@agenticros/core 0.8.4 → 0.8.6

package/dist/safety.js

@@ -0,0 +1,365 @@
+/**
+ * Shared safety gates: per-robot velocity limits, optional workspace
+ * geofence, and fail-safe zero-Twist on transport loss.
+ *
+ * Adapters (MCP, OpenClaw, Gemini, teleop, skills) must call these
+ * helpers rather than reading `config.safety` directly so a mixed
+ * fleet does not share one clamp.
+ */
+import { resolveBinding } from "./robot-profile.js";
+export const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
+export const ZERO_TWIST = {
+    linear: { x: 0, y: 0, z: 0 },
+    angular: { x: 0, y: 0, z: 0 },
+};
+const PASS = { block: false };
+function overlayOf(robot) {
+    return robot?.safety;
+}
+/**
+ * Resolve velocity + workspace limits for a robot. Robot overlay fields
+ * win; unset fields inherit the gateway `config.safety` defaults.
+ */
+export function resolveSafetyForRobot(config, robot) {
+    const gateway = config.safety ?? {
+        maxLinearVelocity: 1.0,
+        maxAngularVelocity: 1.5,
+    };
+    const overlay = overlayOf(robot);
+    return {
+        maxLinearVelocity: overlay?.maxLinearVelocity ?? gateway.maxLinearVelocity ?? 1.0,
+        maxAngularVelocity: overlay?.maxAngularVelocity ?? gateway.maxAngularVelocity ?? 1.5,
+        workspaceLimits: overlay?.workspaceLimits ?? gateway.workspaceLimits,
+    };
+}
+function asRecord(value) {
+    if (!value || typeof value !== "object" || Array.isArray(value))
+        return undefined;
+    return value;
+}
+function num(value, fallback = 0) {
+    const n = Number(value);
+    return Number.isFinite(n) ? n : fallback;
+}
+/** True when the payload looks like geometry_msgs/Twist. */
+export function isTwistMessage(msg) {
+    const rec = asRecord(msg);
+    if (!rec)
+        return false;
+    return asRecord(rec["linear"]) !== undefined || asRecord(rec["angular"]) !== undefined;
+}
+export function checkTwistMessage(limits, msg) {
+    if (!isTwistMessage(msg))
+        return PASS;
+    const rec = asRecord(msg);
+    const linear = asRecord(rec["linear"]);
+    const angular = asRecord(rec["angular"]);
+    if (linear) {
+        const speed = Math.sqrt(num(linear["x"]) ** 2 + num(linear["y"]) ** 2 + num(linear["z"]) ** 2);
+        if (speed > limits.maxLinearVelocity) {
+            return {
+                block: true,
+                blockReason: `Linear velocity ${speed.toFixed(2)} m/s exceeds safety limit of ${limits.maxLinearVelocity} m/s`,
+            };
+        }
+    }
+    if (angular) {
+        const rate = Math.abs(num(angular["z"]));
+        if (rate > limits.maxAngularVelocity) {
+            return {
+                block: true,
+                blockReason: `Angular velocity ${rate.toFixed(2)} rad/s exceeds safety limit of ${limits.maxAngularVelocity} rad/s`,
+            };
+        }
+    }
+    return PASS;
+}
+/** Scale a Twist down to the velocity ceilings (teleop / skills). */
+export function clampTwistToLimits(limits, linearX, linearY, linearZ, angularX, angularY, angularZ) {
+    const maxLin = limits.maxLinearVelocity;
+    const maxAng = limits.maxAngularVelocity;
+    const linMag = Math.sqrt(linearX * linearX + linearY * linearY + linearZ * linearZ);
+    const scaleLin = linMag > maxLin && linMag > 0 ? maxLin / linMag : 1;
+    const angMag = Math.abs(angularZ);
+    const scaleAng = angMag > maxAng && angMag > 0 ? maxAng / angMag : 1;
+    return {
+        linear: {
+            x: linearX * scaleLin,
+            y: linearY * scaleLin,
+            z: linearZ * scaleLin,
+        },
+        angular: {
+            x: angularX * scaleAng,
+            y: angularY * scaleAng,
+            z: Math.max(-maxAng, Math.min(maxAng, angularZ)),
+        },
+    };
+}
+function workspaceMalformed(bounds) {
+    if (bounds.xMin > bounds.xMax) {
+        return `Malformed workspaceLimits: xMin (${bounds.xMin}) > xMax (${bounds.xMax})`;
+    }
+    if (bounds.yMin > bounds.yMax) {
+        return `Malformed workspaceLimits: yMin (${bounds.yMin}) > yMax (${bounds.yMax})`;
+    }
+    return undefined;
+}
+export function checkWorkspacePosition(limits, x, y) {
+    const bounds = limits.workspaceLimits;
+    if (!bounds)
+        return PASS;
+    const malformed = workspaceMalformed(bounds);
+    if (malformed)
+        return { block: true, blockReason: malformed };
+    if (x < bounds.xMin || x > bounds.xMax || y < bounds.yMin || y > bounds.yMax) {
+        return {
+            block: true,
+            blockReason: `Position (${x.toFixed(2)}, ${y.toFixed(2)}) is outside workspaceLimits ` +
+                `[x ${bounds.xMin}..${bounds.xMax}, y ${bounds.yMin}..${bounds.yMax}]`,
+        };
+    }
+    return PASS;
+}
+function pushPosition(out, rec) {
+    if (!rec)
+        return;
+    if ("x" in rec && "y" in rec) {
+        out.push({ x: num(rec["x"]), y: num(rec["y"]) });
+        return;
+    }
+    const position = asRecord(rec["position"]);
+    if (position && "x" in position && "y" in position) {
+        out.push({ x: num(position["x"]), y: num(position["y"]) });
+    }
+}
+/**
+ * Pull map-frame (x, y) pairs from Twist-unrelated nav payloads:
+ * `{x,y}`, Pose, PoseStamped, NavigateToPose goal, NavigateThroughPoses.
+ */
+export function extractWorkspacePositions(payload) {
+    const out = [];
+    const rec = asRecord(payload);
+    if (!rec)
+        return out;
+    if (Array.isArray(rec["poses"])) {
+        for (const p of rec["poses"]) {
+            out.push(...extractWorkspacePositions(p));
+        }
+    }
+    const nestedGoal = rec["goal"] ?? rec["request"] ?? rec["message"];
+    if (nestedGoal && nestedGoal !== payload) {
+        out.push(...extractWorkspacePositions(nestedGoal));
+    }
+    const pose = asRecord(rec["pose"]);
+    if (pose) {
+        const inner = asRecord(pose["pose"]);
+        if (inner) {
+            pushPosition(out, inner);
+        }
+        else {
+            pushPosition(out, pose);
+        }
+    }
+    if ("x" in rec && "y" in rec && !asRecord(rec["linear"]) && !asRecord(rec["angular"])) {
+        pushPosition(out, rec);
+    }
+    return out;
+}
+export function checkWorkspacePayload(limits, payload) {
+    if (!limits.workspaceLimits)
+        return PASS;
+    for (const pos of extractWorkspacePositions(payload)) {
+        const hit = checkWorkspacePosition(limits, pos.x, pos.y);
+        if (hit.block)
+            return hit;
+    }
+    return PASS;
+}
+export function checkPublishSafety(config, params, robot) {
+    const limits = resolveSafetyForRobot(config, robot);
+    const msg = params["message"];
+    const twist = checkTwistMessage(limits, msg);
+    if (twist.block)
+        return twist;
+    return checkWorkspacePayload(limits, msg);
+}
+export function checkActionGoalSafety(config, params, robot) {
+    const limits = resolveSafetyForRobot(config, robot);
+    const goal = params["goal"] ?? params["args"] ?? params["inputs"] ?? params;
+    return checkWorkspacePayload(limits, goal);
+}
+export function checkInputsWorkspace(config, inputs, robot) {
+    return checkWorkspacePayload(resolveSafetyForRobot(config, robot), inputs);
+}
+/**
+ * A body that accepts Twist. Profile `base` wins; with no profile,
+ * anything except an arm-only cell is treated as having a base
+ * (legacy configs default kind to "amr").
+ */
+export function robotHasMobileBase(robot) {
+    if (robot.profile) {
+        return robot.profile.features.includes("base");
+    }
+    const kind = (robot.kind ?? "amr").trim().toLowerCase();
+    return kind !== "arm";
+}
+const STOP_PUBLISH_BUDGET_MS = 500;
+/** Best-effort zero Twist on every mobile-base robot sharing this transport. */
+export async function publishStopForBases(transport, robots) {
+    const pubs = [];
+    for (const robot of robots) {
+        if (!robotHasMobileBase(robot))
+            continue;
+        const topic = resolveBinding(robot, "cmd_vel");
+        if (!topic)
+            continue;
+        try {
+            transport.advertise?.({ topic, type: TWIST_MSG_TYPE });
+        }
+        catch {
+            /* rosbridge advertise is optional */
+        }
+        try {
+            const result = transport.publish({
+                topic,
+                type: TWIST_MSG_TYPE,
+                msg: {
+                    linear: { ...ZERO_TWIST.linear },
+                    angular: { ...ZERO_TWIST.angular },
+                },
+            });
+            if (result && typeof result.then === "function") {
+                pubs.push(Promise.resolve(result).catch(() => { }));
+            }
+        }
+        catch {
+            /* socket may already be half-closed */
+        }
+    }
+    if (pubs.length === 0)
+        return;
+    await Promise.race([
+        Promise.all(pubs),
+        new Promise((resolve) => setTimeout(resolve, STOP_PUBLISH_BUDGET_MS)),
+    ]);
+}
+/**
+ * Publish zero Twist when the transport drops (and again on reconnect
+ * so a stale last-command cannot resume). Returns an unsubscribe.
+ */
+export function attachDisconnectFailSafe(transport, robots) {
+    if (typeof transport.onConnection !== "function")
+        return () => { };
+    let everConnected = transport.getStatus() === "connected";
+    return transport.onConnection((status) => {
+        if (status === "connected") {
+            if (everConnected) {
+                void publishStopForBases(transport, robots);
+            }
+            everConnected = true;
+            return;
+        }
+        if (status === "disconnected" && everConnected) {
+            void publishStopForBases(transport, robots);
+        }
+    });
+}
+const ACTION_BINDING_KEYS = new Set(["navigate_to_pose", "dock"]);
+const EXPECTED_TYPE_FRAGMENT = {
+    cmd_vel: /Twist/i,
+    odom: /Odometry/i,
+    "camera.rgb": /Image/i,
+    "camera.depth": /Image/i,
+    lidar: /LaserScan|PointCloud/i,
+    joint_states: /JointState/i,
+    battery: /BatteryState/i,
+};
+function normalizeGraphName(name) {
+    const trimmed = name.trim();
+    if (!trimmed)
+        return trimmed;
+    const withSlash = trimmed.startsWith("/") ? trimmed : `/${trimmed}`;
+    return withSlash.replace(/\/+$/, "") || "/";
+}
+function findGraphEntry(names, wanted) {
+    const target = normalizeGraphName(wanted);
+    return names.find((n) => normalizeGraphName(n.name) === target);
+}
+/**
+ * Compare declared profile bindings against a live topic/action list.
+ * Missing declared hardware is red; type mismatch is yellow.
+ */
+export function checkLiveBindings(robots, graph) {
+    const checks = [];
+    for (const robot of robots) {
+        const profile = robot.profile;
+        if (!profile)
+            continue;
+        const entries = Object.entries(profile.bindings);
+        if (entries.length === 0) {
+            checks.push({
+                id: `live-${robot.id}-no-bindings`,
+                robotId: robot.id,
+                key: "",
+                name: "",
+                severity: "yellow",
+                reason: `Robot "${robot.id}" has a profile but no bindings to verify`,
+            });
+            continue;
+        }
+        for (const [key, raw] of entries) {
+            const resolved = resolveBinding(robot, key) ??
+                (typeof raw === "string" ? raw.trim() : "");
+            if (!resolved)
+                continue;
+            const isAction = ACTION_BINDING_KEYS.has(key);
+            const pool = isAction ? (graph.actions ?? []) : graph.topics;
+            const found = findGraphEntry(pool, resolved);
+            const checkId = `live-${robot.id}-${key}`;
+            if (!found) {
+                if (isAction && (graph.actions === undefined || graph.actions.length === 0)) {
+                    checks.push({
+                        id: checkId,
+                        robotId: robot.id,
+                        key,
+                        name: resolved,
+                        severity: "yellow",
+                        reason: `Could not verify action ${key}=${resolved} (transport returned no action list)`,
+                    });
+                    continue;
+                }
+                checks.push({
+                    id: checkId,
+                    robotId: robot.id,
+                    key,
+                    name: resolved,
+                    severity: "red",
+                    reason: `Declared ${key}=${resolved} is not on the live graph`,
+                });
+                continue;
+            }
+            const expected = EXPECTED_TYPE_FRAGMENT[key];
+            if (expected && found.type && !expected.test(found.type)) {
+                checks.push({
+                    id: checkId,
+                    robotId: robot.id,
+                    key,
+                    name: resolved,
+                    severity: "yellow",
+                    reason: `${key}=${resolved} type is ${found.type} (expected ${expected})`,
+                });
+                continue;
+            }
+            checks.push({
+                id: checkId,
+                robotId: robot.id,
+                key,
+                name: resolved,
+                severity: "green",
+                reason: `${key}=${resolved} present`,
+            });
+        }
+    }
+    return checks;
+}
+//# sourceMappingURL=safety.js.map

package/dist/safety.js.map

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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 @@
-{"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;AAUpB,eAAO,MAAM,yBAAyB,eAAe,CAAC;AAEtD,MAAM,MAAM,gBAAgB,GAAG,CAAC,GAAG,EAAE,eAAe,KAAK,OAAO,CAAC,YAAY,CAAC,CAAC;AAE/E,qBAAa,aAAa;IAKZ,OAAO,CAAC,QAAQ,CAAC,OAAO;IAJpC,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAmC;IAC3D,oGAAoG;IACpG,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAA4C;gBAExC,OAAO,GAAE,gBAAkC;IAExE;;;OAGG;IACG,OAAO,CAAC,MAAM,EAAE,gBAAgB,EAAE,KAAK,EAAE,aAAa,GAAG,OAAO,CAAC,YAAY,CAAC;IAWpF;;;;OAIG;IACG,aAAa,CAAC,MAAM,EAAE,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC;IAK5D;;;OAGG;IACG,aAAa,IAAI,OAAO,CAAC,IAAI,CAAC;IAcpC,2EAA2E;IAC3E,IAAI,IAAI,IAAI,MAAM,CAEjB;IAED,6DAA6D;IAC7D,IAAI,IAAI,MAAM,EAAE;YAIF,YAAY;CAgC3B"}
+{"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": "0.8.6",
   "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"
+  }
+}