@agenticros/core 0.8.3 → 0.8.5
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/capabilities.d.ts +23 -0
- package/dist/capabilities.d.ts.map +1 -1
- package/dist/capabilities.js +56 -1
- package/dist/capabilities.js.map +1 -1
- package/dist/capability-schema.d.ts +6 -0
- package/dist/capability-schema.d.ts.map +1 -1
- package/dist/capability-schema.js +2 -0
- package/dist/capability-schema.js.map +1 -1
- package/dist/config.d.ts +224 -35
- package/dist/config.d.ts.map +1 -1
- package/dist/config.js +37 -8
- package/dist/config.js.map +1 -1
- package/dist/discoverable-capabilities.d.ts +2 -0
- package/dist/discoverable-capabilities.d.ts.map +1 -1
- package/dist/discoverable-capabilities.js +15 -2
- package/dist/discoverable-capabilities.js.map +1 -1
- package/dist/external-capability.d.ts +3 -0
- package/dist/external-capability.d.ts.map +1 -1
- package/dist/external-capability.js +10 -0
- package/dist/external-capability.js.map +1 -1
- package/dist/find-robots-for.d.ts.map +1 -1
- package/dist/find-robots-for.js +11 -11
- package/dist/find-robots-for.js.map +1 -1
- package/dist/index.d.ts +7 -3
- package/dist/index.d.ts.map +1 -1
- package/dist/index.js +4 -2
- package/dist/index.js.map +1 -1
- package/dist/mission.d.ts +6 -0
- package/dist/mission.d.ts.map +1 -1
- package/dist/mission.js +2 -1
- package/dist/mission.js.map +1 -1
- package/dist/robot-profile.d.ts +89 -0
- package/dist/robot-profile.d.ts.map +1 -0
- package/dist/robot-profile.js +208 -0
- package/dist/robot-profile.js.map +1 -0
- package/dist/robots.d.ts +12 -1
- package/dist/robots.d.ts.map +1 -1
- package/dist/robots.js +2 -0
- package/dist/robots.js.map +1 -1
- package/dist/safety.d.ts +116 -0
- package/dist/safety.d.ts.map +1 -0
- package/dist/safety.js +365 -0
- package/dist/safety.js.map +1 -0
- package/dist/transport-pool.d.ts +4 -0
- package/dist/transport-pool.d.ts.map +1 -1
- package/dist/transport-pool.js +47 -5
- package/dist/transport-pool.js.map +1 -1
- package/package.json +9 -10
package/dist/config.js
CHANGED
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@@ -1,4 +1,21 @@
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1
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import { z } from "zod";
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+
import { RobotProfileSchema } from "./robot-profile.js";
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/** Map-frame AABB for navigation goals. All four edges required when set. */
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export const WorkspaceLimitsSchema = z.object({
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xMin: z.number(),
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xMax: z.number(),
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yMin: z.number(),
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yMax: z.number(),
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});
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/**
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* Per-robot safety overlay. Unset fields inherit `config.safety`.
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* `workspaceLimits` is replaced as a whole when present on the robot.
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*/
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export const RobotSafetyOverlaySchema = z.object({
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maxLinearVelocity: z.number().optional(),
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maxAngularVelocity: z.number().optional(),
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workspaceLimits: WorkspaceLimitsSchema.optional(),
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});
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const IceServerSchema = z.object({
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urls: z.union([z.string(), z.array(z.string())]),
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username: z.string().optional(),
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@@ -204,6 +221,20 @@ export const AgenticROSConfigSchema = z.object({
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* one robot has the arm skill loaded and another doesn't.
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*/
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capabilities: z.array(z.string()).optional(),
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/**
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* Hardware profile: features this body has + ROS bindings.
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* Optional. When unset, verb filtering is skipped (gateway-wide
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* registry — today's behaviour). When set, advertised verbs are
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* the intersection of installed skills and `profile.features`.
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*/
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profile: RobotProfileSchema.optional(),
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/**
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* Optional per-robot safety overlay. Each field, when set,
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* replaces the gateway `config.safety` value for that robot.
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* Unset fields inherit the gateway defaults. Used so a 0.3 m/s
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* indoor AMR and a 1.5 m/s rover can share one gateway.
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*/
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safety: RobotSafetyOverlaySchema.optional(),
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/**
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* Phase 1.d-resolve per-robot transport override.
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*
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@@ -249,14 +280,12 @@ export const AgenticROSConfigSchema = z.object({
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.object({
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maxLinearVelocity: z.number().default(1.0),
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maxAngularVelocity: z.number().default(1.5),
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})
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.default({}),
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/**
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* Optional geofence for navigation goals (map frame). Unset =
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* not enforced. Absence of a bound is pass-through; a set but
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* inverted bound (xMin > xMax) fails closed.
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*/
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workspaceLimits: WorkspaceLimitsSchema.optional(),
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})
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.default({}),
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/**
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package/dist/config.js.map
CHANGED
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@@ -1 +1 @@
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1
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-
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+
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|
@@ -25,6 +25,8 @@ export interface ListCapabilitiesOptions {
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|
|
25
25
|
marketplaceLimit?: number;
|
|
26
26
|
/** Soft-fail: on network error return installed-only. Default true. */
|
|
27
27
|
softFail?: boolean;
|
|
28
|
+
/** Scope installed + discoverable verbs to this robot's profile. */
|
|
29
|
+
robotId?: string;
|
|
28
30
|
}
|
|
29
31
|
interface MarketplaceSkillDoc {
|
|
30
32
|
marketplaceRef?: string;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"discoverable-capabilities.d.ts","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AACpD,OAAO,EAEL,KAAK,UAAU,EAGhB,MAAM,mBAAmB,CAAC;
|
|
1
|
+
{"version":3,"file":"discoverable-capabilities.d.ts","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AACpD,OAAO,EAEL,KAAK,UAAU,EAGhB,MAAM,mBAAmB,CAAC;AAK3B,MAAM,WAAW,sBAAuB,SAAQ,UAAU;IACxD,gDAAgD;IAChD,YAAY,EAAE,IAAI,CAAC;IACnB,oDAAoD;IACpD,SAAS,EAAE,KAAK,CAAC;IACjB,6CAA6C;IAC7C,WAAW,EAAE,MAAM,CAAC;CACrB;AAED,MAAM,WAAW,gBAAiB,SAAQ,UAAU;IAClD,YAAY,CAAC,EAAE,OAAO,CAAC;IACvB,SAAS,CAAC,EAAE,OAAO,CAAC;IACpB,WAAW,CAAC,EAAE,MAAM,CAAC;CACtB;AAED,MAAM,WAAW,uBAAuB;IACtC,0DAA0D;IAC1D,mBAAmB,CAAC,EAAE,OAAO,CAAC;IAC9B,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,kDAAkD;IAClD,gBAAgB,CAAC,EAAE,MAAM,CAAC;IAC1B,uEAAuE;IACvE,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,oEAAoE;IACpE,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB;AAED,UAAU,mBAAmB;IAC3B,cAAc,CAAC,EAAE,MAAM,CAAC;IACxB,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,YAAY,CAAC,EAAE,KAAK,CAAC,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC,CAAC;IAC9C,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAuED,wBAAsB,sBAAsB,CAC1C,IAAI,GAAE;IAAE,OAAO,CAAC,EAAE,MAAM,CAAC;IAAC,KAAK,CAAC,EAAE,MAAM,CAAA;CAAO,GAC9C,OAAO,CAAC,mBAAmB,EAAE,CAAC,CAYhC;AAED;;;GAGG;AACH,wBAAsB,gCAAgC,CACpD,MAAM,EAAE,gBAAgB,EACxB,IAAI,GAAE,uBAA4B,GACjC,OAAO,CAAC,gBAAgB,EAAE,CAAC,CAgD7B"}
|
|
@@ -2,7 +2,9 @@
|
|
|
2
2
|
* Discoverable marketplace capabilities — list verbs from skills.agenticros.com
|
|
3
3
|
* that are not yet installed locally, so agents can propose installs.
|
|
4
4
|
*/
|
|
5
|
-
import {
|
|
5
|
+
import { listCapabilitiesForRobot, } from "./capabilities.js";
|
|
6
|
+
import { resolveRobot } from "./robots.js";
|
|
7
|
+
import { featuresSatisfied } from "./robot-profile.js";
|
|
6
8
|
import { skillsApiBase } from "./skill-refs.js";
|
|
7
9
|
function installRefOf(s) {
|
|
8
10
|
if (s.marketplaceRef && typeof s.marketplaceRef === "string") {
|
|
@@ -34,6 +36,12 @@ function fieldMap(raw) {
|
|
|
34
36
|
}
|
|
35
37
|
return Object.keys(out).length ? out : undefined;
|
|
36
38
|
}
|
|
39
|
+
function stringList(raw) {
|
|
40
|
+
if (!Array.isArray(raw))
|
|
41
|
+
return undefined;
|
|
42
|
+
const out = raw.filter((x) => typeof x === "string" && x.length > 0);
|
|
43
|
+
return out.length ? out : undefined;
|
|
44
|
+
}
|
|
37
45
|
function normalizeMarketplaceCap(raw, installRef, packageName) {
|
|
38
46
|
const id = typeof raw.id === "string" ? raw.id : null;
|
|
39
47
|
const verb = typeof raw.verb === "string" ? raw.verb : null;
|
|
@@ -53,6 +61,8 @@ function normalizeMarketplaceCap(raw, installRef, packageName) {
|
|
|
53
61
|
outputs: fieldMap(raw.outputs),
|
|
54
62
|
interruptible: raw.interruptible === true ? true : raw.interruptible === false ? false : undefined,
|
|
55
63
|
blocks_base: raw.blocks_base === true ? true : undefined,
|
|
64
|
+
requires: stringList(raw.requires),
|
|
65
|
+
optional: stringList(raw.optional),
|
|
56
66
|
source,
|
|
57
67
|
discoverable: true,
|
|
58
68
|
installed: false,
|
|
@@ -77,7 +87,7 @@ export async function fetchMarketplaceSkills(opts = {}) {
|
|
|
77
87
|
* (ids not already present locally). Soft-fails offline.
|
|
78
88
|
*/
|
|
79
89
|
export async function listCapabilitiesWithDiscoverable(config, opts = {}) {
|
|
80
|
-
const installed =
|
|
90
|
+
const installed = listCapabilitiesForRobot(config, opts.robotId).map((c) => {
|
|
81
91
|
const listed = {
|
|
82
92
|
...c,
|
|
83
93
|
installed: true,
|
|
@@ -88,6 +98,7 @@ export async function listCapabilitiesWithDiscoverable(config, opts = {}) {
|
|
|
88
98
|
if (opts.includeDiscoverable === false) {
|
|
89
99
|
return installed;
|
|
90
100
|
}
|
|
101
|
+
const robotProfile = resolveRobot(config, opts.robotId).profile;
|
|
91
102
|
const installedIds = new Set(installed.map((c) => c.id));
|
|
92
103
|
try {
|
|
93
104
|
const skills = await fetchMarketplaceSkills({
|
|
@@ -112,6 +123,8 @@ export async function listCapabilitiesWithDiscoverable(config, opts = {}) {
|
|
|
112
123
|
const norm = normalizeMarketplaceCap(raw, ref, s.slug ?? ref);
|
|
113
124
|
if (!norm)
|
|
114
125
|
continue;
|
|
126
|
+
if (!featuresSatisfied(robotProfile, norm.requires))
|
|
127
|
+
continue;
|
|
115
128
|
seenDiscoverable.add(id);
|
|
116
129
|
extra.push(norm);
|
|
117
130
|
}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"discoverable-capabilities.js","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAGH,OAAO,EACL,
|
|
1
|
+
{"version":3,"file":"discoverable-capabilities.js","sourceRoot":"","sources":["../src/discoverable-capabilities.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAGH,OAAO,EACL,wBAAwB,GAIzB,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAC3C,OAAO,EAAE,iBAAiB,EAAE,MAAM,oBAAoB,CAAC;AACvD,OAAO,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAsChD,SAAS,YAAY,CAAC,CAAsB;IAC1C,IAAI,CAAC,CAAC,cAAc,IAAI,OAAO,CAAC,CAAC,cAAc,KAAK,QAAQ,EAAE,CAAC;QAC7D,OAAO,CAAC,CAAC,cAAc,CAAC,WAAW,EAAE,CAAC;IACxC,CAAC;IACD,IAAI,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,SAAS,EAAE,CAAC;QAChC,OAAO,GAAG,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,SAAS,EAAE,CAAC,WAAW,EAAE,CAAC;IACxD,CAAC;IACD,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,GAAG,CAAC;QAAE,OAAO,CAAC,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC;IAChE,OAAO,IAAI,CAAC;AACd,CAAC;AAED,SAAS,QAAQ,CACf,GAAY;IAEZ,IAAI,CAAC,GAAG,IAAI,OAAO,GAAG,KAAK,QAAQ,IAAI,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC;QAAE,OAAO,SAAS,CAAC;IAC5E,MAAM,GAAG,GAAoC,EAAE,CAAC;IAChD,KAAK,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,GAA8B,CAAC,EAAE,CAAC;QACpE,IAAI,OAAO,CAAC,KAAK,QAAQ,EAAE,CAAC;YAC1B,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC;QACvB,CAAC;aAAM,IAAI,CAAC,IAAI,OAAO,CAAC,KAAK,QAAQ,EAAE,CAAC;YACtC,MAAM,CAAC,GAAG,CAA4B,CAAC;YACvC,GAAG,CAAC,CAAC,CAAC,GAAG;gBACP,IAAI,EAAE,OAAO,CAAC,CAAC,IAAI,KAAK,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS;gBACrD,WAAW,EAAE,OAAO,CAAC,CAAC,WAAW,KAAK,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,SAAS;gBAC1E,QAAQ,EAAE,CAAC,CAAC,QAAQ,KAAK,IAAI;aAC9B,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC;AACnD,CAAC;AAED,SAAS,UAAU,CAAC,GAAY;IAC9B,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC;QAAE,OAAO,SAAS,CAAC;IAC1C,MAAM,GAAG,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,EAAe,EAAE,CAAC,OAAO,CAAC,KAAK,QAAQ,IAAI,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;IAClF,OAAO,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC;AACtC,CAAC;AAED,SAAS,uBAAuB,CAC9B,GAA4B,EAC5B,UAAkB,EAClB,WAAmB;IAEnB,MAAM,EAAE,GAAG,OAAO,GAAG,CAAC,EAAE,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;IACtD,MAAM,IAAI,GAAG,OAAO,GAAG,CAAC,IAAI,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;IAC5D,MAAM,WAAW,GACf,OAAO,GAAG,CAAC,WAAW,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,0BAA0B,EAAE,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;IACrG,IAAI,CAAC,EAAE,IAAI,CAAC,IAAI,IAAI,CAAC,WAAW;QAAE,OAAO,IAAI,CAAC;IAC9C,MAAM,MAAM,GAAqB;QAC/B,IAAI,EAAE,OAAO;QACb,OAAO,EAAE,UAAU,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,UAAU;QAC/C,OAAO,EAAE,WAAW;KACrB,CAAC;IACF,OAAO;QACL,EAAE;QACF,IAAI;QACJ,WAAW;QACX,MAAM,EAAE,QAAQ,CAAC,GAAG,CAAC,MAAM,CAAC;QAC5B,OAAO,EAAE,QAAQ,CAAC,GAAG,CAAC,OAAO,CAAC;QAC9B,aAAa,EAAE,GAAG,CAAC,aAAa,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,aAAa,KAAK,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,SAAS;QAClG,WAAW,EAAE,GAAG,CAAC,WAAW,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS;QACxD,QAAQ,EAAE,UAAU,CAAC,GAAG,CAAC,QAAQ,CAAC;QAClC,QAAQ,EAAE,UAAU,CAAC,GAAG,CAAC,QAAQ,CAAC;QAClC,MAAM;QACN,YAAY,EAAE,IAAI;QAClB,SAAS,EAAE,KAAK;QAChB,WAAW,EAAE,UAAU;KACxB,CAAC;AACJ,CAAC;AAED,MAAM,CAAC,KAAK,UAAU,sBAAsB,CAC1C,OAA6C,EAAE;IAE/C,MAAM,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACzC,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,IAAI,EAAE,CAAC;IAC/B,MAAM,CAAC,GAAG,IAAI,GAAG,CAAC,GAAG,IAAI,SAAS,CAAC,CAAC;IACpC,CAAC,CAAC,YAAY,CAAC,GAAG,CAAC,OAAO,EAAE,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC;IAC3C,CAAC,CAAC,YAAY,CAAC,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IACtC,MAAM,GAAG,GAAG,MAAM,KAAK,CAAC,CAAC,CAAC,QAAQ,EAAE,EAAE,EAAE,OAAO,EAAE,EAAE,MAAM,EAAE,kBAAkB,EAAE,EAAE,CAAC,CAAC;IACnF,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC;QACZ,MAAM,IAAI,KAAK,CAAC,oBAAoB,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC;IACpD,CAAC;IACD,MAAM,IAAI,GAAG,CAAC,MAAM,GAAG,CAAC,IAAI,EAAE,CAAuC,CAAC;IACtE,OAAO,IAAI,CAAC,MAAM,IAAI,EAAE,CAAC;AAC3B,CAAC;AAED;;;GAGG;AACH,MAAM,CAAC,KAAK,UAAU,gCAAgC,CACpD,MAAwB,EACxB,OAAgC,EAAE;IAElC,MAAM,SAAS,GAAG,wBAAwB,CAAC,MAAM,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE;QACzE,MAAM,MAAM,GAAqB;YAC/B,GAAG,CAAC;YACJ,SAAS,EAAE,IAAI;YACf,YAAY,EAAE,KAAK;SACpB,CAAC;QACF,OAAO,MAAM,CAAC;IAChB,CAAC,CAAC,CAAC;IACH,IAAI,IAAI,CAAC,mBAAmB,KAAK,KAAK,EAAE,CAAC;QACvC,OAAO,SAAS,CAAC;IACnB,CAAC;IAED,MAAM,YAAY,GAAG,YAAY,CAAC,MAAM,EAAE,IAAI,CAAC,OAAO,CAAC,CAAC,OAAO,CAAC;IAEhE,MAAM,YAAY,GAAG,IAAI,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACzD,IAAI,CAAC;QACH,MAAM,MAAM,GAAG,MAAM,sBAAsB,CAAC;YAC1C,OAAO,EAAE,IAAI,CAAC,OAAO;YACrB,KAAK,EAAE,IAAI,CAAC,gBAAgB,IAAI,EAAE;SACnC,CAAC,CAAC;QACH,MAAM,KAAK,GAA6B,EAAE,CAAC;QAC3C,MAAM,gBAAgB,GAAG,IAAI,GAAG,EAAU,CAAC;QAC3C,KAAK,MAAM,CAAC,IAAI,MAAM,EAAE,CAAC;YACvB,IAAI,CAAC,CAAC,UAAU,IAAI,CAAC,CAAC,UAAU,KAAK,QAAQ;gBAAE,SAAS;YACxD,MAAM,GAAG,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;YAC5B,IAAI,CAAC,GAAG;gBAAE,SAAS;YACnB,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,EAAE,CAAC;YACjE,KAAK,MAAM,GAAG,IAAI,IAAI,EAAE,CAAC;gBACvB,IAAI,CAAC,GAAG,IAAI,OAAO,GAAG,KAAK,QAAQ;oBAAE,SAAS;gBAC9C,MAAM,EAAE,GAAG,OAAQ,GAAwB,CAAC,EAAE,KAAK,QAAQ,CAAC,CAAC,CAAE,GAAsB,CAAC,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;gBAChG,IAAI,CAAC,EAAE,IAAI,YAAY,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,gBAAgB,CAAC,GAAG,CAAC,EAAE,CAAC;oBAAE,SAAS;gBACtE,MAAM,IAAI,GAAG,uBAAuB,CAClC,GAA8B,EAC9B,GAAG,EACH,CAAC,CAAC,IAAI,IAAI,GAAG,CACd,CAAC;gBACF,IAAI,CAAC,IAAI;oBAAE,SAAS;gBACpB,IAAI,CAAC,iBAAiB,CAAC,YAAY,EAAE,IAAI,CAAC,QAAQ,CAAC;oBAAE,SAAS;gBAC9D,gBAAgB,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;gBACzB,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;YACnB,CAAC;QACH,CAAC;QACD,OAAO,CAAC,GAAG,SAAS,EAAE,GAAG,KAAK,CAAC,CAAC;IAClC,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,IAAI,IAAI,CAAC,QAAQ,KAAK,KAAK;YAAE,MAAM,CAAC,CAAC;QACrC,OAAO,SAAS,CAAC;IACnB,CAAC;AACH,CAAC"}
|
|
@@ -8,6 +8,7 @@
|
|
|
8
8
|
*/
|
|
9
9
|
import type { Capability, CapabilityImplementation } from "./capabilities.js";
|
|
10
10
|
import type { RosTransport } from "./transport/transport.js";
|
|
11
|
+
import type { SafetyLimits } from "./safety.js";
|
|
11
12
|
export interface ExecuteExternalOptions {
|
|
12
13
|
/** Robot namespace for topic/action/service prefixing. */
|
|
13
14
|
namespace?: string;
|
|
@@ -18,6 +19,8 @@ export interface ExecuteExternalOptions {
|
|
|
18
19
|
* Subscribe waits also reject early on abort.
|
|
19
20
|
*/
|
|
20
21
|
signal?: AbortSignal;
|
|
22
|
+
/** When set, NavigateToPose-style goals outside the fence are rejected. */
|
|
23
|
+
workspaceCheck?: SafetyLimits;
|
|
21
24
|
}
|
|
22
25
|
export interface ExecuteExternalResult {
|
|
23
26
|
text: string;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"external-capability.d.ts","sourceRoot":"","sources":["../src/external-capability.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAC9E,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;
|
|
1
|
+
{"version":3,"file":"external-capability.d.ts","sourceRoot":"","sources":["../src/external-capability.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAC9E,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAE7D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAGhD,MAAM,WAAW,sBAAsB;IACrC,0DAA0D;IAC1D,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,gDAAgD;IAChD,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,WAAW,CAAC;IACrB,2EAA2E;IAC3E,cAAc,CAAC,EAAE,YAAY,CAAC;CAC/B;AAED,MAAM,WAAW,qBAAqB;IACpC,IAAI,EAAE,MAAM,CAAC;IACb,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAClC,OAAO,CAAC,EAAE,OAAO,CAAC;CACnB;AAeD;;;GAGG;AACH,wBAAgB,iBAAiB,CAC/B,IAAI,EAAE,OAAO,CAAC,wBAAwB,EAAE;IAAE,IAAI,EAAE,mBAAmB,CAAA;CAAE,CAAC,EACtE,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC9B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAqEzB;AAED;;GAEG;AACH,wBAAsB,yBAAyB,CAC7C,UAAU,EAAE,UAAU,EACtB,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC/B,SAAS,EAAE,YAAY,EACvB,OAAO,GAAE,sBAA2B,GACnC,OAAO,CAAC,qBAAqB,CAAC,CA2LhC"}
|
|
@@ -7,6 +7,7 @@
|
|
|
7
7
|
* never shells out to `ros2 launch` in v1.
|
|
8
8
|
*/
|
|
9
9
|
import { toNamespacedTopic } from "./topic-utils.js";
|
|
10
|
+
import { checkWorkspacePayload } from "./safety.js";
|
|
10
11
|
function isExternalImpl(impl) {
|
|
11
12
|
return impl?.kind === "external_ros_node";
|
|
12
13
|
}
|
|
@@ -107,6 +108,15 @@ export async function executeExternalCapability(capability, inputs, transport, o
|
|
|
107
108
|
};
|
|
108
109
|
}
|
|
109
110
|
const args = buildExternalGoal(impl, inputs);
|
|
111
|
+
if (options.workspaceCheck) {
|
|
112
|
+
const fence = checkWorkspacePayload(options.workspaceCheck, args);
|
|
113
|
+
if (fence.block) {
|
|
114
|
+
return {
|
|
115
|
+
text: fence.blockReason ?? "Blocked by workspaceLimits.",
|
|
116
|
+
isError: true,
|
|
117
|
+
};
|
|
118
|
+
}
|
|
119
|
+
}
|
|
110
120
|
const goalPromise = transport.sendActionGoal({
|
|
111
121
|
action,
|
|
112
122
|
actionType,
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"external-capability.js","sourceRoot":"","sources":["../src/external-capability.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAIH,OAAO,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;
|
|
1
|
+
{"version":3,"file":"external-capability.js","sourceRoot":"","sources":["../src/external-capability.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAIH,OAAO,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAErD,OAAO,EAAE,qBAAqB,EAAE,MAAM,aAAa,CAAC;AAsBpD,SAAS,cAAc,CACrB,IAA0C;IAE1C,OAAO,IAAI,EAAE,IAAI,KAAK,mBAAmB,CAAC;AAC5C,CAAC;AAED,SAAS,WAAW,CAAC,IAAY,EAAE,SAAkB;IACnD,MAAM,OAAO,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC;IAC5B,IAAI,CAAC,OAAO;QAAE,OAAO,OAAO,CAAC;IAC7B,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE;QAAE,OAAO,OAAO,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,IAAI,OAAO,EAAE,CAAC;IACjF,OAAO,iBAAiB,CAAC,SAAS,EAAE,OAAO,CAAC,CAAC;AAC/C,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAC/B,IAAsE,EACtE,MAA+B;IAE/B,0CAA0C;IAC1C,IAAI,MAAM,CAAC,IAAI,IAAI,OAAO,MAAM,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;QACnD,OAAO,MAAM,CAAC,IAA+B,CAAC;IAChD,CAAC;IACD,IAAI,MAAM,CAAC,OAAO,IAAI,OAAO,MAAM,CAAC,OAAO,KAAK,QAAQ,EAAE,CAAC;QACzD,OAAO,MAAM,CAAC,OAAkC,CAAC;IACnD,CAAC;IACD,IAAI,MAAM,CAAC,OAAO,IAAI,OAAO,MAAM,CAAC,OAAO,KAAK,QAAQ,EAAE,CAAC;QACzD,OAAO,MAAM,CAAC,OAAkC,CAAC;IACnD,CAAC;IAED,MAAM,OAAO,GAAG,CAAC,IAAI,CAAC,QAAQ,IAAI,EAAE,CAAC,CAAC,WAAW,EAAE,CAAC;IACpD,IAAI,OAAO,CAAC,QAAQ,CAAC,gBAAgB,CAAC,IAAI,IAAI,CAAC,MAAM,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAAE,CAAC;QACpF,MAAM,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC;QACrC,MAAM,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC;QACrC,MAAM,GAAG,GAAG,MAAM,CAAC,MAAM,CAAC,GAAG,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC;QACzC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QAC7B,MAAM,KAAK,GAAG,OAAO,MAAM,CAAC,QAAQ,KAAK,QAAQ,CAAC,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC;QAC5E,OAAO;YACL,IAAI,EAAE;gBACJ,MAAM,EAAE,EAAE,QAAQ,EAAE,KAAK,EAAE;gBAC3B,IAAI,EAAE;oBACJ,QAAQ,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;oBACxB,WAAW,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE;iBAC1C;aACF;SACF,CAAC;IACJ,CAAC;IAED,IACE,OAAO,CAAC,QAAQ,CAAC,sBAAsB,CAAC;QACxC,IAAI,CAAC,MAAM,EAAE,QAAQ,CAAC,wBAAwB,CAAC,EAC/C,CAAC;QACD,MAAM,KAAK,GAAG,OAAO,MAAM,CAAC,QAAQ,KAAK,QAAQ,CAAC,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC;QAC5E,MAAM,QAAQ,GAAG,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC;QACjE,MAAM,KAAK,GAAG,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE;YAC/B,MAAM,KAAK,GAAG,CAAC,IAAI,OAAO,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAE,CAA6B,CAAC,CAAC,CAAC,EAAE,CAAC;YAC/E,MAAM,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC;YACpC,MAAM,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC;YACpC,MAAM,GAAG,GAAG,MAAM,CAAC,KAAK,CAAC,GAAG,IAAI,CAAC,CAAC,IAAI,CAAC,CAAC;YACxC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;YAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;YAC7B,MAAM,SAAS,GACb,OAAO,KAAK,CAAC,QAAQ,KAAK,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC;YAC9D,OAAO;gBACL,MAAM,EAAE,EAAE,QAAQ,EAAE,SAAS,EAAE;gBAC/B,IAAI,EAAE;oBACJ,QAAQ,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,EAAE;oBAChD,WAAW,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE;iBAC1C;aACF,CAAC;QACJ,CAAC,CAAC,CAAC;QACH,OAAO,EAAE,KAAK,EAAE,CAAC;IACnB,CAAC;IAED,IACE,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAC;QAC7B,IAAI,CAAC,MAAM,EAAE,QAAQ,CAAC,YAAY,CAAC,EACnC,CAAC;QACD,IAAI,OAAO,MAAM,CAAC,OAAO,KAAK,QAAQ,IAAI,MAAM,CAAC,OAAO,CAAC,IAAI,EAAE,EAAE,CAAC;YAChE,OAAO,EAAE,OAAO,EAAE,MAAM,CAAC,OAAO,CAAC,IAAI,EAAE,EAAE,CAAC;QAC5C,CAAC;IACH,CAAC;IAED,iDAAiD;IACjD,MAAM,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,IAAI,EAAE,GAAG,MAAM,CAAC;IAC3C,OAAO,IAAI,CAAC;AACd,CAAC;AAED;;GAEG;AACH,MAAM,CAAC,KAAK,UAAU,yBAAyB,CAC7C,UAAsB,EACtB,MAA+B,EAC/B,SAAuB,EACvB,UAAkC,EAAE;IAEpC,MAAM,IAAI,GAAG,UAAU,CAAC,cAAc,CAAC;IACvC,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,EAAE,CAAC;QAC1B,OAAO;YACL,IAAI,EAAE,eAAe,UAAU,CAAC,EAAE,+CAA+C;YACjF,OAAO,EAAE,IAAI;SACd,CAAC;IACJ,CAAC;IAED,MAAM,EAAE,GAAG,OAAO,CAAC,SAAS,CAAC;IAC7B,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IAE9B,IAAI,CAAC;QACH,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAChB,MAAM,MAAM,GAAG,WAAW,CAAC,IAAI,CAAC,MAAM,EAAE,EAAE,CAAC,CAAC;YAC5C,MAAM,UAAU,GAAG,IAAI,CAAC,QAAQ,IAAI,EAAE,CAAC;YACvC,IAAI,CAAC,UAAU,EAAE,CAAC;gBAChB,OAAO;oBACL,IAAI,EAAE,eAAe,UAAU,CAAC,EAAE,qDAAqD;oBACvF,OAAO,EAAE,IAAI;iBACd,CAAC;YACJ,CAAC;YACD,MAAM,IAAI,GAAG,iBAAiB,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;YAC7C,IAAI,OAAO,CAAC,cAAc,EAAE,CAAC;gBAC3B,MAAM,KAAK,GAAG,qBAAqB,CAAC,OAAO,CAAC,cAAc,EAAE,IAAI,CAAC,CAAC;gBAClE,IAAI,KAAK,CAAC,KAAK,EAAE,CAAC;oBAChB,OAAO;wBACL,IAAI,EAAE,KAAK,CAAC,WAAW,IAAI,6BAA6B;wBACxD,OAAO,EAAE,IAAI;qBACd,CAAC;gBACJ,CAAC;YACH,CAAC;YACD,MAAM,WAAW,GAAG,SAAS,CAAC,cAAc,CAAC;gBAC3C,MAAM;gBACN,UAAU;gBACV,IAAI;aACL,CAAC,CAAC;YACH,IAAI,OAAiC,CAAC;YACtC,MAAM,YAAY,GAAG,MAAM;gBACzB,CAAC,CAAC,IAAI,OAAO,CAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,EAAE;oBAC/B,MAAM,IAAI,GAAG,GAAG,EAAE;wBAChB,KAAK,SAAS,CAAC,gBAAgB,CAAC,MAAM,CAAC,CAAC,KAAK,CAAC,GAAG,EAAE,GAAE,CAAC,CAAC,CAAC;wBACxD,MAAM,CAAC,IAAI,KAAK,CAAC,kBAAkB,CAAC,CAAC,CAAC;oBACxC,CAAC,CAAC;oBACF,IAAI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|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"find-robots-for.d.ts","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,EAAc,KAAK,aAAa,EAAE,MAAM,aAAa,CAAC;AAE7D,iFAAiF;AACjF,MAAM,WAAW,kBAAkB;IACjC,gGAAgG;IAChG,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,iEAAiE;IACjE,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,qEAAqE;IACrE,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAED,+CAA+C;AAC/C,MAAM,WAAW,kBAAkB;IACjC,KAAK,EAAE,aAAa,CAAC;IACrB,wFAAwF;IACxF,6BAA6B,EAAE,OAAO,CAAC;IACvC;;;;OAIG;IACH,MAAM,EAAE,OAAO,GAAG,IAAI,CAAC;IACvB,2EAA2E;IAC3E,KAAK,EAAE,MAAM,CAAC;CACf;AAED,uBAAuB;AACvB,MAAM,WAAW,mBAAmB;IAClC,KAAK,EAAE,kBAAkB,CAAC;IAC1B,KAAK,EAAE,MAAM,CAAC;IACd,kCAAkC;IAClC,MAAM,EAAE,kBAAkB,EAAE,CAAC;CAC9B;AAED;;;;;;;;;GASG;AACH,wBAAgB,aAAa,CAC3B,MAAM,EAAE,gBAAgB,EACxB,KAAK,EAAE,kBAAkB,EACzB,SAAS,CAAC,EAAE,WAAW,CAAC,MAAM,CAAC,GAC9B,mBAAmB,
|
|
1
|
+
{"version":3,"file":"find-robots-for.d.ts","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,aAAa,CAAC;AAEpD,OAAO,EAAc,KAAK,aAAa,EAAE,MAAM,aAAa,CAAC;AAE7D,iFAAiF;AACjF,MAAM,WAAW,kBAAkB;IACjC,gGAAgG;IAChG,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,iEAAiE;IACjE,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,qEAAqE;IACrE,MAAM,CAAC,EAAE,OAAO,CAAC;CAClB;AAED,+CAA+C;AAC/C,MAAM,WAAW,kBAAkB;IACjC,KAAK,EAAE,aAAa,CAAC;IACrB,wFAAwF;IACxF,6BAA6B,EAAE,OAAO,CAAC;IACvC;;;;OAIG;IACH,MAAM,EAAE,OAAO,GAAG,IAAI,CAAC;IACvB,2EAA2E;IAC3E,KAAK,EAAE,MAAM,CAAC;CACf;AAED,uBAAuB;AACvB,MAAM,WAAW,mBAAmB;IAClC,KAAK,EAAE,kBAAkB,CAAC;IAC1B,KAAK,EAAE,MAAM,CAAC;IACd,kCAAkC;IAClC,MAAM,EAAE,kBAAkB,EAAE,CAAC;CAC9B;AAED;;;;;;;;;GASG;AACH,wBAAgB,aAAa,CAC3B,MAAM,EAAE,gBAAgB,EACxB,KAAK,EAAE,kBAAkB,EACzB,SAAS,CAAC,EAAE,WAAW,CAAC,MAAM,CAAC,GAC9B,mBAAmB,CAkErB"}
|
package/dist/find-robots-for.js
CHANGED
|
@@ -39,7 +39,7 @@
|
|
|
39
39
|
* +1/+2 deltas are enough to surface a perfect match above an
|
|
40
40
|
* inherited one without inventing fuzzy matching.
|
|
41
41
|
*/
|
|
42
|
-
import { listAllCapabilities } from "./capabilities.js";
|
|
42
|
+
import { listAllCapabilities, listCapabilitiesForRobot } from "./capabilities.js";
|
|
43
43
|
import { listRobots } from "./robots.js";
|
|
44
44
|
/**
|
|
45
45
|
* Run the filter+rank against the configured fleet.
|
|
@@ -56,9 +56,6 @@ export function findRobotsFor(config, query, onlineIds) {
|
|
|
56
56
|
throw new Error("findRobotsFor: query.online was set but onlineIds was not provided. " +
|
|
57
57
|
"Call discoverRobots() first and pass configured_online ids.");
|
|
58
58
|
}
|
|
59
|
-
// Resolve the global capability registry once — used as the fallback
|
|
60
|
-
// when a robot doesn't declare its own per-robot allowlist.
|
|
61
|
-
const globalCapIds = new Set(listAllCapabilities(config).map((c) => c.id));
|
|
62
59
|
const wantedKind = query.kind?.trim().toLowerCase();
|
|
63
60
|
const wantedCap = query.capability?.trim();
|
|
64
61
|
const fleet = listRobots(config);
|
|
@@ -67,19 +64,22 @@ export function findRobotsFor(config, query, onlineIds) {
|
|
|
67
64
|
// kind filter
|
|
68
65
|
if (wantedKind && robot.kind.toLowerCase() !== wantedKind)
|
|
69
66
|
continue;
|
|
70
|
-
// capability filter
|
|
67
|
+
// capability filter — advertised verbs for THIS robot (allowlist +
|
|
68
|
+
// profile.requires), not the gateway-wide union.
|
|
71
69
|
let matchedExplicitly = false;
|
|
72
70
|
if (wantedCap) {
|
|
73
|
-
|
|
74
|
-
|
|
75
|
-
|
|
71
|
+
if (robot.capabilities) {
|
|
72
|
+
if (!robot.capabilities.includes(wantedCap))
|
|
73
|
+
continue;
|
|
74
|
+
const advertised = listCapabilitiesForRobot(config, robot.id);
|
|
75
|
+
const known = listAllCapabilities(config).some((c) => c.id === wantedCap);
|
|
76
|
+
if (known && !advertised.some((c) => c.id === wantedCap))
|
|
76
77
|
continue;
|
|
77
78
|
matchedExplicitly = true;
|
|
78
79
|
}
|
|
79
80
|
else {
|
|
80
|
-
|
|
81
|
-
|
|
82
|
-
if (!globalCapIds.has(wantedCap))
|
|
81
|
+
const advertised = listCapabilitiesForRobot(config, robot.id);
|
|
82
|
+
if (!advertised.some((c) => c.id === wantedCap))
|
|
83
83
|
continue;
|
|
84
84
|
}
|
|
85
85
|
}
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"find-robots-for.js","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAGH,OAAO,EAAE,mBAAmB,
|
|
1
|
+
{"version":3,"file":"find-robots-for.js","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAGH,OAAO,EAAE,mBAAmB,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAClF,OAAO,EAAE,UAAU,EAAsB,MAAM,aAAa,CAAC;AAmC7D;;;;;;;;;GASG;AACH,MAAM,UAAU,aAAa,CAC3B,MAAwB,EACxB,KAAyB,EACzB,SAA+B;IAE/B,IAAI,KAAK,CAAC,MAAM,KAAK,SAAS,IAAI,SAAS,KAAK,SAAS,EAAE,CAAC;QAC1D,MAAM,IAAI,KAAK,CACb,sEAAsE;YACpE,6DAA6D,CAChE,CAAC;IACJ,CAAC;IAED,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,WAAW,EAAE,CAAC;IACpD,MAAM,SAAS,GAAG,KAAK,CAAC,UAAU,EAAE,IAAI,EAAE,CAAC;IAE3C,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC;IACjC,MAAM,OAAO,GAAyB,EAAE,CAAC;IAEzC,KAAK,MAAM,KAAK,IAAI,KAAK,EAAE,CAAC;QAC1B,cAAc;QACd,IAAI,UAAU,IAAI,KAAK,CAAC,IAAI,CAAC,WAAW,EAAE,KAAK,UAAU;YAAE,SAAS;QAEpE,mEAAmE;QACnE,iDAAiD;QACjD,IAAI,iBAAiB,GAAG,KAAK,CAAC;QAC9B,IAAI,SAAS,EAAE,CAAC;YACd,IAAI,KAAK,CAAC,YAAY,EAAE,CAAC;gBACvB,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,QAAQ,CAAC,SAAS,CAAC;oBAAE,SAAS;gBACtD,MAAM,UAAU,GAAG,wBAAwB,CAAC,MAAM,EAAE,KAAK,CAAC,EAAE,CAAC,CAAC;gBAC9D,MAAM,KAAK,GAAG,mBAAmB,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,KAAK,SAAS,CAAC,CAAC;gBAC1E,IAAI,KAAK,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,KAAK,SAAS,CAAC;oBAAE,SAAS;gBACnE,iBAAiB,GAAG,IAAI,CAAC;YAC3B,CAAC;iBAAM,CAAC;gBACN,MAAM,UAAU,GAAG,wBAAwB,CAAC,MAAM,EAAE,KAAK,CAAC,EAAE,CAAC,CAAC;gBAC9D,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,KAAK,SAAS,CAAC;oBAAE,SAAS;YAC5D,CAAC;QACH,CAAC;QAED,gBAAgB;QAChB,IAAI,QAAQ,GAAmB,IAAI,CAAC;QACpC,IAAI,SAAS,EAAE,CAAC;YACd,QAAQ,GAAG,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;YACnC,IAAI,KAAK,CAAC,MAAM,KAAK,IAAI,IAAI,CAAC,QAAQ;gBAAE,SAAS;YACjD,IAAI,KAAK,CAAC,MAAM,KAAK,KAAK,IAAI,QAAQ;gBAAE,SAAS;QACnD,CAAC;QAED,IAAI,KAAK,GAAG,CAAC,CAAC;QACd,IAAI,iBAAiB;YAAE,KAAK,IAAI,CAAC,CAAC;QAClC,IAAI,KAAK,CAAC,MAAM,KAAK,IAAI,IAAI,QAAQ;YAAE,KAAK,IAAI,CAAC,CAAC;QAClD,iEAAiE;QACjE,iEAAiE;QACjE,2BAA2B;QAC3B,IAAI,KAAK,CAAC,MAAM,KAAK,SAAS,IAAI,QAAQ,KAAK,IAAI;YAAE,KAAK,IAAI,CAAC,CAAC;QAEhE,OAAO,CAAC,IAAI,CAAC,EAAE,KAAK,EAAE,6BAA6B,EAAE,iBAAiB,EAAE,MAAM,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC,CAAC;IACrG,CAAC;IAED,iEAAiE;IACjE,+CAA+C;IAC/C,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,GAAG,CAAC,CAAC,KAAK,CAAC,CAAC;IAE1C,OAAO;QACL,KAAK,EAAE;YACL,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,UAAU,EAAE,SAAS,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;YAC/C,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;YAC3C,GAAG,CAAC,KAAK,CAAC,MAAM,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;SAChE;QACD,KAAK,EAAE,OAAO,CAAC,MAAM;QACrB,MAAM,EAAE,OAAO;KAChB,CAAC;AACJ,CAAC"}
|
package/dist/index.d.ts
CHANGED
|
@@ -1,18 +1,22 @@
|
|
|
1
1
|
/**
|
|
2
2
|
* @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
|
|
3
3
|
*/
|
|
4
|
-
export type { AgenticROSConfig, RobotTransportOverride } from "./config.js";
|
|
5
|
-
export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
|
|
4
|
+
export type { AgenticROSConfig, RobotTransportOverride, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
|
|
5
|
+
export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, WorkspaceLimitsSchema, RobotSafetyOverlaySchema, } from "./config.js";
|
|
6
|
+
export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_SET, FEATURE_REQUIRED_BINDING, PROFILE_SCHEMA_ID, RobotProfileSchema, isKnownFeature, isKnownBindingKey, unknownFeatures, unknownBindingKeys, featuresMissingBindings, resolveRobotProfile, featuresFromDeprecatedSensors, featuresSatisfied, missingFeatures, resolveBinding, inferProfileDraft, } from "./robot-profile.js";
|
|
7
|
+
export type { FeatureName, BindingKey, RobotProfile, ProfileRobot, InferProfileOptions } from "./robot-profile.js";
|
|
6
8
|
export { createTransport } from "./transport/factory.js";
|
|
7
9
|
export type { RosTransport } from "./transport/transport.js";
|
|
8
10
|
export type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, TransportConfig, } from "./transport/types.js";
|
|
9
11
|
export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
|
|
10
12
|
export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
|
|
13
|
+
export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
|
|
14
|
+
export type { SafetyLimits, SafetyCheckResult, TwistComponents, LiveBindingCheck, LiveCheckSeverity, LiveGraphSnapshot, } from "./safety.js";
|
|
11
15
|
export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
|
|
12
16
|
export { renderAgenticROSBanner, agenticROSBannerLines, type AgenticROSBannerOptions, } from "./banner.js";
|
|
13
17
|
export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
|
|
14
18
|
export type { MemoryProvider, MemoryRecord, MemoryStatus, RememberInput, RecallInput, ForgetInput, } from "./memory/index.js";
|
|
15
|
-
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
|
|
19
|
+
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, listCapabilitiesForRobot, capabilityUnavailableMessage, } from "./capabilities.js";
|
|
16
20
|
export type { Capability, CapabilityField, CapabilityImplementation, CapabilitySource, } from "./capabilities.js";
|
|
17
21
|
export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
|
|
18
22
|
export type { ParsedCapability } from "./capability-schema.js";
|
package/dist/index.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,YAAY,EAAE,gBAAgB,EAAE,sBAAsB,EAAE,MAAM,aAAa,CAAC;
|
|
1
|
+
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,YAAY,EAAE,gBAAgB,EAAE,sBAAsB,EAAE,kBAAkB,EAAE,eAAe,EAAE,MAAM,aAAa,CAAC;AACjH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,EAClB,qBAAqB,EACrB,wBAAwB,GACzB,MAAM,aAAa,CAAC;AAErB,OAAO,EACL,kBAAkB,EAClB,sBAAsB,EACtB,YAAY,EACZ,gBAAgB,EAChB,wBAAwB,EACxB,iBAAiB,EACjB,kBAAkB,EAClB,cAAc,EACd,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,6BAA6B,EAC7B,iBAAiB,EACjB,eAAe,EACf,cAAc,EACd,iBAAiB,GAClB,MAAM,oBAAoB,CAAC;AAC5B,YAAY,EAAE,WAAW,EAAE,UAAU,EAAE,YAAY,EAAE,YAAY,EAAE,mBAAmB,EAAE,MAAM,oBAAoB,CAAC;AAEnH,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AACzD,YAAY,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,YAAY,EACV,gBAAgB,EAChB,iBAAiB,EACjB,YAAY,EACZ,cAAc,EACd,gBAAgB,EAChB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EACjB,iBAAiB,EACjB,YAAY,EACZ,SAAS,EACT,WAAW,EACX,UAAU,EACV,cAAc,EACd,eAAe,GAChB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EACL,cAAc,EACd,UAAU,EACV,qBAAqB,EACrB,cAAc,EACd,iBAAiB,EACjB,kBAAkB,EAClB,sBAAsB,EACtB,yBAAyB,EACzB,qBAAqB,EACrB,kBAAkB,EAClB,qBAAqB,EACrB,oBAAoB,EACpB,kBAAkB,EAClB,mBAAmB,EACnB,wBAAwB,EACxB,iBAAiB,GAClB,MAAM,aAAa,CAAC;AACrB,YAAY,EACV,YAAY,EACZ,iBAAiB,EACjB,eAAe,EACf,gBAAgB,EAChB,iBAAiB,EACjB,iBAAiB,GAClB,MAAM,aAAa,CAAC;AACrB,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,EACrB,KAAK,uBAAuB,GAC7B,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AACzE,YAAY,EACV,cAAc,EACd,YAAY,EACZ,YAAY,EACZ,aAAa,EACb,WAAW,EACX,WAAW,GACZ,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,EACnB,wBAAwB,EACxB,4BAA4B,GAC7B,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EACV,UAAU,EACV,eAAe,EACf,wBAAwB,EACxB,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAChC,YAAY,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAC;AAE/D,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAClC,YAAY,EACV,sBAAsB,EACtB,qBAAqB,GACtB,MAAM,0BAA0B,CAAC;AAElC,OAAO,EAAE,UAAU,EAAE,uBAAuB,EAAE,MAAM,cAAc,CAAC;AACnE,YAAY,EACV,OAAO,EACP,WAAW,EACX,aAAa,EACb,iBAAiB,EACjB,qBAAqB,EACrB,sBAAsB,EACtB,qBAAqB,EACrB,sBAAsB,EACtB,wBAAwB,EACxB,mBAAmB,EACnB,sBAAsB,EACtB,qBAAqB,EACrB,iBAAiB,GAClB,MAAM,cAAc,CAAC;AAEtB,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EACV,2BAA2B,EAC3B,kBAAkB,GACnB,MAAM,uBAAuB,CAAC;AAE/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAC/B,YAAY,EAAE,oBAAoB,EAAE,MAAM,uBAAuB,CAAC;AAElE,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAC1D,YAAY,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,oBAAoB,CAAC;AAE1E,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AACrB,YAAY,EAAE,aAAa,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAE/D,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,aAAa,EAAE,oBAAoB,EAAE,MAAM,gBAAgB,CAAC;AAE1E,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AACxB,YAAY,EAAE,sBAAsB,EAAE,cAAc,EAAE,MAAM,gBAAgB,CAAC;AAE7E,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAC3B,YAAY,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AAEzD,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AACrD,YAAY,EACV,kBAAkB,EAClB,kBAAkB,EAClB,mBAAmB,GACpB,MAAM,sBAAsB,CAAC;AAE9B,OAAO,EACL,kBAAkB,EAClB,wBAAwB,EACxB,oBAAoB,EACpB,sBAAsB,EACtB,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,qBAAqB,EACrB,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,YAAY,EACV,iBAAiB,EACjB,cAAc,EACd,uBAAuB,EACvB,sBAAsB,GACvB,MAAM,iBAAiB,CAAC;AAEzB,OAAO,EACL,sBAAsB,EACtB,gCAAgC,GACjC,MAAM,gCAAgC,CAAC;AACxC,YAAY,EACV,sBAAsB,EACtB,uBAAuB,EACvB,gBAAgB,GACjB,MAAM,gCAAgC,CAAC;AAExC,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC;AAC/E,YAAY,EAAE,gBAAgB,EAAE,MAAM,qBAAqB,CAAC"}
|
package/dist/index.js
CHANGED
|
@@ -1,14 +1,16 @@
|
|
|
1
1
|
/**
|
|
2
2
|
* @agenticros/core — Platform-agnostic ROS2 transport, config, and utilities.
|
|
3
3
|
*/
|
|
4
|
-
export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, } from "./config.js";
|
|
4
|
+
export { AgenticROSConfigSchema, parseConfig, prepareConfigForPersistence, getTransportConfig, WorkspaceLimitsSchema, RobotSafetyOverlaySchema, } from "./config.js";
|
|
5
|
+
export { FEATURE_VOCABULARY, FEATURE_VOCABULARY_SET, BINDING_KEYS, BINDING_KEYS_SET, FEATURE_REQUIRED_BINDING, PROFILE_SCHEMA_ID, RobotProfileSchema, isKnownFeature, isKnownBindingKey, unknownFeatures, unknownBindingKeys, featuresMissingBindings, resolveRobotProfile, featuresFromDeprecatedSensors, featuresSatisfied, missingFeatures, resolveBinding, inferProfileDraft, } from "./robot-profile.js";
|
|
5
6
|
export { createTransport } from "./transport/factory.js";
|
|
6
7
|
export { toNamespacedTopic, toNamespacedTopicFull, toTeleopCameraTopicShort, resolveCameraSubscribeTopic, } from "./topic-utils.js";
|
|
7
8
|
export { applyCmdVelTwistSignConvention } from "./cmd-vel-twist.js";
|
|
9
|
+
export { TWIST_MSG_TYPE, ZERO_TWIST, resolveSafetyForRobot, isTwistMessage, checkTwistMessage, clampTwistToLimits, checkWorkspacePosition, extractWorkspacePositions, checkWorkspacePayload, checkPublishSafety, checkActionGoalSafety, checkInputsWorkspace, robotHasMobileBase, publishStopForBases, attachDisconnectFailSafe, checkLiveBindings, } from "./safety.js";
|
|
8
10
|
export { isCdrTypeSupported } from "./transport/zenoh/cdr.js";
|
|
9
11
|
export { renderAgenticROSBanner, agenticROSBannerLines, } from "./banner.js";
|
|
10
12
|
export { createMemory, resolveMemoryNamespace } from "./memory/index.js";
|
|
11
|
-
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, } from "./capabilities.js";
|
|
13
|
+
export { BUILTIN_CAPABILITIES, readSkillCapabilities, listAllCapabilities, listCapabilitiesForRobot, capabilityUnavailableMessage, } from "./capabilities.js";
|
|
12
14
|
export { CapabilitySchema, CapabilityFieldSchema, CapabilityImplementationSchema, parseCapability, safeParseCapability, } from "./capability-schema.js";
|
|
13
15
|
export { buildExternalGoal, executeExternalCapability, } from "./external-capability.js";
|
|
14
16
|
export { runMission, MissionStepAbortedError } from "./mission.js";
|
package/dist/index.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAGH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,
|
|
1
|
+
{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAGH,OAAO,EACL,sBAAsB,EACtB,WAAW,EACX,2BAA2B,EAC3B,kBAAkB,EAClB,qBAAqB,EACrB,wBAAwB,GACzB,MAAM,aAAa,CAAC;AAErB,OAAO,EACL,kBAAkB,EAClB,sBAAsB,EACtB,YAAY,EACZ,gBAAgB,EAChB,wBAAwB,EACxB,iBAAiB,EACjB,kBAAkB,EAClB,cAAc,EACd,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,uBAAuB,EACvB,mBAAmB,EACnB,6BAA6B,EAC7B,iBAAiB,EACjB,eAAe,EACf,cAAc,EACd,iBAAiB,GAClB,MAAM,oBAAoB,CAAC;AAG5B,OAAO,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC;AAoBzD,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,wBAAwB,EACxB,2BAA2B,GAC5B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,8BAA8B,EAAE,MAAM,oBAAoB,CAAC;AACpE,OAAO,EACL,cAAc,EACd,UAAU,EACV,qBAAqB,EACrB,cAAc,EACd,iBAAiB,EACjB,kBAAkB,EAClB,sBAAsB,EACtB,yBAAyB,EACzB,qBAAqB,EACrB,kBAAkB,EAClB,qBAAqB,EACrB,oBAAoB,EACpB,kBAAkB,EAClB,mBAAmB,EACnB,wBAAwB,EACxB,iBAAiB,GAClB,MAAM,aAAa,CAAC;AASrB,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EACL,sBAAsB,EACtB,qBAAqB,GAEtB,MAAM,aAAa,CAAC;AAErB,OAAO,EAAE,YAAY,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC;AAUzE,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,mBAAmB,EACnB,wBAAwB,EACxB,4BAA4B,GAC7B,MAAM,mBAAmB,CAAC;AAQ3B,OAAO,EACL,gBAAgB,EAChB,qBAAqB,EACrB,8BAA8B,EAC9B,eAAe,EACf,mBAAmB,GACpB,MAAM,wBAAwB,CAAC;AAGhC,OAAO,EACL,iBAAiB,EACjB,yBAAyB,GAC1B,MAAM,0BAA0B,CAAC;AAMlC,OAAO,EAAE,UAAU,EAAE,uBAAuB,EAAE,MAAM,cAAc,CAAC;AAiBnE,OAAO,EACL,wBAAwB,EACxB,oBAAoB,EACpB,oBAAoB,EACpB,4BAA4B,EAC5B,wBAAwB,EACxB,gBAAgB,EAChB,kBAAkB,EAClB,oBAAoB,GACrB,MAAM,uBAAuB,CAAC;AAM/B,OAAO,EACL,eAAe,EACf,iBAAiB,EACjB,0BAA0B,GAC3B,MAAM,uBAAuB,CAAC;AAG/B,OAAO,EAAE,0BAA0B,EAAE,MAAM,8BAA8B,CAAC;AAE1E,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAG1D,OAAO,EACL,UAAU,EACV,YAAY,EACZ,oBAAoB,EACpB,gBAAgB,EAChB,0BAA0B,EAC1B,yBAAyB,GAC1B,MAAM,aAAa,CAAC;AAGrB,OAAO,EACL,sBAAsB,EACtB,cAAc,EACd,wBAAwB,GACzB,MAAM,gBAAgB,CAAC;AAGxB,OAAO,EACL,8BAA8B,EAC9B,mCAAmC,EACnC,gBAAgB,EAChB,gBAAgB,EAChB,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AAGxB,OAAO,EACL,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,GACjB,MAAM,mBAAmB,CAAC;AAG3B,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAC;AAOrD,OAAO,EACL,kBAAkB,EAClB,wBAAwB,EACxB,oBAAoB,EACpB,sBAAsB,EACtB,sBAAsB,EACtB,kBAAkB,EAClB,aAAa,EACb,gBAAgB,EAChB,aAAa,EACb,cAAc,EACd,qBAAqB,EACrB,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AAQzB,OAAO,EACL,sBAAsB,EACtB,gCAAgC,GACjC,MAAM,gCAAgC,CAAC;AAOxC,OAAO,EAAE,aAAa,EAAE,yBAAyB,EAAE,MAAM,qBAAqB,CAAC"}
|
package/dist/mission.d.ts
CHANGED
|
@@ -307,6 +307,12 @@ export interface RunMissionOptions {
|
|
|
307
307
|
transcript?: MissionTranscriptSink;
|
|
308
308
|
/** Adapter label (e.g. "claude-code", "openclaw", "gemini") — copied into transcripts. */
|
|
309
309
|
adapter?: string;
|
|
310
|
+
/**
|
|
311
|
+
* Optional override for the "capability not in registry" step error.
|
|
312
|
+
* Adapters use this to explain hardware-profile mismatches
|
|
313
|
+
* (`missing features: arm`) instead of a generic unknown-id message.
|
|
314
|
+
*/
|
|
315
|
+
unavailableMessage?: (capabilityId: string) => string | undefined;
|
|
310
316
|
}
|
|
311
317
|
/**
|
|
312
318
|
* Execute a mission sequentially.
|
package/dist/mission.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"mission.d.ts","sourceRoot":"","sources":["../src/mission.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwDG;AAEH,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAEpD;;;;;;GAMG;AACH,MAAM,WAAW,wBAAwB;IACvC,SAAS,EAAE,OAAO,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,OAAO,CAAC;IACjB,8EAA8E;IAC9E,MAAM,CAAC,EAAE,MAAM,CAAC;CACjB;AAED,0EAA0E;AAC1E,MAAM,MAAM,mBAAmB,GAAG,wBAAwB,CAAC;AAE3D;;;;;;;;GAQG;AACH,MAAM,MAAM,qBAAqB,GAAG,CAClC,KAAK,EAAE,sBAAsB,KAC1B,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC;AAE1B,8CAA8C;AAC9C,MAAM,WAAW,sBAAsB;IACrC,kFAAkF;IAClF,UAAU,EAAE,MAAM,CAAC;IACnB,+BAA+B;IAC/B,YAAY,CAAC,EAAE,MAAM,CAAC;IACtB,+EAA+E;IAC/E,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,8CAA8C;IAC9C,UAAU,EAAE,MAAM,CAAC;IACnB,iDAAiD;IACjD,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,qDAAqD;IACrD,UAAU,EAAE,MAAM,CAAC;IACnB,kCAAkC;IAClC,UAAU,EAAE,MAAM,CAAC;IACnB,uCAAuC;IACvC,MAAM,EAAE,iBAAiB,CAAC;CAC3B;AAED,6BAA6B;AAC7B,MAAM,WAAW,WAAW;IAC1B,gFAAgF;IAChF,EAAE,EAAE,MAAM,CAAC;IACX;;;;OAIG;IACH,UAAU,EAAE,MAAM,CAAC;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IACjC;;;;;OAKG;IACH,OAAO,CAAC,EAAE,MAAM,GAAG,UAAU,CAAC;IAC9B;;;;OAIG;IACH,KAAK,CAAC,EAAE;QACN,sDAAsD;QACtD,YAAY,EAAE,MAAM,CAAC;QACrB,uDAAuD;QACvD,UAAU,CAAC,EAAE,MAAM,CAAC;QACpB,6DAA6D;QAC7D,kBAAkB,CAAC,EAAE,MAAM,CAAC;KAC7B,CAAC;CACH;AAED,+BAA+B;AAC/B,MAAM,WAAW,OAAO;IACtB,gFAAgF;IAChF,IAAI,CAAC,EAAE,MAAM,CAAC;IACd;;;OAGG;IACH,IAAI,CAAC,EAAE,MAAM,CAAC;IACd;;;;;;OAMG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,KAAK,EAAE,WAAW,EAAE,CAAC;CACtB;AAED,+BAA+B;AAC/B,MAAM,WAAW,iBAAiB;IAChC,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,MAAM,CAAC;IACnB;;;;;;;;;OASG;IACH,MAAM,EAAE,IAAI,GAAG,OAAO,GAAG,SAAS,GAAG,WAAW,GAAG,QAAQ,CAAC;IAC5D,8DAA8D;IAC9D,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAChC,sFAAsF;IACtF,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAClC,iEAAiE;IACjE,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,4CAA4C;IAC5C,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,uBAAuB;IACvB,WAAW,EAAE,MAAM,CAAC;IACpB,yEAAyE;IACzE,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAED,+BAA+B;AAC/B,MAAM,WAAW,aAAa;IAC5B;;;;;;OAMG;IACH,MAAM,EAAE,IAAI,GAAG,OAAO,GAAG,WAAW,CAAC;IACrC,iFAAiF;IACjF,SAAS,EAAE,MAAM,CAAC;IAClB,WAAW,EAAE,MAAM,CAAC;IACpB,8CAA8C;IAC9C,KAAK,EAAE,iBAAiB,EAAE,CAAC;IAC3B,wCAAwC;IACxC,WAAW,EAAE,MAAM,CAAC;IACpB,sDAAsD;IACtD,OAAO,EAAE,MAAM,CAAC;IAChB;;;;OAIG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB;;;OAGG;IACH,mBAAmB,CAAC,EAAE,MAAM,CAAC;CAC9B;AAED,6DAA6D;AAC7D,MAAM,WAAW,sBAAsB;IACrC;;;;OAIG;IACH,MAAM,CAAC,EAAE,WAAW,CAAC;CACtB;AAED;;;;;;;;;GASG;AACH,MAAM,MAAM,qBAAqB,GAAG,CAClC,QAAQ,EAAE,MAAM,EAChB,IAAI,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,EAC7B,GAAG,CAAC,EAAE,sBAAsB,KACzB,OAAO,CAAC;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE,CAAC,CAAC;AAErF,6EAA6E;AAC7E,qBAAa,uBAAwB,SAAQ,KAAK;gBACpC,OAAO,SAAiB;CAIrC;AASD;;;;;;;;;;;;;GAaG;AACH,MAAM,WAAW,qBAAqB;IACpC,mCAAmC;IACnC,IAAI,EAAE,MAAM,CAAC;IACb,+EAA+E;IAC/E,SAAS,EAAE,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IACxE;;;;OAIG;IACH,YAAY,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,SAAS,CAAC;CACtE;AAED,MAAM,MAAM,sBAAsB,GAAG,MAAM,CAAC,MAAM,EAAE,qBAAqB,CAAC,CAAC;AAsF3E,4DAA4D;AAC5D,MAAM,WAAW,iBAAiB;IAChC;;;;;OAKG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB;;;;;OAKG;IACH,YAAY,CAAC,EAAE,wBAAwB,CAAC;IACxC;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,qBAAqB,CAAC;IACnC,0FAA0F;IAC1F,OAAO,CAAC,EAAE,MAAM,CAAC;
|
|
1
|
+
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|
package/dist/mission.js
CHANGED
|
@@ -255,7 +255,8 @@ export async function runMission(mission, capabilities, bindings, dispatcher, op
|
|
|
255
255
|
capability: step.capability,
|
|
256
256
|
status: "error",
|
|
257
257
|
inputs: step.inputs ?? {},
|
|
258
|
-
error:
|
|
258
|
+
error: options?.unavailableMessage?.(step.capability) ??
|
|
259
|
+
`Capability "${step.capability}" not found in registry. Use ros2_list_capabilities to see what's available.`,
|
|
259
260
|
duration_ms: Date.now() - t0,
|
|
260
261
|
};
|
|
261
262
|
results.push(result);
|
package/dist/mission.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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1
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+
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