@agenticros/core 0.5.0

package/dist/transport/webrtc/transport.d.ts

@@ -0,0 +1,67 @@
+import type { RosTransport } from "../transport.js";
+import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, RTCIceServerConfig } from "../types.js";
+export interface WebRTCTransportOptions {
+    /** WebSocket URL of the signaling server (e.g., wss://signal-host). */
+    signalingUrl: string;
+    /** REST API URL of the signaling server (e.g., https://signal-host). */
+    apiUrl: string;
+    /** Target robot's ID on the signaling server. */
+    robotId: string;
+    /** Robot key secret — validated by the robot, not the signaling server. */
+    robotKey: string;
+    /** STUN/TURN server configuration. */
+    iceServers?: RTCIceServerConfig[];
+}
+/**
+ * Mode C transport: WebRTC data channel for cloud/remote deployments.
+ *
+ * The frontend (this class) acts as the answering peer:
+ * 1. POST /api/robots/{robotId}/connect → get session_id, room_id
+ * 2. Open signaling WebSocket → JOIN_ROOM
+ * 3. Wait for robot's SDP offer
+ * 4. Create RTCPeerConnection, set remote description, create answer
+ * 5. Exchange ICE candidates
+ * 6. Data channel opens → rosbridge JSON over WebRTC
+ */
+export declare class WebRTCTransport implements RosTransport {
+    private options;
+    private signaling;
+    private pc;
+    private dataChannel;
+    private status;
+    private connectionHandlers;
+    private topicHandlers;
+    private pendingRequests;
+    private idCounter;
+    private sessionId;
+    private roomId;
+    private peerId;
+    private robotPeerId;
+    constructor(options: WebRTCTransportOptions);
+    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 nextId;
+    private setStatus;
+    private sendOverDataChannel;
+    private registerPending;
+    private resolvePending;
+    /** Handle incoming rosbridge JSON from the data channel. */
+    private handleDataChannelMessage;
+    /** Handle signaling messages during connection setup. */
+    private handleSignalingMessage;
+    /** Handle SDP offer from the robot and create an answer. */
+    private handleOffer;
+    private cleanup;
+    private rejectAllPending;
+}
+//# sourceMappingURL=transport.d.ts.map

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

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package/dist/transport/webrtc/transport.js

@@ -0,0 +1,406 @@
+import { PeerConnection, DescriptionType } from "node-datachannel";
+import { SignalingClient } from "./signaling-client.js";
+/**
+ * Mode C transport: WebRTC data channel for cloud/remote deployments.
+ *
+ * The frontend (this class) acts as the answering peer:
+ * 1. POST /api/robots/{robotId}/connect → get session_id, room_id
+ * 2. Open signaling WebSocket → JOIN_ROOM
+ * 3. Wait for robot's SDP offer
+ * 4. Create RTCPeerConnection, set remote description, create answer
+ * 5. Exchange ICE candidates
+ * 6. Data channel opens → rosbridge JSON over WebRTC
+ */
+export class WebRTCTransport {
+    options;
+    signaling;
+    pc = null;
+    dataChannel = null;
+    status = "disconnected";
+    connectionHandlers = new Set();
+    topicHandlers = new Map();
+    pendingRequests = new Map();
+    idCounter = 0;
+    sessionId = null;
+    roomId = null;
+    peerId = null;
+    robotPeerId = null;
+    constructor(options) {
+        this.options = options;
+        this.signaling = new SignalingClient(options.apiUrl, options.signalingUrl);
+    }
+    async connect() {
+        if (this.status === "connected")
+            return;
+        this.setStatus("connecting");
+        try {
+            // Step 1: Request connection via REST API
+            const userId = `frontend_${Date.now()}`;
+            const connectRes = await this.signaling.requestConnection(this.options.robotId, {
+                user_id: userId,
+                robot_id: this.options.robotId,
+                robot_key: this.options.robotKey,
+            });
+            this.sessionId = connectRes.session.session_id;
+            this.roomId = connectRes.room_id;
+            this.peerId = userId;
+            // Step 2: Connect signaling WebSocket
+            await this.signaling.connectWs();
+            // Step 3: Set up message handler before joining room
+            const connected = new Promise((resolve, reject) => {
+                const timeout = setTimeout(() => {
+                    reject(new Error("WebRTC connection timed out (30s)"));
+                }, 30_000);
+                this.signaling.onMessage((msg) => {
+                    this.handleSignalingMessage(msg, resolve, reject, timeout);
+                });
+            });
+            // Step 4: Join room
+            this.signaling.joinRoom(this.roomId, userId, "frontend", this.sessionId);
+            // Step 5: Wait for data channel to be established
+            await connected;
+            this.setStatus("connected");
+        }
+        catch (err) {
+            this.setStatus("disconnected");
+            this.cleanup();
+            throw err;
+        }
+    }
+    async disconnect() {
+        this.cleanup();
+        // Notify signaling server
+        if (this.sessionId) {
+            try {
+                await this.signaling.requestDisconnect(this.options.robotId);
+            }
+            catch {
+                // Best-effort disconnect notification
+            }
+            this.sessionId = null;
+        }
+        this.signaling.close();
+        this.setStatus("disconnected");
+    }
+    getStatus() {
+        return this.status;
+    }
+    onConnection(handler) {
+        this.connectionHandlers.add(handler);
+        return () => {
+            this.connectionHandlers.delete(handler);
+        };
+    }
+    publish(options) {
+        this.sendOverDataChannel({
+            op: "publish",
+            topic: options.topic,
+            type: options.type,
+            msg: options.msg,
+        });
+    }
+    subscribe(options, handler) {
+        const topic = options.topic;
+        if (!this.topicHandlers.has(topic)) {
+            this.topicHandlers.set(topic, new Set());
+        }
+        this.topicHandlers.get(topic).add(handler);
+        // Send rosbridge subscribe command
+        this.sendOverDataChannel({
+            op: "subscribe",
+            id: this.nextId("sub"),
+            topic,
+            type: options.type,
+            throttle_rate: options.throttleRate,
+            queue_length: options.queueLength,
+        });
+        return {
+            unsubscribe: () => {
+                this.topicHandlers.get(topic)?.delete(handler);
+                if (this.topicHandlers.get(topic)?.size === 0) {
+                    this.topicHandlers.delete(topic);
+                    try {
+                        this.sendOverDataChannel({ op: "unsubscribe", topic });
+                    }
+                    catch {
+                        // Already disconnected
+                    }
+                }
+            },
+        };
+    }
+    async callService(options) {
+        const id = this.nextId("service");
+        const response = await new Promise((resolve, reject) => {
+            this.registerPending(id, (v) => resolve(v), reject, 30_000);
+            this.sendOverDataChannel({
+                op: "call_service",
+                id,
+                service: options.service,
+                args: options.args,
+                type: options.type,
+            });
+        });
+        return {
+            result: response.result,
+            values: response.values,
+        };
+    }
+    async sendActionGoal(options) {
+        const id = this.nextId("action");
+        // Register feedback handler if provided
+        let feedbackKey = null;
+        if (options.onFeedback) {
+            feedbackKey = `__action_feedback__${id}`;
+            if (!this.topicHandlers.has(feedbackKey)) {
+                this.topicHandlers.set(feedbackKey, new Set());
+            }
+            this.topicHandlers.get(feedbackKey).add((msg) => {
+                options.onFeedback(msg.values);
+            });
+        }
+        try {
+            const response = await new Promise((resolve, reject) => {
+                this.registerPending(id, (v) => resolve(v), reject, 120_000);
+                this.sendOverDataChannel({
+                    op: "send_action_goal",
+                    id,
+                    action: options.action,
+                    action_type: options.actionType,
+                    args: options.args,
+                });
+            });
+            return {
+                result: response.result,
+                values: response.values,
+            };
+        }
+        finally {
+            if (feedbackKey) {
+                this.topicHandlers.delete(feedbackKey);
+            }
+        }
+    }
+    async cancelActionGoal(action) {
+        this.sendOverDataChannel({
+            op: "cancel_action_goal",
+            id: this.nextId("cancel"),
+            action,
+        });
+    }
+    async listTopics() {
+        const result = await this.callService({
+            service: "/rosapi/topics",
+            type: "rosapi/srv/Topics",
+            args: {},
+        });
+        const topics = result.values?.["topics"] ?? [];
+        const types = result.values?.["types"] ?? [];
+        return topics.map((name, i) => ({ name, type: types[i] ?? "" }));
+    }
+    async listServices() {
+        const result = await this.callService({
+            service: "/rosapi/services",
+            type: "rosapi/srv/Services",
+            args: {},
+        });
+        const services = result.values?.["services"] ?? [];
+        const types = result.values?.["types"] ?? [];
+        return services.map((name, i) => ({ name, type: types[i] ?? "" }));
+    }
+    async listActions() {
+        // Same heuristic as RosbridgeTransport — extract from feedback topics
+        const topics = await this.listTopics();
+        const actions = [];
+        const feedbackSuffix = "/_action/feedback";
+        for (const topic of topics) {
+            if (topic.name.endsWith(feedbackSuffix)) {
+                const actionName = topic.name.slice(0, -feedbackSuffix.length);
+                let actionType = topic.type;
+                if (actionType.endsWith("_FeedbackMessage")) {
+                    actionType = actionType.slice(0, -"_FeedbackMessage".length);
+                }
+                actions.push({ name: actionName, type: actionType });
+            }
+        }
+        return actions;
+    }
+    // --- Private helpers ---
+    nextId(prefix = "agenticros") {
+        return `${prefix}_${++this.idCounter}`;
+    }
+    setStatus(status) {
+        this.status = status;
+        for (const handler of this.connectionHandlers) {
+            handler(status);
+        }
+    }
+    sendOverDataChannel(msg) {
+        if (!this.dataChannel) {
+            throw new Error("Data channel is not open");
+        }
+        this.dataChannel.sendMessage(JSON.stringify(msg));
+    }
+    registerPending(id, resolve, reject, timeoutMs) {
+        const timer = setTimeout(() => {
+            this.pendingRequests.delete(id);
+            reject(new Error(`Request ${id} timed out after ${timeoutMs}ms`));
+        }, timeoutMs);
+        this.pendingRequests.set(id, { resolve, reject, timer });
+    }
+    resolvePending(id, result) {
+        const pending = this.pendingRequests.get(id);
+        if (pending) {
+            clearTimeout(pending.timer);
+            this.pendingRequests.delete(id);
+            pending.resolve(result);
+        }
+    }
+    /** Handle incoming rosbridge JSON from the data channel. */
+    handleDataChannelMessage(data) {
+        let msg;
+        try {
+            msg = JSON.parse(data);
+        }
+        catch {
+            return;
+        }
+        const op = msg.op;
+        if (!op)
+            return;
+        switch (op) {
+            case "publish": {
+                const topic = msg.topic;
+                const payload = msg.msg;
+                const handlers = this.topicHandlers.get(topic);
+                if (handlers) {
+                    for (const handler of handlers) {
+                        handler(payload);
+                    }
+                }
+                break;
+            }
+            case "service_response": {
+                const id = msg.id;
+                if (id)
+                    this.resolvePending(id, msg);
+                break;
+            }
+            case "action_result": {
+                const id = msg.id;
+                if (id)
+                    this.resolvePending(id, msg);
+                break;
+            }
+            case "action_feedback": {
+                const id = msg.id;
+                if (id) {
+                    const handlers = this.topicHandlers.get(`__action_feedback__${id}`);
+                    if (handlers) {
+                        for (const handler of handlers) {
+                            handler(msg);
+                        }
+                    }
+                }
+                break;
+            }
+        }
+    }
+    /** Handle signaling messages during connection setup. */
+    handleSignalingMessage(msg, onConnected, onError, timeout) {
+        switch (msg.type) {
+            case "peer_joined": {
+                const peerMsg = msg;
+                if (peerMsg.peer_type === "robot") {
+                    this.robotPeerId = peerMsg.peer_id;
+                }
+                break;
+            }
+            case "offer": {
+                const offerMsg = msg;
+                this.handleOffer(offerMsg, onConnected, onError, timeout);
+                break;
+            }
+            case "ice_candidate": {
+                const iceMsg = msg;
+                if (this.pc) {
+                    this.pc.addRemoteCandidate(iceMsg.data.candidate, iceMsg.data.sdpMid ?? "0");
+                }
+                break;
+            }
+            case "error": {
+                clearTimeout(timeout);
+                onError(new Error(`Signaling error: ${msg.message}`));
+                break;
+            }
+        }
+    }
+    /** Handle SDP offer from the robot and create an answer. */
+    handleOffer(offer, onConnected, onError, timeout) {
+        // Build ICE server strings for node-datachannel
+        const iceServers = this.options.iceServers ?? [{ urls: "stun:stun.l.google.com:19302" }];
+        const iceServerStrs = iceServers.map((s) => {
+            const urls = Array.isArray(s.urls) ? s.urls : [s.urls];
+            return urls[0]; // node-datachannel takes individual server strings
+        });
+        const rtcConfig = { iceServers: iceServerStrs };
+        this.pc = new PeerConnection("agenticros-frontend", rtcConfig);
+        // Handle ICE candidates from our side → send to robot
+        this.pc.onLocalCandidate((candidate, mid) => {
+            this.signaling.sendIceCandidate(candidate, mid, null, this.robotPeerId ?? undefined);
+        });
+        // Handle state changes
+        this.pc.onStateChange((state) => {
+            if (state === "failed" || state === "closed") {
+                this.setStatus("disconnected");
+                this.rejectAllPending(new Error("Peer connection closed"));
+            }
+        });
+        // Handle incoming data channel
+        this.pc.onDataChannel((dc) => {
+            this.dataChannel = dc;
+            dc.onOpen(() => {
+                clearTimeout(timeout);
+                onConnected();
+            });
+            dc.onMessage((data) => {
+                const str = typeof data === "string" ? data : data.toString("utf-8");
+                this.handleDataChannelMessage(str);
+            });
+            dc.onClosed(() => {
+                this.dataChannel = null;
+                this.setStatus("disconnected");
+                this.rejectAllPending(new Error("Data channel closed"));
+            });
+        });
+        // Set remote offer and create answer
+        this.pc.setRemoteDescription(offer.data.sdp, DescriptionType.Offer);
+        const answer = this.pc.localDescription();
+        if (answer) {
+            this.signaling.sendAnswer(answer.sdp, this.roomId, this.peerId, this.robotPeerId ?? undefined);
+        }
+        else {
+            clearTimeout(timeout);
+            onError(new Error("Failed to create SDP answer"));
+        }
+    }
+    cleanup() {
+        this.rejectAllPending(new Error("Transport disconnected"));
+        if (this.dataChannel) {
+            this.dataChannel.close();
+            this.dataChannel = null;
+        }
+        if (this.pc) {
+            this.pc.close();
+            this.pc = null;
+        }
+    }
+    rejectAllPending(error) {
+        for (const [, pending] of this.pendingRequests) {
+            clearTimeout(pending.timer);
+            pending.reject(error);
+        }
+        this.pendingRequests.clear();
+    }
+}
+//# sourceMappingURL=transport.js.map

package/dist/transport/webrtc/transport.js.map

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

@@ -0,0 +1,47 @@
+import type { RosTransport } from "../transport.js";
+import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "../types.js";
+import { type ZenohKeyFormat } from "./keys.js";
+export interface ZenohAdapterConfig {
+    routerEndpoint: string;
+    domainId?: number;
+    /** "ros2dds" for zenoh-bridge-ros2dds, "rmw_zenoh" for ROS2 with Zenoh RMW */
+    keyFormat?: ZenohKeyFormat;
+    /** When ros2dds bridge uses a non-"/" namespace, set to the same value (e.g. "/bot1"). */
+    bridgeNamespace?: string;
+}
+/**
+ * Zenoh transport adapter (Mode D).
+ * Connects to a Zenoh router via zenoh-ts (WebSocket to zenoh-plugin-remote-api).
+ * Uses rmw_zenoh key mapping and CDR payloads for ROS 2 compatibility.
+ */
+export declare class ZenohTransport implements RosTransport {
+    private config;
+    private session;
+    private status;
+    private connectionHandlers;
+    private subscribers;
+    /** Serialize Session.open/close so two connect()s never open parallel WebSockets to remote-api. */
+    private sessionOpQueue;
+    /** Serialize listTopics so overlapping tool calls do not undeclare each other's subscribers. */
+    private listTopicsOpQueue;
+    constructor(config: ZenohAdapterConfig);
+    private setStatus;
+    private domainId;
+    private keyFormat;
+    private key;
+    private enqueueSessionOp;
+    connect(): Promise<void>;
+    disconnect(): Promise<void>;
+    getStatus(): ConnectionStatus;
+    onConnection(handler: ConnectionHandler): () => void;
+    publish(options: PublishOptions): Promise<void>;
+    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
+    subscribeAsync(options: SubscribeOptions, handler: MessageHandler): Promise<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[]>;
+}
+//# sourceMappingURL=adapter.d.ts.map

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

@@ -0,0 +1 @@
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