@agenticros/core 0.5.0

package/dist/transport/rosbridge/types.d.ts

@@ -0,0 +1,87 @@
+/**
+ * Rosbridge WebSocket protocol types.
+ * @see https://github.com/RobotWebTools/rosbridge_suite/blob/ros2/ROSBRIDGE_PROTOCOL.md
+ */
+export interface RosbridgeClientOptions {
+    url: string;
+    reconnect?: boolean;
+    reconnectInterval?: number;
+    maxReconnectAttempts?: number;
+}
+export type ConnectionStatus = "disconnected" | "connecting" | "connected";
+export interface RosbridgeMessage {
+    op: string;
+    id?: string;
+}
+export interface PublishMessage extends RosbridgeMessage {
+    op: "publish";
+    topic: string;
+    msg: Record<string, unknown>;
+    type?: string;
+}
+export interface SubscribeMessage extends RosbridgeMessage {
+    op: "subscribe";
+    topic: string;
+    type?: string;
+    throttle_rate?: number;
+    queue_length?: number;
+    fragment_size?: number;
+    compression?: string;
+}
+export interface UnsubscribeMessage extends RosbridgeMessage {
+    op: "unsubscribe";
+    topic: string;
+}
+export interface TopicMessage extends RosbridgeMessage {
+    op: "publish";
+    topic: string;
+    msg: Record<string, unknown>;
+}
+export interface ServiceCallMessage extends RosbridgeMessage {
+    op: "call_service";
+    service: string;
+    args?: Record<string, unknown>;
+    type?: string;
+}
+export interface ServiceResponseMessage extends RosbridgeMessage {
+    op: "service_response";
+    service: string;
+    values?: Record<string, unknown>;
+    result: boolean;
+}
+export interface ActionGoalMessage extends RosbridgeMessage {
+    op: "send_action_goal";
+    action: string;
+    action_type: string;
+    args?: Record<string, unknown>;
+}
+export interface ActionFeedbackMessage extends RosbridgeMessage {
+    op: "action_feedback";
+    action: string;
+    values: Record<string, unknown>;
+}
+export interface ActionResultMessage extends RosbridgeMessage {
+    op: "action_result";
+    action: string;
+    values?: Record<string, unknown>;
+    result: boolean;
+}
+export interface ActionCancelMessage extends RosbridgeMessage {
+    op: "cancel_action_goal";
+    action: string;
+}
+export interface TopicInfo {
+    name: string;
+    type: string;
+}
+export interface ServiceInfo {
+    name: string;
+    type: string;
+}
+export interface ActionInfo {
+    name: string;
+    type: string;
+}
+export type MessageHandler = (msg: Record<string, unknown>) => void;
+export type ConnectionHandler = (status: ConnectionStatus) => void;
+//# sourceMappingURL=types.d.ts.map

package/dist/transport/rosbridge/types.d.ts.map

@@ -0,0 +1 @@
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package/dist/transport/rosbridge/types.js

@@ -0,0 +1,6 @@
+/**
+ * Rosbridge WebSocket protocol types.
+ * @see https://github.com/RobotWebTools/rosbridge_suite/blob/ros2/ROSBRIDGE_PROTOCOL.md
+ */
+export {};
+//# sourceMappingURL=types.js.map

package/dist/transport/rosbridge/types.js.map

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

@@ -0,0 +1,39 @@
+import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "./types.js";
+/**
+ * Unified transport interface for ROS2 communication.
+ *
+ * All deployment modes (local DDS, rosbridge WebSocket, WebRTC data channel)
+ * implement this interface so that plugin tools work identically regardless
+ * of the underlying transport.
+ */
+export interface RosTransport {
+    /** Establish the transport connection. */
+    connect(): Promise<void>;
+    /** Gracefully close the transport connection. */
+    disconnect(): Promise<void>;
+    /** Get current connection status. */
+    getStatus(): ConnectionStatus;
+    /** Register a connection status change handler. Returns a cleanup function. */
+    onConnection(handler: ConnectionHandler): () => void;
+    /** Optional: advertise topic with type (rosbridge uses this so publish works when topic not yet established). */
+    advertise?(options: AdvertiseOptions): void;
+    /** Publish a message to a ROS2 topic. May return a Promise so callers can await delivery (e.g. Zenoh put). */
+    publish(options: PublishOptions): void | Promise<void>;
+    /** Subscribe to a ROS2 topic. Returns a Subscription handle. */
+    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
+    /** Optional: async subscribe so the subscriber is declared before returning (Zenoh). Use when waiting for first message immediately. */
+    subscribeAsync?(options: SubscribeOptions, handler: MessageHandler): Promise<Subscription>;
+    /** Call a ROS2 service and return the result. */
+    callService(options: ServiceCallOptions): Promise<ServiceCallResult>;
+    /** Send a goal to a ROS2 action server. */
+    sendActionGoal(options: ActionGoalOptions): Promise<ActionResult>;
+    /** Cancel an in-progress action goal. */
+    cancelActionGoal(action: string): Promise<void>;
+    /** List all available ROS2 topics. */
+    listTopics(): Promise<TopicInfo[]>;
+    /** List all available ROS2 services. */
+    listServices(): Promise<ServiceInfo[]>;
+    /** List all available ROS2 action servers. */
+    listActions(): Promise<ActionInfo[]>;
+}
+//# sourceMappingURL=transport.d.ts.map

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

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package/dist/transport/transport.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=transport.js.map

package/dist/transport/transport.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"transport.js","sourceRoot":"","sources":["../../src/transport/transport.ts"],"names":[],"mappings":""}

package/dist/transport/types.d.ts

@@ -0,0 +1,100 @@
+/**
+ * Shared types for the AgenticROS transport abstraction layer.
+ */
+export type ConnectionStatus = "disconnected" | "connecting" | "connected";
+export type MessageHandler = (msg: Record<string, unknown>) => void;
+export type ConnectionHandler = (status: ConnectionStatus) => void;
+/** Returned by subscribe(); call unsubscribe() to stop receiving messages. */
+export interface Subscription {
+    unsubscribe(): void;
+}
+export interface PublishOptions {
+    topic: string;
+    type: string;
+    msg: Record<string, unknown>;
+}
+/** Optional: advertise a topic (type) before publishing. Used by rosbridge so the server creates the publisher with the right type. */
+export interface AdvertiseOptions {
+    topic: string;
+    type: string;
+}
+export interface SubscribeOptions {
+    topic: string;
+    type?: string;
+    throttleRate?: number;
+    queueLength?: number;
+}
+export interface ServiceCallOptions {
+    service: string;
+    type?: string;
+    args?: Record<string, unknown>;
+}
+export interface ServiceCallResult {
+    result: boolean;
+    values?: Record<string, unknown>;
+}
+export interface ActionGoalOptions {
+    action: string;
+    actionType: string;
+    args?: Record<string, unknown>;
+    onFeedback?: (feedback: Record<string, unknown>) => void;
+}
+export interface ActionResult {
+    result: boolean;
+    values?: Record<string, unknown>;
+}
+export interface TopicInfo {
+    name: string;
+    type: string;
+}
+export interface ServiceInfo {
+    name: string;
+    type: string;
+}
+export interface ActionInfo {
+    name: string;
+    type: string;
+}
+export interface RosbridgeTransportConfig {
+    mode: "rosbridge";
+    rosbridge: {
+        url: string;
+        reconnect?: boolean;
+        reconnectInterval?: number;
+        maxReconnectAttempts?: number;
+    };
+}
+export interface LocalTransportConfig {
+    mode: "local";
+    local?: {
+        domainId?: number;
+    };
+}
+export interface WebRTCTransportConfig {
+    mode: "webrtc";
+    webrtc: {
+        signalingUrl: string;
+        apiUrl: string;
+        robotId: string;
+        robotKey: string;
+        iceServers?: RTCIceServerConfig[];
+    };
+}
+export interface ZenohTransportConfig {
+    mode: "zenoh";
+    zenoh: {
+        routerEndpoint: string;
+        domainId?: number;
+        keyFormat?: "ros2dds" | "rmw_zenoh";
+        /** Matches zenoh-bridge-ros2dds ros2dds.namespace when not default "/". */
+        bridgeNamespace?: string;
+    };
+}
+export interface RTCIceServerConfig {
+    urls: string | string[];
+    username?: string;
+    credential?: string;
+}
+/** Discriminated union of all transport configurations. */
+export type TransportConfig = RosbridgeTransportConfig | LocalTransportConfig | WebRTCTransportConfig | ZenohTransportConfig;
+//# sourceMappingURL=types.d.ts.map

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

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package/dist/transport/types.js

@@ -0,0 +1,5 @@
+/**
+ * Shared types for the AgenticROS transport abstraction layer.
+ */
+export {};
+//# sourceMappingURL=types.js.map

package/dist/transport/types.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../../src/transport/types.ts"],"names":[],"mappings":"AAAA;;GAEG"}

package/dist/transport/webrtc/signaling-client.d.ts

@@ -0,0 +1,38 @@
+import type { ConnectRequest, ConnectResponse, DisconnectResponse, DiscoverResponse, SignalingMessage } from "./signaling-types.js";
+export type SignalingMessageHandler = (msg: SignalingMessage) => void;
+/**
+ * Client for the WebRTC signaling server.
+ *
+ * Encapsulates REST API calls (discover, connect, disconnect) and
+ * WebSocket lifecycle (connect, send, message routing, heartbeat).
+ */
+export declare class SignalingClient {
+    private ws;
+    private apiUrl;
+    private signalingUrl;
+    private messageHandler;
+    private heartbeatInterval;
+    constructor(apiUrl: string, signalingUrl: string);
+    discoverRobots(): Promise<DiscoverResponse>;
+    requestConnection(robotId: string, request: ConnectRequest): Promise<ConnectResponse>;
+    requestDisconnect(robotId: string): Promise<DisconnectResponse>;
+    /** Connect to the signaling WebSocket server. */
+    connectWs(): Promise<void>;
+    /** Set the handler for incoming signaling messages. */
+    onMessage(handler: SignalingMessageHandler): void;
+    /** Send a signaling message over WebSocket. */
+    send(message: SignalingMessage): void;
+    /** Send join_room to enter the session room. */
+    joinRoom(roomId: string, peerId: string, peerType: "frontend" | "robot", sessionId: string): void;
+    /** Send an SDP answer back to the peer. */
+    sendAnswer(sdp: string, roomId: string, peerId: string, targetPeerId?: string): void;
+    /** Send an ICE candidate to the peer. */
+    sendIceCandidate(candidate: string, sdpMid: string | null, sdpMLineIndex: number | null, targetPeerId?: string): void;
+    /** Close the signaling WebSocket. */
+    close(): void;
+    /** Whether the WebSocket is currently connected. */
+    get isConnected(): boolean;
+    private startHeartbeat;
+    private stopHeartbeat;
+}
+//# sourceMappingURL=signaling-client.d.ts.map

package/dist/transport/webrtc/signaling-client.d.ts.map

@@ -0,0 +1 @@
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package/dist/transport/webrtc/signaling-client.js

@@ -0,0 +1,161 @@
+import WebSocket from "ws";
+/**
+ * Client for the WebRTC signaling server.
+ *
+ * Encapsulates REST API calls (discover, connect, disconnect) and
+ * WebSocket lifecycle (connect, send, message routing, heartbeat).
+ */
+export class SignalingClient {
+    ws = null;
+    apiUrl;
+    signalingUrl;
+    messageHandler = null;
+    heartbeatInterval = null;
+    constructor(apiUrl, signalingUrl) {
+        // Normalize: strip trailing slashes
+        this.apiUrl = apiUrl.replace(/\/+$/, "");
+        this.signalingUrl = signalingUrl.replace(/\/+$/, "");
+    }
+    // --- REST API ---
+    async discoverRobots() {
+        const res = await fetch(`${this.apiUrl}/api/robots/`);
+        if (!res.ok) {
+            throw new Error(`Discovery failed: ${res.status} ${res.statusText}`);
+        }
+        return res.json();
+    }
+    async requestConnection(robotId, request) {
+        const res = await fetch(`${this.apiUrl}/api/robots/${robotId}/connect`, {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify(request),
+        });
+        if (!res.ok) {
+            const body = await res.text();
+            throw new Error(`Connection request failed: ${res.status} — ${body}`);
+        }
+        return res.json();
+    }
+    async requestDisconnect(robotId) {
+        const res = await fetch(`${this.apiUrl}/api/robots/${robotId}/disconnect`, {
+            method: "POST",
+        });
+        if (!res.ok) {
+            throw new Error(`Disconnect request failed: ${res.status} ${res.statusText}`);
+        }
+        return res.json();
+    }
+    // --- WebSocket ---
+    /** Connect to the signaling WebSocket server. */
+    async connectWs() {
+        return new Promise((resolve, reject) => {
+            const wsUrl = `${this.signalingUrl}/ws`;
+            const timeout = setTimeout(() => {
+                reject(new Error(`Signaling WebSocket connection to ${wsUrl} timed out`));
+            }, 10_000);
+            this.ws = new WebSocket(wsUrl);
+            this.ws.onopen = () => {
+                clearTimeout(timeout);
+                this.startHeartbeat();
+                resolve();
+            };
+            this.ws.onmessage = (event) => {
+                const data = typeof event.data === "string" ? event.data : event.data.toString();
+                let msg;
+                try {
+                    msg = JSON.parse(data);
+                }
+                catch {
+                    return;
+                }
+                // Auto-respond to heartbeat requests
+                if (msg.type === "heartbeat_request") {
+                    this.send({ type: "heartbeat", timestamp: Date.now() });
+                    return;
+                }
+                if (this.messageHandler) {
+                    this.messageHandler(msg);
+                }
+            };
+            this.ws.onerror = () => {
+                clearTimeout(timeout);
+                reject(new Error(`Signaling WebSocket error connecting to ${wsUrl}`));
+            };
+            this.ws.onclose = () => {
+                clearTimeout(timeout);
+                this.stopHeartbeat();
+                this.ws = null;
+            };
+        });
+    }
+    /** Set the handler for incoming signaling messages. */
+    onMessage(handler) {
+        this.messageHandler = handler;
+    }
+    /** Send a signaling message over WebSocket. */
+    send(message) {
+        if (!this.ws || this.ws.readyState !== WebSocket.OPEN) {
+            throw new Error("Signaling WebSocket is not connected");
+        }
+        this.ws.send(JSON.stringify(message));
+    }
+    /** Send join_room to enter the session room. */
+    joinRoom(roomId, peerId, peerType, sessionId) {
+        this.send({
+            type: "join_room",
+            room_id: roomId,
+            peer_id: peerId,
+            peer_type: peerType,
+            session_id: sessionId,
+        });
+    }
+    /** Send an SDP answer back to the peer. */
+    sendAnswer(sdp, roomId, peerId, targetPeerId) {
+        this.send({
+            type: "answer",
+            data: { type: "answer", sdp },
+            room_id: roomId,
+            peer_id: peerId,
+            target_peer_id: targetPeerId,
+        });
+    }
+    /** Send an ICE candidate to the peer. */
+    sendIceCandidate(candidate, sdpMid, sdpMLineIndex, targetPeerId) {
+        this.send({
+            type: "ice_candidate",
+            data: {
+                candidate,
+                sdpMid,
+                sdpMLineIndex,
+            },
+            target_peer_id: targetPeerId,
+        });
+    }
+    /** Close the signaling WebSocket. */
+    close() {
+        this.stopHeartbeat();
+        if (this.ws) {
+            this.ws.close();
+            this.ws = null;
+        }
+    }
+    /** Whether the WebSocket is currently connected. */
+    get isConnected() {
+        return this.ws !== null && this.ws.readyState === WebSocket.OPEN;
+    }
+    startHeartbeat() {
+        this.stopHeartbeat();
+        this.heartbeatInterval = setInterval(() => {
+            if (this.ws && this.ws.readyState === WebSocket.OPEN) {
+                this.send({ type: "heartbeat", timestamp: Date.now() });
+            }
+        }, 15_000);
+    }
+    stopHeartbeat() {
+        if (this.heartbeatInterval) {
+            clearInterval(this.heartbeatInterval);
+            this.heartbeatInterval = null;
+        }
+    }
+}
+//# sourceMappingURL=signaling-client.js.map

package/dist/transport/webrtc/signaling-client.js.map

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package/dist/transport/webrtc/signaling-types.d.ts

@@ -0,0 +1,112 @@
+/**
+ * Type definitions for the WebRTC signaling server protocol.
+ *
+ * These match the message format used by the webrtc-py signaling server
+ * (see mock_client.py and mock_robot.py for reference implementations).
+ */
+export interface ConnectRequest {
+    user_id: string;
+    robot_id: string;
+    robot_key: string;
+}
+export interface ConnectResponse {
+    session: {
+        session_id: string;
+    };
+    room_id: string;
+}
+export interface DisconnectResponse {
+    status: string;
+}
+export interface RobotInfo {
+    robot_id: string;
+    status: string;
+    capabilities?: string[];
+}
+export type DiscoverResponse = RobotInfo[];
+/** Base shape for all signaling messages. */
+export interface SignalingMessage {
+    type: string;
+    [key: string]: unknown;
+}
+export interface JoinRoomMessage extends SignalingMessage {
+    type: "join_room";
+    room_id: string;
+    peer_id: string;
+    peer_type: "frontend" | "robot";
+    session_id: string;
+}
+export interface RobotConnectMessage extends SignalingMessage {
+    type: "robot_connect";
+    robot_token: string;
+    robot_id: string;
+    capabilities?: string[];
+}
+export interface SessionAcceptedMessage extends SignalingMessage {
+    type: "session_accepted";
+    session_id: string;
+    robot_id: string;
+}
+export interface OfferMessage extends SignalingMessage {
+    type: "offer";
+    data: {
+        type: string;
+        sdp: string;
+    };
+    from_peer_id?: string;
+    target_peer_id?: string;
+}
+export interface AnswerMessage extends SignalingMessage {
+    type: "answer";
+    data: {
+        type: string;
+        sdp: string;
+    };
+    room_id?: string;
+    peer_id?: string;
+    target_peer_id?: string;
+}
+export interface IceCandidateMessage extends SignalingMessage {
+    type: "ice_candidate";
+    data: {
+        candidate: string;
+        sdpMid: string | null;
+        sdpMLineIndex: number | null;
+    };
+    target_peer_id?: string;
+}
+export interface HeartbeatMessage extends SignalingMessage {
+    type: "heartbeat";
+    timestamp: number;
+}
+export interface PeerJoinedMessage extends SignalingMessage {
+    type: "peer_joined";
+    peer_id: string;
+    peer_type: "frontend" | "robot";
+}
+export interface PeerLeftMessage extends SignalingMessage {
+    type: "peer_left";
+    peer_id: string;
+}
+export interface SessionInvitationMessage extends SignalingMessage {
+    type: "session_invitation";
+    session_id: string;
+    room_id: string;
+    robot_key: string;
+    user_id: string;
+}
+export interface SessionEndedMessage extends SignalingMessage {
+    type: "session_ended";
+    session_id: string;
+    reason?: string;
+}
+export interface HeartbeatRequestMessage extends SignalingMessage {
+    type: "heartbeat_request";
+    timestamp: number;
+}
+export interface ErrorMessage extends SignalingMessage {
+    type: "error";
+    message: string;
+    code?: string;
+}
+//# sourceMappingURL=signaling-types.d.ts.map

package/dist/transport/webrtc/signaling-types.d.ts.map

@@ -0,0 +1 @@
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package/dist/transport/webrtc/signaling-types.js

@@ -0,0 +1,8 @@
+/**
+ * Type definitions for the WebRTC signaling server protocol.
+ *
+ * These match the message format used by the webrtc-py signaling server
+ * (see mock_client.py and mock_robot.py for reference implementations).
+ */
+export {};
+//# sourceMappingURL=signaling-types.js.map

package/dist/transport/webrtc/signaling-types.js.map

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