agenticros 0.1.0 → 0.1.1

package/runtime/scripts/test-follow-me-sim.mjs

@@ -0,0 +1,135 @@
+#!/usr/bin/env node
+/**
+ * Drive ros2_follow_me_start (mode=depth) against the AMR sim.
+ *
+ * Sequence:
+ *   1. start follow-me in depth mode
+ *   2. poll status every 1.5s for 15s, capturing detection events
+ *   3. stop follow-me
+ *   4. send a zero cmd_vel just in case
+ *
+ * Reports: did the depth loop see a target, what distance/lateral did it pick,
+ * how many cmd_vel commands were issued.
+ */
+
+import { spawn } from "node:child_process";
+import { fileURLToPath } from "node:url";
+import { dirname, join, resolve } from "node:path";
+
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const repoRoot = resolve(__dirname, "..");
+const serverDist = join(repoRoot, "packages/agenticros-claude-code/dist/index.js");
+
+const child = spawn(process.execPath, [serverDist], {
+  stdio: ["pipe", "pipe", "pipe"],
+  env: { ...process.env },
+});
+
+child.stderr.on("data", (d) => {
+  process.stderr.write(`[mcp-stderr] ${d}`);
+});
+
+let nextId = 1;
+const pending = new Map();
+let buf = "";
+
+child.stdout.on("data", (chunk) => {
+  buf += chunk.toString();
+  let nl;
+  while ((nl = buf.indexOf("\n")) !== -1) {
+    const line = buf.slice(0, nl).trim();
+    buf = buf.slice(nl + 1);
+    if (!line) continue;
+    let msg;
+    try {
+      msg = JSON.parse(line);
+    } catch {
+      continue;
+    }
+    if (msg.id !== undefined && pending.has(msg.id)) {
+      const { resolve, reject } = pending.get(msg.id);
+      pending.delete(msg.id);
+      if (msg.error) reject(new Error(msg.error.message));
+      else resolve(msg.result);
+    }
+  }
+});
+
+function rpc(method, params = {}, timeoutMs = 15000) {
+  const id = nextId++;
+  return new Promise((resolveOuter, reject) => {
+    const t = setTimeout(() => {
+      pending.delete(id);
+      reject(new Error(`Timeout: ${method}`));
+    }, timeoutMs);
+    pending.set(id, {
+      resolve: (v) => {
+        clearTimeout(t);
+        resolveOuter(v);
+      },
+      reject: (e) => {
+        clearTimeout(t);
+        reject(e);
+      },
+    });
+    child.stdin.write(JSON.stringify({ jsonrpc: "2.0", id, method, params }) + "\n");
+  });
+}
+
+function pickText(result) {
+  return result?.content?.map((c) => c.text ?? "").join("\n") ?? "";
+}
+
+async function main() {
+  console.log("=== follow_me (depth) E2E ===");
+
+  await rpc("initialize", {
+    protocolVersion: "2024-11-05",
+    capabilities: { tools: {} },
+    clientInfo: { name: "fm-e2e", version: "0.0.1" },
+  });
+  await rpc("notifications/initialized", {}).catch(() => {});
+
+  console.log("\n-- start follow_me mode=depth --");
+  const start = await rpc("tools/call", {
+    name: "ros2_follow_me_start",
+    arguments: { mode: "depth", targetDistance: 1.5 },
+  });
+  console.log(pickText(start));
+
+  console.log("\n-- poll status for 15s --");
+  const polls = [];
+  for (let i = 0; i < 10; i++) {
+    await new Promise((r) => setTimeout(r, 1500));
+    const s = await rpc("tools/call", { name: "ros2_follow_me_status", arguments: {} });
+    const text = pickText(s);
+    polls.push({ t: (i + 1) * 1.5, text });
+    console.log(`t+${((i + 1) * 1.5).toFixed(1)}s :: ${text.replace(/\s+/g, " ").slice(0, 200)}`);
+  }
+
+  console.log("\n-- stop follow_me --");
+  const stop = await rpc("tools/call", {
+    name: "ros2_follow_me_stop",
+    arguments: {},
+  });
+  console.log(pickText(stop));
+
+  console.log("\n-- safety zero-twist --");
+  await rpc("tools/call", {
+    name: "ros2_publish",
+    arguments: {
+      topic: "/cmd_vel",
+      type: "geometry_msgs/msg/Twist",
+      message: { linear: { x: 0, y: 0, z: 0 }, angular: { x: 0, y: 0, z: 0 } },
+    },
+  });
+
+  child.kill("SIGTERM");
+  console.log("\n=== Done ===");
+}
+
+main().catch((e) => {
+  console.error("Failed:", e);
+  child.kill("SIGKILL");
+  process.exit(1);
+});

package/runtime/scripts/test-mcp-e2e.mjs

@@ -0,0 +1,184 @@
+#!/usr/bin/env node
+/**
+ * Spin up the @agenticros/claude-code MCP server as a child process and exercise
+ * a real JSON-RPC session over stdio. Used for end-to-end testing of the MCP
+ * tools against a live sim (or real robot).
+ *
+ * Usage:
+ *   node scripts/test-mcp-e2e.mjs
+ *
+ * Honours AGENTICROS_CONFIG_PATH if set; otherwise uses ~/.agenticros/config.json.
+ */
+
+import { spawn } from "node:child_process";
+import { fileURLToPath } from "node:url";
+import { dirname, join, resolve } from "node:path";
+
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const repoRoot = resolve(__dirname, "..");
+const serverDist = join(repoRoot, "packages/agenticros-claude-code/dist/index.js");
+
+const child = spawn(process.execPath, [serverDist], {
+  stdio: ["pipe", "pipe", "pipe"],
+  env: { ...process.env },
+});
+
+child.stderr.on("data", (d) => {
+  process.stderr.write(`[mcp-stderr] ${d}`);
+});
+child.on("exit", (code, sig) => {
+  process.stderr.write(`[mcp] exited code=${code} sig=${sig}\n`);
+});
+
+let nextId = 1;
+const pending = new Map();
+let buf = "";
+
+child.stdout.on("data", (chunk) => {
+  buf += chunk.toString();
+  let nl;
+  while ((nl = buf.indexOf("\n")) !== -1) {
+    const line = buf.slice(0, nl).trim();
+    buf = buf.slice(nl + 1);
+    if (!line) continue;
+    let msg;
+    try {
+      msg = JSON.parse(line);
+    } catch (e) {
+      process.stderr.write(`[mcp] non-json line: ${line}\n`);
+      continue;
+    }
+    if (msg.id !== undefined && pending.has(msg.id)) {
+      const { resolve, reject } = pending.get(msg.id);
+      pending.delete(msg.id);
+      if (msg.error) reject(new Error(`${msg.error.code}: ${msg.error.message}`));
+      else resolve(msg.result);
+    }
+  }
+});
+
+function rpc(method, params = {}, timeoutMs = 20000) {
+  const id = nextId++;
+  const payload = { jsonrpc: "2.0", id, method, params };
+  return new Promise((resolveOuter, reject) => {
+    const t = setTimeout(() => {
+      pending.delete(id);
+      reject(new Error(`Timeout: ${method}`));
+    }, timeoutMs);
+    pending.set(id, {
+      resolve: (v) => {
+        clearTimeout(t);
+        resolveOuter(v);
+      },
+      reject: (e) => {
+        clearTimeout(t);
+        reject(e);
+      },
+    });
+    child.stdin.write(JSON.stringify(payload) + "\n");
+  });
+}
+
+function summarise(content, max = 4000) {
+  if (!Array.isArray(content)) return JSON.stringify(content).slice(0, max);
+  return content
+    .map((c) => {
+      if (c.type === "text") {
+        const t = c.text ?? "";
+        return t.length > max ? `${t.slice(0, max)} … (+${t.length - max} chars)` : t;
+      }
+      if (c.type === "image") return `[image base64 len=${(c.data ?? "").length} mime=${c.mimeType}]`;
+      return `[${c.type}]`;
+    })
+    .join("\n");
+}
+
+async function callTool(name, args = {}, timeoutMs = 20000) {
+  const t0 = Date.now();
+  try {
+    const result = await rpc("tools/call", { name, arguments: args }, timeoutMs);
+    const ms = Date.now() - t0;
+    const ok = result?.isError ? "ERR" : "ok ";
+    console.log(`[${ok}] (${ms.toString().padStart(5)}ms) ${name}`);
+    console.log(`        ${summarise(result?.content)}`);
+    return result;
+  } catch (e) {
+    const ms = Date.now() - t0;
+    console.log(`[ERR] (${ms.toString().padStart(5)}ms) ${name}  ${e.message}`);
+    return null;
+  }
+}
+
+async function main() {
+  console.log("=== MCP E2E harness ===");
+
+  console.log("\n-- initialize --");
+  const init = await rpc("initialize", {
+    protocolVersion: "2024-11-05",
+    capabilities: { tools: {} },
+    clientInfo: { name: "agenticros-e2e", version: "0.0.1" },
+  });
+  console.log(`server: ${init.serverInfo?.name} v${init.serverInfo?.version}`);
+  await rpc("notifications/initialized", {}).catch(() => {});
+
+  console.log("\n-- tools/list --");
+  const tl = await rpc("tools/list", {});
+  console.log(`  ${tl.tools?.length ?? 0} tools advertised`);
+  for (const t of tl.tools ?? []) {
+    console.log(`    - ${t.name}`);
+  }
+
+  console.log("\n-- ros2_list_topics --");
+  await callTool("ros2_list_topics", {}, 30000);
+
+  console.log("\n-- ros2_publish /cmd_vel (linear.x=0.2) --");
+  await callTool(
+    "ros2_publish",
+    {
+      topic: "/cmd_vel",
+      type: "geometry_msgs/msg/Twist",
+      message: { linear: { x: 0.2, y: 0, z: 0 }, angular: { x: 0, y: 0, z: 0 } },
+    },
+    10000,
+  );
+
+  console.log("\n-- ros2_subscribe_once /imu/data --");
+  await callTool(
+    "ros2_subscribe_once",
+    { topic: "/imu/data", type: "sensor_msgs/msg/Imu", timeoutMs: 5000 },
+    10000,
+  );
+
+  console.log("\n-- ros2_subscribe_once /scan --");
+  await callTool(
+    "ros2_subscribe_once",
+    { topic: "/scan", type: "sensor_msgs/msg/LaserScan", timeoutMs: 5000 },
+    10000,
+  );
+
+  console.log("\n-- ros2_camera_snapshot (RGB) --");
+  await callTool("ros2_camera_snapshot", {}, 15000);
+
+  console.log("\n-- ros2_depth_distance --");
+  await callTool("ros2_depth_distance", {}, 15000);
+
+  console.log("\n-- stop --");
+  await callTool(
+    "ros2_publish",
+    {
+      topic: "/cmd_vel",
+      type: "geometry_msgs/msg/Twist",
+      message: { linear: { x: 0, y: 0, z: 0 }, angular: { x: 0, y: 0, z: 0 } },
+    },
+    5000,
+  );
+
+  console.log("\n=== Done ===");
+  child.kill("SIGTERM");
+}
+
+main().catch((e) => {
+  console.error("Harness failed:", e);
+  child.kill("SIGKILL");
+  process.exit(1);
+});