@agenticros/core 0.8.6 → 0.8.8

package/dist/capabilities.d.ts.map

@@ -1 +1 @@
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package/dist/capabilities.js

@@ -108,6 +108,40 @@ export const BUILTIN_CAPABILITIES = [
         interruptible: true,
         source: { kind: "builtin" },
     },
+    {
+        id: "save_place",
+        verb: "remember_place",
+        description: "Save a named map pose (x, y, yaw) for later navigate_to_place. " +
+            "If x/y are omitted, the tool tries to read the current AMCL / localization pose.",
+        inputs: {
+            name: { type: "string", description: "Place name (e.g. kitchen)." },
+            x: { type: "number", description: "Map-frame x (m).", optional: true },
+            y: { type: "number", description: "Map-frame y (m).", optional: true },
+            yaw: { type: "number", description: "Map-frame yaw (rad).", optional: true },
+            frame: { type: "string", description: "Frame id (default map).", optional: true },
+        },
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "list_places",
+        verb: "list_places",
+        description: "List named places saved with save_place.",
+        interruptible: true,
+        source: { kind: "builtin" },
+    },
+    {
+        id: "navigate_to_place",
+        verb: "navigate",
+        description: "Navigate to a previously saved named place via Nav2 (requires the navigate-to skill).",
+        inputs: {
+            name: { type: "string", description: "Place name (e.g. kitchen)." },
+        },
+        interruptible: true,
+        blocks_base: true,
+        requires: ["base"],
+        source: { kind: "builtin" },
+    },
 ];
 function isCapabilityLike(value) {
     if (!value || typeof value !== "object")

package/dist/capabilities.js.map

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package/dist/capability-schema.d.ts

@@ -126,6 +126,7 @@ export declare const CapabilitySchema: z.ZodObject<{
     id: string;
     verb: string;
     description: string;
+    blocks_base?: boolean | undefined;
     inputs?: Record<string, {
         type: string;
         default?: unknown;
@@ -138,7 +139,6 @@ export declare const CapabilitySchema: z.ZodObject<{
         description?: string | undefined;
         optional?: boolean | undefined;
     }> | undefined;
-    blocks_base?: boolean | undefined;
     preconditions?: string[] | undefined;
     interruptible?: boolean | undefined;
     requires?: string[] | undefined;
@@ -158,6 +158,7 @@ export declare const CapabilitySchema: z.ZodObject<{
 }, {
     id: string;
     verb: string;
+    blocks_base?: boolean | undefined;
     inputs?: Record<string, {
         type: string;
         default?: unknown;
@@ -170,7 +171,6 @@ export declare const CapabilitySchema: z.ZodObject<{
         description?: string | undefined;
         optional?: boolean | undefined;
     }> | undefined;
-    blocks_base?: boolean | undefined;
     description?: string | undefined;
     preconditions?: string[] | undefined;
     interruptible?: boolean | undefined;

package/dist/config.d.ts

@@ -1054,6 +1054,55 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
         } | undefined;
         backend?: "local" | "mem0" | undefined;
     }>>;
+    /**
+     * Optional fleet hive (Corebrum HTTP on :6502). Sibling of `memory`, not a
+     * memory backend. When `enabled: false` (default), createHiveClient returns
+     * null and adapters skip hive_* tools. See docs/hive.md.
+     */
+    hive: z.ZodDefault<z.ZodObject<{
+        /** Master switch. When false, adapters skip registering hive tools. */
+        enabled: z.ZodDefault<z.ZodBoolean>;
+        /** Corebrum web base URL. Omit → http://127.0.0.1:6502 */
+        url: z.ZodOptional<z.ZodString>;
+        /** Corebrum identity key_id. Omit → ARC ROBOT_ID */
+        identityId: z.ZodOptional<z.ZodString>;
+        /** Corebrum hive_id after create/join. Omit → find/create by org name */
+        hiveId: z.ZodOptional<z.ZodString>;
+        /** Named recipes the fleet should run. YAML never lives in this repo. */
+        recipes: z.ZodDefault<z.ZodObject<{
+            detect: z.ZodDefault<z.ZodBoolean>;
+            describe: z.ZodDefault<z.ZodBoolean>;
+            health: z.ZodDefault<z.ZodBoolean>;
+        }, "strip", z.ZodTypeAny, {
+            detect: boolean;
+            describe: boolean;
+            health: boolean;
+        }, {
+            detect?: boolean | undefined;
+            describe?: boolean | undefined;
+            health?: boolean | undefined;
+        }>>;
+    }, "strip", z.ZodTypeAny, {
+        enabled: boolean;
+        recipes: {
+            detect: boolean;
+            describe: boolean;
+            health: boolean;
+        };
+        url?: string | undefined;
+        identityId?: string | undefined;
+        hiveId?: string | undefined;
+    }, {
+        url?: string | undefined;
+        enabled?: boolean | undefined;
+        identityId?: string | undefined;
+        hiveId?: string | undefined;
+        recipes?: {
+            detect?: boolean | undefined;
+            describe?: boolean | undefined;
+            health?: boolean | undefined;
+        } | undefined;
+    }>>;
     /** Per-skill config. Keys are skill ids (e.g. followme). Each skill validates its own slice. */
     skills: z.ZodDefault<z.ZodRecord<z.ZodString, z.ZodUnknown>>;
     /** Directories to scan for skill packages (package.json with an `agenticros` block). Resolved at gateway start. */
@@ -1218,6 +1267,17 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
         backend: "local" | "mem0";
         namespace?: string | undefined;
     };
+    hive: {
+        enabled: boolean;
+        recipes: {
+            detect: boolean;
+            describe: boolean;
+            health: boolean;
+        };
+        url?: string | undefined;
+        identityId?: string | undefined;
+        hiveId?: string | undefined;
+    };
     skills: Record<string, unknown>;
     skillPaths: string[];
     skillPackages: string[];
@@ -1373,6 +1433,17 @@ export declare const AgenticROSConfigSchema: z.ZodObject<{
         } | undefined;
         backend?: "local" | "mem0" | undefined;
     } | undefined;
+    hive?: {
+        url?: string | undefined;
+        enabled?: boolean | undefined;
+        identityId?: string | undefined;
+        hiveId?: string | undefined;
+        recipes?: {
+            detect?: boolean | undefined;
+            describe?: boolean | undefined;
+            health?: boolean | undefined;
+        } | undefined;
+    } | undefined;
     skills?: Record<string, unknown> | undefined;
     skillPaths?: string[] | undefined;
     skillPackages?: string[] | undefined;

package/dist/config.d.ts.map

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+{"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;;;;OAIG;;QAGC,uEAAuE;;QAEvE,0DAA0D;;QAE1D,oDAAoD;;QAEpD,yEAAyE;;QAEzE,yEAAyE;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;IAW7E,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,CAYzB;AAED;;GAEG;AACH,wBAAgB,kBAAkB,CAAC,MAAM,EAAE,gBAAgB,GAAG,eAAe,CAc5E"}

package/dist/config.js

@@ -409,6 +409,31 @@ export const AgenticROSConfigSchema = z.object({
             .default({}),
     })
         .default({}),
+    /**
+     * Optional fleet hive (Corebrum HTTP on :6502). Sibling of `memory`, not a
+     * memory backend. When `enabled: false` (default), createHiveClient returns
+     * null and adapters skip hive_* tools. See docs/hive.md.
+     */
+    hive: z
+        .object({
+        /** Master switch. When false, adapters skip registering hive tools. */
+        enabled: z.boolean().default(false),
+        /** Corebrum web base URL. Omit → http://127.0.0.1:6502 */
+        url: z.string().optional(),
+        /** Corebrum identity key_id. Omit → ARC ROBOT_ID */
+        identityId: z.string().optional(),
+        /** Corebrum hive_id after create/join. Omit → find/create by org name */
+        hiveId: z.string().optional(),
+        /** Named recipes the fleet should run. YAML never lives in this repo. */
+        recipes: z
+            .object({
+            detect: z.boolean().default(false),
+            describe: z.boolean().default(false),
+            health: z.boolean().default(false),
+        })
+            .default({}),
+    })
+        .default({}),
     /** Per-skill config. Keys are skill ids (e.g. followme). Each skill validates its own slice. */
     skills: z.record(z.string(), z.unknown()).default({}),
     /** Directories to scan for skill packages (package.json with an `agenticros` block). Resolved at gateway start. */
@@ -456,6 +481,9 @@ export function prepareConfigForPersistence(parsed, raw) {
             delete out.robots;
         }
     }
+    if (!Object.prototype.hasOwnProperty.call(raw, "hive")) {
+        delete out.hive;
+    }
     return out;
 }
 /**

package/dist/config.js.map

@@ -1 +1 @@
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package/dist/external-capability.d.ts.map

@@ -1 +1 @@
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package/dist/external-capability.js

@@ -80,6 +80,31 @@ export function buildExternalGoal(impl, inputs) {
             return { dock_id: inputs.dock_id.trim() };
         }
     }
+    if (msgType.includes("loaddatabase") ||
+        impl.service?.includes("load_database")) {
+        const databasePath = typeof inputs.database_path === "string" ? inputs.database_path : "";
+        return {
+            database_path: databasePath,
+            clear: inputs.clear !== false,
+        };
+    }
+    if (msgType.includes("explore") ||
+        impl.action === "explore" ||
+        impl.action === "wander") {
+        const timeout = Number(inputs.timeout_s ?? 0) || 0;
+        const minFrontier = Number(inputs.min_frontier_m ?? 0) || 0;
+        const maxGoals = Number(inputs.max_goals ?? 0) || 0;
+        const modeFromAction = impl.action === "wander" ? "wander" : "explore";
+        const mode = typeof inputs.mode === "string" && inputs.mode.trim()
+            ? inputs.mode.trim()
+            : modeFromAction;
+        return {
+            mode,
+            timeout_s: timeout,
+            min_frontier_m: minFrontier,
+            max_goals: maxGoals,
+        };
+    }
     // Passthrough remaining inputs (minus robot_id).
     const { robot_id: _rid, ...rest } = inputs;
     return rest;

package/dist/external-capability.js.map

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package/dist/hive/client.d.ts

@@ -0,0 +1,65 @@
+import type { AgenticROSConfig } from "../config.js";
+import { type HiveClient, type HiveEnableResult, type HiveMemoryItem, type HiveRecipeId, type HiveRecipeResult, type HiveStatus } from "./types.js";
+export interface HiveClientHooks {
+    /** Injected fetch for tests. Defaults to global fetch. */
+    fetch?: typeof fetch;
+    /** Persist created identity/hive ids back to config (CLI / hive_enable). */
+    persist?: (patch: {
+        identityId?: string;
+        hiveId?: string;
+    }) => void | Promise<void>;
+    /** Persist recipe on/off after a successful setRecipe. */
+    persistRecipes?: (recipes: {
+        detect?: boolean;
+        describe?: boolean;
+        health?: boolean;
+    }) => void | Promise<void>;
+}
+export interface HiveClientOverrides {
+    url?: string;
+    identityId?: string;
+    hiveId?: string;
+    /** Used to find or create a hive when hiveId is unset. */
+    hiveName?: string;
+}
+export declare class HiveHttpClient implements HiveClient {
+    readonly url: string;
+    private identityId;
+    private hiveId;
+    private readonly hiveName;
+    private readonly robotId;
+    private readonly recipes;
+    private readonly fetchFn;
+    private readonly persist?;
+    private readonly persistRecipes?;
+    private ensured;
+    constructor(config: AgenticROSConfig, overrides?: HiveClientOverrides, hooks?: HiveClientHooks);
+    ensure(): Promise<HiveEnableResult>;
+    remember(content: string, opts?: {
+        key?: string;
+        tags?: string[];
+        path?: string;
+    }): Promise<{
+        key: string;
+    }>;
+    recall(query?: string, limit?: number): Promise<HiveMemoryItem[]>;
+    forget(key?: string, query?: string): Promise<{
+        removed: number;
+    }>;
+    status(): Promise<HiveStatus>;
+    setRecipe(id: HiveRecipeId, on: boolean, bindings?: {
+        robotId?: string;
+        cameraTopic?: string;
+        namespace?: string;
+    }): Promise<HiveRecipeResult>;
+    private tryRecipesApi;
+    private readRecipeTaskId;
+    private requireJoin;
+    private ensureIdentity;
+    private findIdentity;
+    private ensureHive;
+    private joinHive;
+    private ping;
+    private request;
+}
+//# sourceMappingURL=client.d.ts.map

package/dist/hive/client.d.ts.map

@@ -0,0 +1 @@
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