@agenticros/core 0.8.4 → 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.js +1 -1
- package/dist/capabilities.js.map +1 -1
- package/dist/config.d.ts +185 -35
- package/dist/config.d.ts.map +1 -1
- package/dist/config.js +29 -8
- package/dist/config.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 +15 -5
- package/dist/find-robots-for.js.map +1 -1
- package/dist/index.d.ts +4 -2
- package/dist/index.d.ts.map +1 -1
- package/dist/index.js +2 -1
- package/dist/index.js.map +1 -1
- package/dist/robots.d.ts +6 -1
- package/dist/robots.d.ts.map +1 -1
- package/dist/robots.js +1 -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/capabilities.js
CHANGED
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@@ -33,7 +33,7 @@ export const BUILTIN_CAPABILITIES = [
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id: "drive_base",
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verb: "drive",
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description: "Drive the robot base by publishing geometry_msgs/Twist to the configured cmd_vel topic. " +
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-
"Linear/angular velocities are
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+
"Linear/angular velocities are enforced server-side by per-robot safety overlays (else gateway safety.maxLinearVelocity / maxAngularVelocity).",
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inputs: {
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linear_x: { type: "number", description: "Forward velocity (m/s).", optional: true },
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angular_z: { type: "number", description: "Yaw velocity (rad/s).", optional: true },
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package/dist/capabilities.js.map
CHANGED
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@@ -1 +1 @@
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1
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-
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+
{"version":3,"file":"capabilities.js","sourceRoot":"","sources":["../src/capabilities.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AAEH,OAAO,EAAE,aAAa,EAAE,MAAM,aAAa,CAAC;AAC5C,OAAO,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,SAAS,CAAC;AACnD,OAAO,EAAE,IAAI,EAAE,OAAO,IAAI,WAAW,EAAE,MAAM,WAAW,CAAC;AAEzD,OAAO,EAAE,YAAY,EAAsB,MAAM,aAAa,CAAC;AAC/D,OAAO,EAAE,iBAAiB,EAAE,eAAe,EAAE,MAAM,oBAAoB,CAAC;AAqExE;;;;;GAKG;AACH,MAAM,CAAC,MAAM,oBAAoB,GAA0B;IACzD;QACE,EAAE,EAAE,YAAY;QAChB,IAAI,EAAE,OAAO;QACb,WAAW,EACT,0FAA0F;YAC1F,+IAA+I;QACjJ,MAAM,EAAE;YACN,QAAQ,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,yBAAyB,EAAE,QAAQ,EAAE,IAAI,EAAE;YACpF,SAAS,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,uBAAuB,EAAE,QAAQ,EAAE,IAAI,EAAE;SACpF;QACD,aAAa,EAAE,IAAI;QACnB,WAAW,EAAE,IAAI;QACjB,QAAQ,EAAE,CAAC,MAAM,CAAC;QAClB,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE;KAC5B;IACD;QACE,EAAE,EAAE,eAAe;QACnB,IAAI,EAAE,KAAK;QACX,WAAW,EACT,sFAAsF;QACxF,MAAM,EAAE;YACN,KAAK,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,+CAA+C,EAAE,QAAQ,EAAE,IAAI,EAAE;SACxG;QACD,OAAO,EAAE;YACP,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,4BAA4B,EAAE;YACrE,KAAK,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,wBAAwB,EAAE;YAChE,MAAM,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,yBAAyB,EAAE;SACnE;QACD,aAAa,EAAE,IAAI;QACnB,QAAQ,EAAE,CAAC,QAAQ,CAAC;QACpB,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE;KAC5B;IACD;QACE,EAAE,EAAE,eAAe;QACnB,IAAI,EAAE,SAAS;QACf,WAAW,EACT,sEAAsE;YACtE,sDAAsD;QACxD,MAAM,EAAE;YACN,KAAK,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,cAAc,EAAE,QAAQ,EAAE,IAAI,EAAE;SACvE;QACD,OAAO,EAAE;YACP,UAAU,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,qCAAqC,EAAE;YAClF,QAAQ,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,wCAAwC,EAAE;SACpF;QACD,aAAa,EAAE,IAAI;QACnB,QAAQ,EAAE,CAAC,OAAO,CAAC;QACnB,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE;KAC5B;IACD;QACE,EAAE,EAAE,aAAa;QACjB,IAAI,EAAE,YAAY;QAClB,WAAW,EACT,mFAAmF;YACnF,4EAA4E;QAC9E,aAAa,EAAE,IAAI;QACnB,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE;KAC5B;IACD;QACE,EAAE,EAAE,eAAe;QACnB,IAAI,EAAE,SAAS;QACf,WAAW,EACT,iFAAiF;YACjF,wDAAwD;QAC1D,MAAM,EAAE;YACN,KAAK,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,mBAAmB,EAAE;YAC3D,IAAI,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,oDAAoD,EAAE;YAC3F,OAAO,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,2CAA2C,EAAE;SACtF;QACD,aAAa,EAAE,IAAI;QACnB,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE;KAC5B;IACD;QACE,EAAE,EAAE,gBAAgB;QACpB,IAAI,EAAE,MAAM;QACZ,WAAW,EAAE,qFAAqF;QAClG,MAAM,EAAE;YACN,KAAK,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,mBAAmB,EAAE;YAC3D,IAAI,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,gDAAgD,EAAE,QAAQ,EAAE,IAAI,EAAE;YACvG,OAAO,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,sCAAsC,EAAE,QAAQ,EAAE,IAAI,EAAE;SACjG;QACD,aAAa,EAAE,IAAI;QACnB,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE;KAC5B;CACF,CAAC;AAEF,SAAS,gBAAgB,CAAC,KAAc;IACtC,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,KAAK,CAAC;IACtD,MAAM,CAAC,GAAG,KAAgC,CAAC;IAC3C,OAAO,OAAO,CAAC,CAAC,EAAE,KAAK,QAAQ,IAAI,CAAC,CAAC,EAAE,CAAC,MAAM,GAAG,CAAC,CAAC;AACrD,CAAC;AAED,SAAS,mBAAmB,CAC1B,GAAyC,EACzC,MAAwB;IAExB,OAAO;QACL,EAAE,EAAE,GAAG,CAAC,EAAE;QACV,IAAI,EAAE,OAAO,GAAG,CAAC,IAAI,KAAK,QAAQ,IAAI,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE;QAClE,WAAW,EAAE,OAAO,GAAG,CAAC,WAAW,KAAK,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,EAAE;QACvE,GAAG,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QAC7C,GAAG,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,OAAO,EAAE,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QAChD,GAAG,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC,CAAC,EAAE,aAAa,EAAE,GAAG,CAAC,aAAa,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QAClE,GAAG,CAAC,OAAO,GAAG,CAAC,aAAa,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,aAAa,EAAE,GAAG,CAAC,aAAa,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QACvF,GAAG,CAAC,OAAO,GAAG,CAAC,WAAW,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,WAAW,EAAE,GAAG,CAAC,WAAW,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QACjF,GAAG,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,QAAQ,CAAC,IAAI,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,OAAO,CAAC,KAAK,QAAQ,CAAC;YACjF,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,CAAC,QAAQ,EAAE;YAC5B,CAAC,CAAC,EAAE,CAAC;QACP,GAAG,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,QAAQ,CAAC,IAAI,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,OAAO,CAAC,KAAK,QAAQ,CAAC;YACjF,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,CAAC,QAAQ,EAAE;YAC5B,CAAC,CAAC,EAAE,CAAC;QACP,GAAG,CAAC,GAAG,CAAC,cAAc,CAAC,CAAC,CAAC,EAAE,cAAc,EAAE,GAAG,CAAC,cAAc,EAAE,CAAC,CAAC,CAAC,EAAE,cAAc,EAAE,EAAE,IAAI,EAAE,YAAY,EAAE,EAAE,CAAC;QAC7G,MAAM;KACP,CAAC;AACJ,CAAC;AAED,SAAS,oBAAoB,CAC3B,UAAkB;IAElB,MAAM,QAAQ,GAAG,IAAI,CAAC,UAAU,EAAE,mBAAmB,CAAC,CAAC;IACvD,IAAI,CAAC,UAAU,CAAC,QAAQ,CAAC;QAAE,OAAO,EAAE,CAAC;IACrC,IAAI,CAAC;QACH,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAY,CAAC;QACnE,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC;YAC7B,CAAC,CAAC,GAAG;YACL,CAAC,CAAC,GAAG,IAAI,OAAO,GAAG,KAAK,QAAQ,IAAI,KAAK,CAAC,OAAO,CAAE,GAAkC,CAAC,YAAY,CAAC;gBACjG,CAAC,CAAE,GAAmC,CAAC,YAAY;gBACnD,CAAC,CAAC,EAAE,CAAC;QACT,MAAM,GAAG,GAAgD,EAAE,CAAC;QAC5D,KAAK,MAAM,CAAC,IAAI,IAAI;YAAE,IAAI,gBAAgB,CAAC,CAAC,CAAC;gBAAE,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAC3D,OAAO,GAAG,CAAC;IACb,CAAC;IAAC,MAAM,CAAC;QACP,OAAO,EAAE,CAAC;IA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BAChE,sBAAsB,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAC7C,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC"}
|
package/dist/config.d.ts
CHANGED
|
@@ -1,5 +1,66 @@
|
|
|
1
1
|
import { z } from "zod";
|
|
2
2
|
import type { TransportConfig } from "./transport/types.js";
|
|
3
|
+
/** Map-frame AABB for navigation goals. All four edges required when set. */
|
|
4
|
+
export declare const WorkspaceLimitsSchema: z.ZodObject<{
|
|
5
|
+
xMin: z.ZodNumber;
|
|
6
|
+
xMax: z.ZodNumber;
|
|
7
|
+
yMin: z.ZodNumber;
|
|
8
|
+
yMax: z.ZodNumber;
|
|
9
|
+
}, "strip", z.ZodTypeAny, {
|
|
10
|
+
xMin: number;
|
|
11
|
+
xMax: number;
|
|
12
|
+
yMin: number;
|
|
13
|
+
yMax: number;
|
|
14
|
+
}, {
|
|
15
|
+
xMin: number;
|
|
16
|
+
xMax: number;
|
|
17
|
+
yMin: number;
|
|
18
|
+
yMax: number;
|
|
19
|
+
}>;
|
|
20
|
+
export type WorkspaceLimits = z.infer<typeof WorkspaceLimitsSchema>;
|
|
21
|
+
/**
|
|
22
|
+
* Per-robot safety overlay. Unset fields inherit `config.safety`.
|
|
23
|
+
* `workspaceLimits` is replaced as a whole when present on the robot.
|
|
24
|
+
*/
|
|
25
|
+
export declare const RobotSafetyOverlaySchema: z.ZodObject<{
|
|
26
|
+
maxLinearVelocity: z.ZodOptional<z.ZodNumber>;
|
|
27
|
+
maxAngularVelocity: z.ZodOptional<z.ZodNumber>;
|
|
28
|
+
workspaceLimits: z.ZodOptional<z.ZodObject<{
|
|
29
|
+
xMin: z.ZodNumber;
|
|
30
|
+
xMax: z.ZodNumber;
|
|
31
|
+
yMin: z.ZodNumber;
|
|
32
|
+
yMax: z.ZodNumber;
|
|
33
|
+
}, "strip", z.ZodTypeAny, {
|
|
34
|
+
xMin: number;
|
|
35
|
+
xMax: number;
|
|
36
|
+
yMin: number;
|
|
37
|
+
yMax: number;
|
|
38
|
+
}, {
|
|
39
|
+
xMin: number;
|
|
40
|
+
xMax: number;
|
|
41
|
+
yMin: number;
|
|
42
|
+
yMax: number;
|
|
43
|
+
}>>;
|
|
44
|
+
}, "strip", z.ZodTypeAny, {
|
|
45
|
+
maxLinearVelocity?: number | undefined;
|
|
46
|
+
maxAngularVelocity?: number | undefined;
|
|
47
|
+
workspaceLimits?: {
|
|
48
|
+
xMin: number;
|
|
49
|
+
xMax: number;
|
|
50
|
+
yMin: number;
|
|
51
|
+
yMax: number;
|
|
52
|
+
} | undefined;
|
|
53
|
+
}, {
|
|
54
|
+
maxLinearVelocity?: number | undefined;
|
|
55
|
+
maxAngularVelocity?: number | undefined;
|
|
56
|
+
workspaceLimits?: {
|
|
57
|
+
xMin: number;
|
|
58
|
+
xMax: number;
|
|
59
|
+
yMin: number;
|
|
60
|
+
yMax: number;
|
|
61
|
+
} | undefined;
|
|
62
|
+
}>;
|
|
63
|
+
export type RobotSafetyOverlay = z.infer<typeof RobotSafetyOverlaySchema>;
|
|
3
64
|
/**
|
|
4
65
|
* Per-robot transport override schema (Phase 1.d-resolve).
|
|
5
66
|
*
|
|
@@ -365,6 +426,50 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
365
426
|
features?: string[] | undefined;
|
|
366
427
|
bindings?: Record<string, string> | undefined;
|
|
367
428
|
}>>;
|
|
429
|
+
/**
|
|
430
|
+
* Optional per-robot safety overlay. Each field, when set,
|
|
431
|
+
* replaces the gateway `config.safety` value for that robot.
|
|
432
|
+
* Unset fields inherit the gateway defaults. Used so a 0.3 m/s
|
|
433
|
+
* indoor AMR and a 1.5 m/s rover can share one gateway.
|
|
434
|
+
*/
|
|
435
|
+
safety: z.ZodOptional<z.ZodObject<{
|
|
436
|
+
maxLinearVelocity: z.ZodOptional<z.ZodNumber>;
|
|
437
|
+
maxAngularVelocity: z.ZodOptional<z.ZodNumber>;
|
|
438
|
+
workspaceLimits: z.ZodOptional<z.ZodObject<{
|
|
439
|
+
xMin: z.ZodNumber;
|
|
440
|
+
xMax: z.ZodNumber;
|
|
441
|
+
yMin: z.ZodNumber;
|
|
442
|
+
yMax: z.ZodNumber;
|
|
443
|
+
}, "strip", z.ZodTypeAny, {
|
|
444
|
+
xMin: number;
|
|
445
|
+
xMax: number;
|
|
446
|
+
yMin: number;
|
|
447
|
+
yMax: number;
|
|
448
|
+
}, {
|
|
449
|
+
xMin: number;
|
|
450
|
+
xMax: number;
|
|
451
|
+
yMin: number;
|
|
452
|
+
yMax: number;
|
|
453
|
+
}>>;
|
|
454
|
+
}, "strip", z.ZodTypeAny, {
|
|
455
|
+
maxLinearVelocity?: number | undefined;
|
|
456
|
+
maxAngularVelocity?: number | undefined;
|
|
457
|
+
workspaceLimits?: {
|
|
458
|
+
xMin: number;
|
|
459
|
+
xMax: number;
|
|
460
|
+
yMin: number;
|
|
461
|
+
yMax: number;
|
|
462
|
+
} | undefined;
|
|
463
|
+
}, {
|
|
464
|
+
maxLinearVelocity?: number | undefined;
|
|
465
|
+
maxAngularVelocity?: number | undefined;
|
|
466
|
+
workspaceLimits?: {
|
|
467
|
+
xMin: number;
|
|
468
|
+
xMax: number;
|
|
469
|
+
yMin: number;
|
|
470
|
+
yMax: number;
|
|
471
|
+
} | undefined;
|
|
472
|
+
}>>;
|
|
368
473
|
/**
|
|
369
474
|
* Phase 1.d-resolve per-robot transport override.
|
|
370
475
|
*
|
|
@@ -588,6 +693,16 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
588
693
|
features: string[];
|
|
589
694
|
bindings: Record<string, string>;
|
|
590
695
|
} | undefined;
|
|
696
|
+
safety?: {
|
|
697
|
+
maxLinearVelocity?: number | undefined;
|
|
698
|
+
maxAngularVelocity?: number | undefined;
|
|
699
|
+
workspaceLimits?: {
|
|
700
|
+
xMin: number;
|
|
701
|
+
xMax: number;
|
|
702
|
+
yMin: number;
|
|
703
|
+
yMax: number;
|
|
704
|
+
} | undefined;
|
|
705
|
+
} | undefined;
|
|
591
706
|
}, {
|
|
592
707
|
id: string;
|
|
593
708
|
transport?: {
|
|
@@ -640,6 +755,16 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
640
755
|
features?: string[] | undefined;
|
|
641
756
|
bindings?: Record<string, string> | undefined;
|
|
642
757
|
} | undefined;
|
|
758
|
+
safety?: {
|
|
759
|
+
maxLinearVelocity?: number | undefined;
|
|
760
|
+
maxAngularVelocity?: number | undefined;
|
|
761
|
+
workspaceLimits?: {
|
|
762
|
+
xMin: number;
|
|
763
|
+
xMax: number;
|
|
764
|
+
yMin: number;
|
|
765
|
+
yMax: number;
|
|
766
|
+
} | undefined;
|
|
767
|
+
} | undefined;
|
|
643
768
|
}>, "many">>;
|
|
644
769
|
/** Phase 3 teleop web app: camera + twist controls. */
|
|
645
770
|
teleop: z.ZodDefault<z.ZodObject<{
|
|
@@ -684,39 +809,44 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
684
809
|
safety: z.ZodDefault<z.ZodObject<{
|
|
685
810
|
maxLinearVelocity: z.ZodDefault<z.ZodNumber>;
|
|
686
811
|
maxAngularVelocity: z.ZodDefault<z.ZodNumber>;
|
|
687
|
-
|
|
688
|
-
|
|
689
|
-
|
|
690
|
-
|
|
691
|
-
|
|
812
|
+
/**
|
|
813
|
+
* Optional geofence for navigation goals (map frame). Unset =
|
|
814
|
+
* not enforced. Absence of a bound is pass-through; a set but
|
|
815
|
+
* inverted bound (xMin > xMax) fails closed.
|
|
816
|
+
*/
|
|
817
|
+
workspaceLimits: z.ZodOptional<z.ZodObject<{
|
|
818
|
+
xMin: z.ZodNumber;
|
|
819
|
+
xMax: z.ZodNumber;
|
|
820
|
+
yMin: z.ZodNumber;
|
|
821
|
+
yMax: z.ZodNumber;
|
|
692
822
|
}, "strip", z.ZodTypeAny, {
|
|
693
823
|
xMin: number;
|
|
694
824
|
xMax: number;
|
|
695
825
|
yMin: number;
|
|
696
826
|
yMax: number;
|
|
697
827
|
}, {
|
|
698
|
-
xMin
|
|
699
|
-
xMax
|
|
700
|
-
yMin
|
|
701
|
-
yMax
|
|
828
|
+
xMin: number;
|
|
829
|
+
xMax: number;
|
|
830
|
+
yMin: number;
|
|
831
|
+
yMax: number;
|
|
702
832
|
}>>;
|
|
703
833
|
}, "strip", z.ZodTypeAny, {
|
|
704
834
|
maxLinearVelocity: number;
|
|
705
835
|
maxAngularVelocity: number;
|
|
706
|
-
workspaceLimits
|
|
836
|
+
workspaceLimits?: {
|
|
707
837
|
xMin: number;
|
|
708
838
|
xMax: number;
|
|
709
839
|
yMin: number;
|
|
710
840
|
yMax: number;
|
|
711
|
-
};
|
|
841
|
+
} | undefined;
|
|
712
842
|
}, {
|
|
713
843
|
maxLinearVelocity?: number | undefined;
|
|
714
844
|
maxAngularVelocity?: number | undefined;
|
|
715
845
|
workspaceLimits?: {
|
|
716
|
-
xMin
|
|
717
|
-
xMax
|
|
718
|
-
yMin
|
|
719
|
-
yMax
|
|
846
|
+
xMin: number;
|
|
847
|
+
xMax: number;
|
|
848
|
+
yMin: number;
|
|
849
|
+
yMax: number;
|
|
720
850
|
} | undefined;
|
|
721
851
|
}>>;
|
|
722
852
|
/**
|
|
@@ -971,6 +1101,16 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
971
1101
|
namespace: string;
|
|
972
1102
|
cameraTopic: string;
|
|
973
1103
|
};
|
|
1104
|
+
safety: {
|
|
1105
|
+
maxLinearVelocity: number;
|
|
1106
|
+
maxAngularVelocity: number;
|
|
1107
|
+
workspaceLimits?: {
|
|
1108
|
+
xMin: number;
|
|
1109
|
+
xMax: number;
|
|
1110
|
+
yMin: number;
|
|
1111
|
+
yMax: number;
|
|
1112
|
+
} | undefined;
|
|
1113
|
+
};
|
|
974
1114
|
robots: {
|
|
975
1115
|
name: string;
|
|
976
1116
|
namespace: string;
|
|
@@ -1023,6 +1163,16 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
1023
1163
|
features: string[];
|
|
1024
1164
|
bindings: Record<string, string>;
|
|
1025
1165
|
} | undefined;
|
|
1166
|
+
safety?: {
|
|
1167
|
+
maxLinearVelocity?: number | undefined;
|
|
1168
|
+
maxAngularVelocity?: number | undefined;
|
|
1169
|
+
workspaceLimits?: {
|
|
1170
|
+
xMin: number;
|
|
1171
|
+
xMax: number;
|
|
1172
|
+
yMin: number;
|
|
1173
|
+
yMax: number;
|
|
1174
|
+
} | undefined;
|
|
1175
|
+
} | undefined;
|
|
1026
1176
|
}[];
|
|
1027
1177
|
teleop: {
|
|
1028
1178
|
cameraTopic: string;
|
|
@@ -1034,16 +1184,6 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
1034
1184
|
speedDefault: number;
|
|
1035
1185
|
cameraPollMs: number;
|
|
1036
1186
|
};
|
|
1037
|
-
safety: {
|
|
1038
|
-
maxLinearVelocity: number;
|
|
1039
|
-
maxAngularVelocity: number;
|
|
1040
|
-
workspaceLimits: {
|
|
1041
|
-
xMin: number;
|
|
1042
|
-
xMax: number;
|
|
1043
|
-
yMin: number;
|
|
1044
|
-
yMax: number;
|
|
1045
|
-
};
|
|
1046
|
-
};
|
|
1047
1187
|
describer: {
|
|
1048
1188
|
url: string;
|
|
1049
1189
|
enabled: boolean;
|
|
@@ -1116,6 +1256,16 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
1116
1256
|
namespace?: string | undefined;
|
|
1117
1257
|
cameraTopic?: string | undefined;
|
|
1118
1258
|
} | undefined;
|
|
1259
|
+
safety?: {
|
|
1260
|
+
maxLinearVelocity?: number | undefined;
|
|
1261
|
+
maxAngularVelocity?: number | undefined;
|
|
1262
|
+
workspaceLimits?: {
|
|
1263
|
+
xMin: number;
|
|
1264
|
+
xMax: number;
|
|
1265
|
+
yMin: number;
|
|
1266
|
+
yMax: number;
|
|
1267
|
+
} | undefined;
|
|
1268
|
+
} | undefined;
|
|
1119
1269
|
robots?: {
|
|
1120
1270
|
id: string;
|
|
1121
1271
|
transport?: {
|
|
@@ -1168,6 +1318,16 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
1168
1318
|
features?: string[] | undefined;
|
|
1169
1319
|
bindings?: Record<string, string> | undefined;
|
|
1170
1320
|
} | undefined;
|
|
1321
|
+
safety?: {
|
|
1322
|
+
maxLinearVelocity?: number | undefined;
|
|
1323
|
+
maxAngularVelocity?: number | undefined;
|
|
1324
|
+
workspaceLimits?: {
|
|
1325
|
+
xMin: number;
|
|
1326
|
+
xMax: number;
|
|
1327
|
+
yMin: number;
|
|
1328
|
+
yMax: number;
|
|
1329
|
+
} | undefined;
|
|
1330
|
+
} | undefined;
|
|
1171
1331
|
}[] | undefined;
|
|
1172
1332
|
teleop?: {
|
|
1173
1333
|
cameraTopic?: string | undefined;
|
|
@@ -1179,16 +1339,6 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
|
|
|
1179
1339
|
speedDefault?: number | undefined;
|
|
1180
1340
|
cameraPollMs?: number | undefined;
|
|
1181
1341
|
} | undefined;
|
|
1182
|
-
safety?: {
|
|
1183
|
-
maxLinearVelocity?: number | undefined;
|
|
1184
|
-
maxAngularVelocity?: number | undefined;
|
|
1185
|
-
workspaceLimits?: {
|
|
1186
|
-
xMin?: number | undefined;
|
|
1187
|
-
xMax?: number | undefined;
|
|
1188
|
-
yMin?: number | undefined;
|
|
1189
|
-
yMax?: number | undefined;
|
|
1190
|
-
} | undefined;
|
|
1191
|
-
} | undefined;
|
|
1192
1342
|
describer?: {
|
|
1193
1343
|
url?: string | undefined;
|
|
1194
1344
|
enabled?: boolean | undefined;
|
package/dist/config.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
|
+
{"version":3,"file":"config.d.ts","sourceRoot":"","sources":["../src/config.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,CAAC,EAAE,MAAM,KAAK,CAAC;AACxB,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,sBAAsB,CAAC;AAG5D,6EAA6E;AAC7E,eAAO,MAAM,qBAAqB;;;;;;;;;;;;;;;EAKhC,CAAC;AACH,MAAM,MAAM,eAAe,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,qBAAqB,CAAC,CAAC;AAEpE;;;GAGG;AACH,eAAO,MAAM,wBAAwB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;EAInC,CAAC;AACH,MAAM,MAAM,kBAAkB,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,wBAAwB,CAAC,CAAC;AAuF1E;;;;;;;;;;;;;;;GAeG;AACH,QAAA,MAAM,4BAA4B;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAyBhC,CAAC;AAEH,MAAM,MAAM,sBAAsB,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,4BAA4B,CAAC,CAAC;AAElF,eAAO,MAAM,sBAAsB;;QAG7B;;;;WAIG;;;;;;;;QA5HP,qGAAqG;;;QAGrG,mHAAmH;;QAEnH;;;;WAIG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;QAoIC,4JAA4J;;;;;;;;;;;IAKhK;;;;;;;;;;;OAWG;;QAIG,4EAA4E;;;;;;QAM5E;;;;;;;;;;;;WAYG;;QAEH;;;;;;;;;;;;WAYG;;;;;;;;;;;;;;QAQH;;;;;;;;;WASG;;QAEH;;;;;WAKG;;;;;;;;;;;;;;QAEH;;;;;WAKG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;QAEH;;;;;;;;;;;;;;;;;;;;WAoBG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAMT,uDAAuD;;QAGnD,iIAAiI;;QAEjI,+HAA+H;;;;;;;;;;;QAI/H,6DAA6D;;QAE7D,6CAA6C;;QAE7C,sDAAsD;;;;;;;;;;;;;;;;;;;;;;;;QAStD;;;;WAIG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAKP;;;;;;;;;;;;;;;;;OAiBG;;;QAIC,mDAAmD;;QAcnD,wDAAwD;;QAExD,uEAAuE;;QAEvE,uCAAuC;;QAQvC,sCAAsC;;QAEtC,6BAA6B;;QAE7B;;;WAGG;;;;;;;;;;;;;;;;;;;;;IAKP;;;;;;;;;OASG;;QAGC,yEAAyE;;QAEzE,uFAAuF;;QAEvF,mFAAmF;;;YAI/E,sDAAsD;;;;;;;;YAMtD;;;;eAIG;;YAEH,0EAA0E;;YAI1E;;;;eAIG;;;;;;;;;;;YAOH,qEAAqE;;;;;;;;;;;YAOrE,yFAAyF;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAYjG,gGAAgG;;IAGhG,mHAAmH;;IAGnH,wGAAwG;;IAGxG;;;;;OAKG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;EAEH,CAAC;AAEH,MAAM,MAAM,gBAAgB,GAAG,CAAC,CAAC,KAAK,CAAC,OAAO,sBAAsB,CAAC,CAAC;AAEtE;;;;GAIG;AACH,wBAAgB,WAAW,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAAG,gBAAgB,CAY1E;AAED;;;;;GAKG;AACH,wBAAgB,2BAA2B,CACzC,MAAM,EAAE,gBAAgB,EACxB,GAAG,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,GAC3B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CASzB;AAED;;GAEG;AACH,wBAAgB,kBAAkB,CAAC,MAAM,EAAE,gBAAgB,GAAG,eAAe,CAc5E"}
|
package/dist/config.js
CHANGED
|
@@ -1,5 +1,21 @@
|
|
|
1
1
|
import { z } from "zod";
|
|
2
2
|
import { RobotProfileSchema } from "./robot-profile.js";
|
|
3
|
+
/** Map-frame AABB for navigation goals. All four edges required when set. */
|
|
4
|
+
export const WorkspaceLimitsSchema = z.object({
|
|
5
|
+
xMin: z.number(),
|
|
6
|
+
xMax: z.number(),
|
|
7
|
+
yMin: z.number(),
|
|
8
|
+
yMax: z.number(),
|
|
9
|
+
});
|
|
10
|
+
/**
|
|
11
|
+
* Per-robot safety overlay. Unset fields inherit `config.safety`.
|
|
12
|
+
* `workspaceLimits` is replaced as a whole when present on the robot.
|
|
13
|
+
*/
|
|
14
|
+
export const RobotSafetyOverlaySchema = z.object({
|
|
15
|
+
maxLinearVelocity: z.number().optional(),
|
|
16
|
+
maxAngularVelocity: z.number().optional(),
|
|
17
|
+
workspaceLimits: WorkspaceLimitsSchema.optional(),
|
|
18
|
+
});
|
|
3
19
|
const IceServerSchema = z.object({
|
|
4
20
|
urls: z.union([z.string(), z.array(z.string())]),
|
|
5
21
|
username: z.string().optional(),
|
|
@@ -212,6 +228,13 @@ export const AgenticROSConfigSchema = z.object({
|
|
|
212
228
|
* the intersection of installed skills and `profile.features`.
|
|
213
229
|
*/
|
|
214
230
|
profile: RobotProfileSchema.optional(),
|
|
231
|
+
/**
|
|
232
|
+
* Optional per-robot safety overlay. Each field, when set,
|
|
233
|
+
* replaces the gateway `config.safety` value for that robot.
|
|
234
|
+
* Unset fields inherit the gateway defaults. Used so a 0.3 m/s
|
|
235
|
+
* indoor AMR and a 1.5 m/s rover can share one gateway.
|
|
236
|
+
*/
|
|
237
|
+
safety: RobotSafetyOverlaySchema.optional(),
|
|
215
238
|
/**
|
|
216
239
|
* Phase 1.d-resolve per-robot transport override.
|
|
217
240
|
*
|
|
@@ -257,14 +280,12 @@ export const AgenticROSConfigSchema = z.object({
|
|
|
257
280
|
.object({
|
|
258
281
|
maxLinearVelocity: z.number().default(1.0),
|
|
259
282
|
maxAngularVelocity: z.number().default(1.5),
|
|
260
|
-
|
|
261
|
-
|
|
262
|
-
|
|
263
|
-
|
|
264
|
-
|
|
265
|
-
|
|
266
|
-
})
|
|
267
|
-
.default({}),
|
|
283
|
+
/**
|
|
284
|
+
* Optional geofence for navigation goals (map frame). Unset =
|
|
285
|
+
* not enforced. Absence of a bound is pass-through; a set but
|
|
286
|
+
* inverted bound (xMin > xMax) fails closed.
|
|
287
|
+
*/
|
|
288
|
+
workspaceLimits: WorkspaceLimitsSchema.optional(),
|
|
268
289
|
})
|
|
269
290
|
.default({}),
|
|
270
291
|
/**
|
package/dist/config.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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+
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|
@@ -8,6 +8,7 @@
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|
|
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 @@
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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 { listCapabilitiesForRobot } 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.
|
|
@@ -68,10 +68,20 @@ export function findRobotsFor(config, query, onlineIds) {
|
|
|
68
68
|
// profile.requires), not the gateway-wide union.
|
|
69
69
|
let matchedExplicitly = false;
|
|
70
70
|
if (wantedCap) {
|
|
71
|
-
|
|
72
|
-
|
|
73
|
-
|
|
74
|
-
|
|
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))
|
|
77
|
+
continue;
|
|
78
|
+
matchedExplicitly = true;
|
|
79
|
+
}
|
|
80
|
+
else {
|
|
81
|
+
const advertised = listCapabilitiesForRobot(config, robot.id);
|
|
82
|
+
if (!advertised.some((c) => c.id === wantedCap))
|
|
83
|
+
continue;
|
|
84
|
+
}
|
|
75
85
|
}
|
|
76
86
|
// online filter
|
|
77
87
|
let isOnline = null;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"find-robots-for.js","sourceRoot":"","sources":["../src/find-robots-for.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAwCG;AAGH,OAAO,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;
|
|
1
|
+
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|