+     * Get or create a cached service client for the given service and type.
+     */
+    getServiceClient(node: Node, service: string, typeStr: string): any;
+    /**
+     * Destroy all cached entities. Called during transport shutdown.
+     */
+    destroyAll(node: Node): void;
+}
+export {};
+//# sourceMappingURL=entities.d.ts.map

package/dist/transport/local/entities.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"entities.d.ts","sourceRoot":"","sources":["../../../src/transport/local/entities.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAGhD,KAAK,IAAI,GAAG,GAAG,CAAC;AAChB,KAAK,cAAc,GAAG,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,IAAI,CAAC;AAE7D,qBAAa,WAAW;IACtB,OAAO,CAAC,UAAU,CAA0B;IAC5C,OAAO,CAAC,aAAa,CAAqE;IAC1F,OAAO,CAAC,cAAc,CAA0B;IAEhD;;OAEG;IACH,YAAY,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,GAAG,GAAG;IAW7D;;;OAGG;IACH,eAAe,CACb,IAAI,EAAE,IAAI,EACV,KAAK,EAAE,MAAM,EACb,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,cAAc,GACtB,YAAY;IAyCf;;OAEG;IACH,gBAAgB,CAAC,IAAI,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,GAAG,GAAG;IAWnE;;OAEG;IACH,UAAU,CAAC,IAAI,EAAE,IAAI,GAAG,IAAI;CA4B7B"}

package/dist/transport/local/entities.js

@@ -0,0 +1,108 @@
+/**
+ * Entity cache for rclnodejs publishers, subscribers, and service clients.
+ *
+ * Lazily creates and caches DDS entities so repeated publishes to the same
+ * topic reuse a single publisher, etc. Same pattern as the reference agents'
+ * `_pubs`, `_subs`, `_srv_clients` maps.
+ */
+import { loadMessageClass, fromRosMessage } from "./conversion.js";
+export class EntityCache {
+    publishers = new Map();
+    subscriptions = new Map();
+    serviceClients = new Map();
+    /**
+     * Get or create a cached publisher for the given topic and type.
+     */
+    getPublisher(node, topic, typeStr) {
+        const key = `${topic}::${typeStr}`;
+        const cached = this.publishers.get(key);
+        if (cached)
+            return cached;
+        const MessageClass = loadMessageClass(typeStr);
+        const publisher = node.createPublisher(MessageClass, topic);
+        this.publishers.set(key, publisher);
+        return publisher;
+    }
+    /**
+     * Subscribe to a topic. If already subscribed, adds the handler to the
+     * existing subscription's handler set. Returns a Subscription handle.
+     */
+    addSubscription(node, topic, typeStr, handler) {
+        const key = `${topic}::${typeStr}`;
+        let entry = this.subscriptions.get(key);
+        if (!entry) {
+            const MessageClass = loadMessageClass(typeStr);
+            const handlers = new Set();
+            const handle = node.createSubscription(MessageClass, topic, (msg) => {
+                const plain = fromRosMessage(msg, typeStr);
+                for (const h of handlers) {
+                    h(plain);
+                }
+            });
+            entry = { handle, handlers };
+            this.subscriptions.set(key, entry);
+        }
+        entry.handlers.add(handler);
+        return {
+            unsubscribe: () => {
+                entry.handlers.delete(handler);
+                // If no more handlers, destroy the subscription
+                if (entry.handlers.size === 0) {
+                    try {
+                        node.destroySubscription(entry.handle);
+                    }
+                    catch {
+                        // Already destroyed
+                    }
+                    this.subscriptions.delete(key);
+                }
+            },
+        };
+    }
+    /**
+     * Get or create a cached service client for the given service and type.
+     */
+    getServiceClient(node, service, typeStr) {
+        const key = `${service}::${typeStr}`;
+        const cached = this.serviceClients.get(key);
+        if (cached)
+            return cached;
+        const ServiceClass = loadMessageClass(typeStr);
+        const client = node.createClient(ServiceClass, service);
+        this.serviceClients.set(key, client);
+        return client;
+    }
+    /**
+     * Destroy all cached entities. Called during transport shutdown.
+     */
+    destroyAll(node) {
+        for (const pub of this.publishers.values()) {
+            try {
+                node.destroyPublisher(pub);
+            }
+            catch {
+                // Best-effort cleanup
+            }
+        }
+        this.publishers.clear();
+        for (const { handle } of this.subscriptions.values()) {
+            try {
+                node.destroySubscription(handle);
+            }
+            catch {
+                // Best-effort cleanup
+            }
+        }
+        this.subscriptions.clear();
+        for (const client of this.serviceClients.values()) {
+            try {
+                node.destroyClient(client);
+            }
+            catch {
+                // Best-effort cleanup
+            }
+        }
+        this.serviceClients.clear();
+    }
+}
+//# sourceMappingURL=entities.js.map

package/dist/transport/local/entities.js.map

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package/dist/transport/local/transport.d.ts

@@ -0,0 +1,53 @@
+import type { RosTransport } from "../transport.js";
+import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "../types.js";
+export interface LocalTransportOptions {
+    domainId?: number;
+}
+/**
+ * Mode A transport: direct local DDS communication via rclnodejs.
+ *
+ * When OpenClaw runs on the robot itself, this transport talks to ROS2
+ * directly via the local DDS bus — no network intermediary needed.
+ */
+export declare class LocalTransport implements RosTransport {
+    private domainId;
+    private status;
+    private connectionHandlers;
+    /** rclnodejs module — loaded dynamically at runtime (optional dep, no types). */
+    private rclnodejs;
+    private node;
+    private entityCache;
+    private activeGoals;
+    /** Singleton guard — rclnodejs.init() must only be called once per process. */
+    private static rclInitialized;
+    constructor(options?: LocalTransportOptions);
+    connect(): Promise<void>;
+    disconnect(): Promise<void>;
+    getStatus(): ConnectionStatus;
+    onConnection(handler: ConnectionHandler): () => void;
+    publish(options: PublishOptions): void;
+    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
+    callService(options: ServiceCallOptions): Promise<ServiceCallResult>;
+    sendActionGoal(options: ActionGoalOptions): Promise<ActionResult>;
+    cancelActionGoal(action: string): Promise<void>;
+    listTopics(): Promise<TopicInfo[]>;
+    listServices(): Promise<ServiceInfo[]>;
+    listActions(): Promise<ActionInfo[]>;
+    private setStatus;
+    private ensureConnected;
+    /**
+     * Resolve a topic's type from the node's graph introspection.
+     * Returns undefined if the topic is not yet known.
+     */
+    private resolveTopicType;
+    /**
+     * Resolve a service's type from the node's graph introspection.
+     * Returns undefined if the service is not yet known.
+     */
+    private resolveServiceType;
+    /**
+     * Wrap rclnodejs callback-based sendRequest in a Promise with timeout.
+     */
+    private sendServiceRequest;
+}
+//# sourceMappingURL=transport.d.ts.map

package/dist/transport/local/transport.d.ts.map

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