agenticros 0.0.1 → 0.1.1

package/runtime/packages/agenticros-claude-code/dist/index.js

@@ -0,0 +1,111 @@
+#!/usr/bin/env node
+/**
+ * AgenticROS MCP server for Claude Code CLI.
+ * Run with: node dist/index.js
+ * Register with Claude Code: claude mcp add --transport stdio agenticros -- node /path/to/dist/index.js
+ *
+ * We redirect console.log/info to stderr so stdout is reserved for MCP JSON-RPC; any dependency
+ * (e.g. zenoh-ts) that logs to stdout would otherwise corrupt the protocol.
+ */
+import { format } from "util";
+import { Server } from "@modelcontextprotocol/sdk/server/index.js";
+import { StdioServerTransport } from "@modelcontextprotocol/sdk/server/stdio.js";
+import { ListToolsRequestSchema, CallToolRequestSchema } from "@modelcontextprotocol/sdk/types.js";
+import { renderAgenticROSBanner } from "@agenticros/core";
+import { loadConfig } from "./config.js";
+import { connect, disconnect } from "./transport.js";
+import { TOOLS, handleToolCall, MEMORY_TOOL_NAMES } from "./tools.js";
+import { ensureMemory } from "./memory.js";
+let config = null;
+let transportConnected = false;
+async function ensureConnected() {
+    if (transportConnected)
+        return;
+    if (!config) {
+        config = loadConfig();
+    }
+    await connect(config);
+    transportConnected = true;
+}
+function main() {
+    // Avoid crash on EPIPE when client (e.g. Claude Code) disconnects
+    process.stdout.on("error", (err) => {
+        if (err?.code !== "EPIPE")
+            throw err;
+    });
+    process.stderr.on("error", (err) => {
+        if (err?.code !== "EPIPE")
+            throw err;
+    });
+    // Keep stdout clean for MCP; send all log/info to stderr
+    const stderrWrite = (args) => {
+        process.stderr.write(format(...args) + "\n");
+    };
+    console.log = (...args) => stderrWrite(args);
+    console.info = (...args) => stderrWrite(args);
+    process.stderr.write(renderAgenticROSBanner({ color: process.stderr.isTTY }) + "\n\n");
+    const server = new Server({
+        name: "agenticros",
+        version: "0.0.1",
+    }, {
+        capabilities: {
+            tools: {},
+        },
+    });
+    server.setRequestHandler(ListToolsRequestSchema, async () => {
+        const cfg = config ?? loadConfig();
+        const memory = await ensureMemory(cfg);
+        const filtered = memory ? TOOLS : TOOLS.filter((t) => !MEMORY_TOOL_NAMES.has(t.name));
+        return {
+            tools: filtered.map((t) => ({
+                name: t.name,
+                description: t.description,
+                inputSchema: t.inputSchema,
+            })),
+        };
+    });
+    server.setRequestHandler(CallToolRequestSchema, async (request) => {
+        const { name, arguments: args } = request.params;
+        try {
+            // Reload config from disk each time so edits to ~/.agenticros/config.json take effect without restarting Claude Code
+            config = loadConfig();
+            const ns = (config.robot?.namespace ?? "").trim();
+            process.stderr.write(`[AgenticROS] Config: robot.namespace=${ns ? `"${ns}"` : '""'} → ${ns ? `/${ns}/cmd_vel` : "/cmd_vel"}\n`);
+            // Memory tools are self-contained — they don't talk to the robot, so
+            // don't force a Zenoh/ROS transport connection (and don't fail if zenohd
+            // isn't running). Every other tool needs the transport up.
+            if (!MEMORY_TOOL_NAMES.has(name)) {
+                await ensureConnected();
+            }
+            const result = await handleToolCall(name, args ?? {}, config);
+            return {
+                content: result.content,
+                isError: result.isError,
+            };
+        }
+        catch (err) {
+            const message = err instanceof Error ? err.message : String(err);
+            return {
+                content: [{ type: "text", text: `Tool error: ${message}` }],
+                isError: true,
+            };
+        }
+    });
+    const transport = new StdioServerTransport();
+    async function run() {
+        await server.connect(transport);
+    }
+    function shutdown() {
+        disconnect()
+            .then(() => process.exit(0))
+            .catch(() => process.exit(1));
+    }
+    process.on("SIGINT", shutdown);
+    process.on("SIGTERM", shutdown);
+    run().catch((err) => {
+        console.error("AgenticROS MCP server error:", err);
+        process.exit(1);
+    });
+}
+main();
+//# sourceMappingURL=index.js.map

package/runtime/packages/agenticros-claude-code/dist/index.js.map

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package/runtime/packages/agenticros-claude-code/dist/memory.d.ts

@@ -0,0 +1,17 @@
+import type { AgenticROSConfig, MemoryProvider } from "@agenticros/core";
+/**
+ * Lazy-initialize the memory provider from current config.
+ *
+ * Called by the MCP request handler before each tool call so config edits
+ * (toggling memory.enabled, switching backend) take effect without
+ * restarting the Claude Code MCP server.
+ */
+export declare function ensureMemory(config: AgenticROSConfig): Promise<MemoryProvider | null>;
+export declare function getMemory(): MemoryProvider | null;
+export declare function getMemoryInitError(): string | null;
+/**
+ * Force re-initialization on next ensureMemory() call.
+ * Used by the request handler when config.memory has changed.
+ */
+export declare function resetMemory(): void;
+//# sourceMappingURL=memory.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/memory.d.ts.map

@@ -0,0 +1 @@
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package/runtime/packages/agenticros-claude-code/dist/memory.js

@@ -0,0 +1,44 @@
+import { createMemory } from "@agenticros/core";
+let provider = null;
+let initialized = false;
+let initError = null;
+/**
+ * Lazy-initialize the memory provider from current config.
+ *
+ * Called by the MCP request handler before each tool call so config edits
+ * (toggling memory.enabled, switching backend) take effect without
+ * restarting the Claude Code MCP server.
+ */
+export async function ensureMemory(config) {
+    if (initialized)
+        return provider;
+    initialized = true;
+    try {
+        provider = await createMemory(config);
+        if (provider) {
+            process.stderr?.write(`[AgenticROS] memory: ${provider.backend} backend ready (namespace defaults to robot.namespace)\n`);
+        }
+    }
+    catch (err) {
+        initError = err instanceof Error ? err.message : String(err);
+        process.stderr?.write(`[AgenticROS] memory: init failed — ${initError}\n`);
+        provider = null;
+    }
+    return provider;
+}
+export function getMemory() {
+    return provider;
+}
+export function getMemoryInitError() {
+    return initError;
+}
+/**
+ * Force re-initialization on next ensureMemory() call.
+ * Used by the request handler when config.memory has changed.
+ */
+export function resetMemory() {
+    provider = null;
+    initialized = false;
+    initError = null;
+}
+//# sourceMappingURL=memory.js.map

package/runtime/packages/agenticros-claude-code/dist/memory.js.map

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package/runtime/packages/agenticros-claude-code/dist/safety.d.ts

@@ -0,0 +1,10 @@
+import type { AgenticROSConfig } from "@agenticros/core";
+/**
+ * Minimal safety check for ros2_publish (Twist velocity limits).
+ * Copied from OpenClaw adapter so we don't depend on the full plugin.
+ */
+export declare function checkPublishSafety(config: AgenticROSConfig, params: Record<string, unknown>): {
+    block: boolean;
+    blockReason?: string;
+};
+//# sourceMappingURL=safety.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/safety.d.ts.map

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package/runtime/packages/agenticros-claude-code/dist/safety.js

@@ -0,0 +1,34 @@
+/**
+ * Minimal safety check for ros2_publish (Twist velocity limits).
+ * Copied from OpenClaw adapter so we don't depend on the full plugin.
+ */
+export function checkPublishSafety(config, params) {
+    const safety = config.safety ?? {};
+    const maxLinear = safety.maxLinearVelocity ?? 1.0;
+    const maxAngular = safety.maxAngularVelocity ?? 1.5;
+    const msg = params["message"];
+    if (!msg)
+        return { block: false };
+    const linear = msg["linear"];
+    const angular = msg["angular"];
+    if (linear) {
+        const speed = Math.sqrt((linear["x"] ?? 0) ** 2 + (linear["y"] ?? 0) ** 2 + (linear["z"] ?? 0) ** 2);
+        if (speed > maxLinear) {
+            return {
+                block: true,
+                blockReason: `Linear velocity ${speed.toFixed(2)} m/s exceeds safety limit of ${maxLinear} m/s`,
+            };
+        }
+    }
+    if (angular) {
+        const rate = Math.abs(angular["z"] ?? 0);
+        if (rate > maxAngular) {
+            return {
+                block: true,
+                blockReason: `Angular velocity ${rate.toFixed(2)} rad/s exceeds safety limit of ${maxAngular} rad/s`,
+            };
+        }
+    }
+    return { block: false };
+}
+//# sourceMappingURL=safety.js.map

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package/runtime/packages/agenticros-claude-code/dist/tools.d.ts

@@ -0,0 +1,36 @@
+/**
+ * MCP tool definitions and handler. Mirrors OpenClaw adapter tools.
+ */
+import type { AgenticROSConfig } from "@agenticros/core";
+/**
+ * Names of memory tools — dispatched separately from ROS tools so they can
+ * work without the Zenoh/ROS transport.
+ */
+export declare const MEMORY_TOOL_NAMES: Set<string>;
+export interface McpTool {
+    name: string;
+    description: string;
+    inputSchema: {
+        type: "object";
+        properties?: Record<string, {
+            type: string;
+            description?: string;
+            default?: unknown;
+        }>;
+        required?: string[];
+    };
+}
+export declare const TOOLS: McpTool[];
+export type ToolContent = {
+    type: "text";
+    text: string;
+} | {
+    type: "image";
+    data: string;
+    mimeType: string;
+};
+export declare function handleToolCall(name: string, args: Record<string, unknown>, config: AgenticROSConfig): Promise<{
+    content: ToolContent[];
+    isError?: boolean;
+}>;
+//# sourceMappingURL=tools.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/tools.d.ts.map

@@ -0,0 +1 @@
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