@agenticros/core 0.8.4 → 0.8.5

package/dist/transport-pool.d.ts

@@ -48,6 +48,9 @@ export declare class TransportPool {
     private readonly entries;
     /** Promises kept while a connection is in flight, so concurrent acquires share the same connect. */
     private readonly inFlight;
+    private readonly failSafeUnsub;
+    /** Last config passed to acquire — used to resolve which robots share a transport on drain. */
+    private lastConfig;
     constructor(factory?: TransportFactory);
     /**
      * Acquire (lazy-connect on first call) the transport for this robot.
@@ -65,6 +68,7 @@ export declare class TransportPool {
      * times. Errors on individual disconnects are swallowed.
      */
     disconnectAll(): Promise<void>;
+    private clearFailSafe;
     /** Visible for tests: how many distinct transports are alive right now. */
     get size(): number;
     /** Visible for tests: list of pool keys currently cached. */

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

@@ -1 +1 @@
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+{"version":3,"file":"transport-pool.d.ts","sourceRoot":"","sources":["../src/transport-pool.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAyCG;AAEH,OAAO,KAAK,EACV,gBAAgB,EAChB,aAAa,EACb,YAAY,EACZ,eAAe,EAChB,MAAM,YAAY,CAAC;AAYpB,eAAO,MAAM,yBAAyB,eAAe,CAAC;AAEtD,MAAM,MAAM,gBAAgB,GAAG,CAAC,GAAG,EAAE,eAAe,KAAK,OAAO,CAAC,YAAY,CAAC,CAAC;AAE/E,qBAAa,aAAa;IAQZ,OAAO,CAAC,QAAQ,CAAC,OAAO;IAPpC,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAmC;IAC3D,oGAAoG;IACpG,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAA4C;IACrE,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAiC;IAC/D,+FAA+F;IAC/F,OAAO,CAAC,UAAU,CAA+B;gBAEpB,OAAO,GAAE,gBAAkC;IAExE;;;OAGG;IACG,OAAO,CAAC,MAAM,EAAE,gBAAgB,EAAE,KAAK,EAAE,aAAa,GAAG,OAAO,CAAC,YAAY,CAAC;IAYpF;;;;OAIG;IACG,aAAa,CAAC,MAAM,EAAE,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC;IAK5D;;;OAGG;IACG,aAAa,IAAI,OAAO,CAAC,IAAI,CAAC;IAoBpC,OAAO,CAAC,aAAa;IAYrB,2EAA2E;IAC3E,IAAI,IAAI,IAAI,MAAM,CAEjB;IAED,6DAA6D;IAC7D,IAAI,IAAI,MAAM,EAAE;YAIF,YAAY;CA2C3B"}

package/dist/transport-pool.js

@@ -41,6 +41,8 @@
  * for the unit-test seam.
  */
 import { createTransport, getTransportConfig, getTransportConfigForRobot, hasRobotTransportOverride, resolveRobot, } from "./index.js";
+import { listRobots } from "./robots.js";
+import { attachDisconnectFailSafe, publishStopForBases } from "./safety.js";
 const CONNECT_TIMEOUT_MS = 15_000;
 export const TRANSPORT_POOL_GLOBAL_KEY = "__global__";
 export class TransportPool {
@@ -48,6 +50,9 @@ export class TransportPool {
     entries = new Map();
     /** Promises kept while a connection is in flight, so concurrent acquires share the same connect. */
     inFlight = new Map();
+    failSafeUnsub = new Map();
+    /** Last config passed to acquire — used to resolve which robots share a transport on drain. */
+    lastConfig;
     constructor(factory = createTransport) {
         this.factory = factory;
     }
@@ -56,6 +61,7 @@ export class TransportPool {
      * See the module docstring for the full key + caching contract.
      */
     async acquire(config, robot) {
+        this.lastConfig = config;
         const key = hasRobotTransportOverride(config, robot.id)
             ? robot.id
             : TRANSPORT_POOL_GLOBAL_KEY;
@@ -78,15 +84,33 @@ export class TransportPool {
      */
     async disconnectAll() {
         const pending = [];
-        for (const t of this.entries.values()) {
-            pending.push(t.disconnect().catch(() => {
-                /* best-effort drain */
-            }));
+        const cfg = this.lastConfig;
+        for (const [key, t] of this.entries) {
+            const robots = cfg ? robotsForPoolKey(cfg, key) : [];
+            pending.push((async () => {
+                await publishStopForBases(t, robots).catch(() => { });
+                this.clearFailSafe(key);
+                await t.disconnect().catch(() => {
+                    /* best-effort drain */
+                });
+            })());
         }
         this.entries.clear();
         this.inFlight.clear();
         await Promise.all(pending);
     }
+    clearFailSafe(key) {
+        const unsub = this.failSafeUnsub.get(key);
+        if (unsub) {
+            try {
+                unsub();
+            }
+            catch {
+                /* ignore */
+            }
+            this.failSafeUnsub.delete(key);
+        }
+    }
     /** Visible for tests: how many distinct transports are alive right now. */
     get size() {
         return this.entries.size;
@@ -107,13 +131,24 @@ export class TransportPool {
         if (cached) {
             // Stale entry (e.g. router restarted under us). Drop it cleanly.
             this.entries.delete(key);
-            cached.disconnect().catch(() => { });
+            this.clearFailSafe(key);
+            const staleRobots = this.lastConfig ? robotsForPoolKey(this.lastConfig, key) : [];
+            void publishStopForBases(cached, staleRobots)
+                .catch(() => { })
+                .finally(() => {
+                cached.disconnect().catch(() => { });
+            });
         }
         const connectFlight = (async () => {
             const cfg = resolveCfg();
             const t = await this.factory(cfg);
             await connectWithTimeout(t);
             this.entries.set(key, t);
+            if (this.lastConfig) {
+                this.clearFailSafe(key);
+                const unsub = attachDisconnectFailSafe(t, robotsForPoolKey(this.lastConfig, key));
+                this.failSafeUnsub.set(key, unsub);
+            }
             return t;
         })();
         this.inFlight.set(key, connectFlight);
@@ -132,4 +167,11 @@ async function connectWithTimeout(t) {
     });
     await Promise.race([t.connect(), timeout]);
 }
+function robotsForPoolKey(config, key) {
+    const robots = listRobots(config);
+    if (key === TRANSPORT_POOL_GLOBAL_KEY) {
+        return robots.filter((r) => !hasRobotTransportOverride(config, r.id));
+    }
+    return robots.filter((r) => r.id === key);
+}
 //# sourceMappingURL=transport-pool.js.map

package/dist/transport-pool.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@agenticros/core",
-  "version": "0.8.4",
+  "version": "0.8.5",
   "type": "module",
   "description": "AgenticROS core — platform-agnostic ROS2 transport, types, and config (the dep every AgenticROS skill imports).",
   "keywords": [
@@ -43,13 +43,6 @@
   "engines": {
     "node": ">=20"
   },
-  "scripts": {
-    "build": "tsc",
-    "typecheck": "tsc --noEmit",
-    "test": "node --test \"dist/memory/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
-    "prepublishOnly": "npm run build",
-    "pack:dry": "npm pack --dry-run"
-  },
   "dependencies": {
     "@eclipse-zenoh/zenoh-ts": "^1.9.0",
     "@foxglove/cdr": "^3.5.0",
@@ -68,5 +61,11 @@
     "typescript": "^5.7.0"
   },
   "author": "PlaiPin",
-  "license": "Apache-2.0"
-}
+  "license": "Apache-2.0",
+  "scripts": {
+    "build": "tsc",
+    "typecheck": "tsc --noEmit",
+    "test": "node --test \"dist/memory/__tests__/*.test.js\" \"dist/__tests__/*.test.js\"",
+    "pack:dry": "npm pack --dry-run"
+  }
+}