agenticros 0.1.17 → 0.1.19

package/dist/__tests__/robot-config.test.d.ts

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+export {};
+//# sourceMappingURL=robot-config.test.d.ts.map

package/dist/__tests__/robot-config.test.d.ts.map

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+{"version":3,"file":"robot-config.test.d.ts","sourceRoot":"","sources":["../../src/__tests__/robot-config.test.ts"],"names":[],"mappings":""}

package/dist/__tests__/robot-config.test.js

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+/**
+ * Unit tests for the CLI's robot-config persistence layer.
+ *
+ * What these tests pin down (each one corresponds to a real failure mode
+ * the persistence layer has to defend against in production):
+ *
+ *   - readRobots: explicit `robots[]` wins; falls back to a legacy
+ *     `config.robot` when the array is empty; reports an empty list +
+ *     `from: 'none'` when neither is set.
+ *   - addRobot: legacy single-robot config is promoted into `robots[0]`
+ *     on first multi-robot write, marked default so the prior behavior
+ *     ("the single robot is active") is preserved.
+ *   - addRobot is idempotent — re-adding the same id updates the entry
+ *     in place but reports `added: false`.
+ *   - setDefault: switches the default flag across entries (exactly one
+ *     robot is default at a time). Throws with a self-correcting error
+ *     when the id is unknown.
+ *   - removeRobot: idempotent; leaves an empty array (not undefined) so
+ *     the core resolver re-falls-back to legacy `config.robot`.
+ *
+ * The tests operate on plain config objects — never touching the
+ * filesystem — so they're isolation-safe.
+ */
+import { test } from "node:test";
+import assert from "node:assert/strict";
+import { addRobot, clearTransportForRobot, getActiveRobotId, readRobots, removeRobot, setDefaultRobot, setTransportForRobot, } from "../util/robot-config.js";
+test("robot-config: readRobots falls back to legacy config.robot when robots[] is empty", () => {
+    const obj = { robot: { name: "Spot", namespace: "robot-alpha", cameraTopic: "/cam" } };
+    const { robots, from } = readRobots(obj);
+    assert.equal(from, "legacy");
+    assert.equal(robots.length, 1);
+    assert.equal(robots[0].id, "robot-alpha", "id derives from namespace");
+    assert.equal(robots[0].name, "Spot");
+    assert.equal(robots[0].cameraTopic, "/cam");
+});
+test("robot-config: readRobots prefers explicit robots[] over legacy config.robot", () => {
+    const obj = {
+        robot: { name: "Legacy", namespace: "legacy-ns" },
+        robots: [{ id: "alpha", name: "Alpha", namespace: "alpha-ns" }],
+    };
+    const { robots, from } = readRobots(obj);
+    assert.equal(from, "explicit");
+    assert.equal(robots.length, 1);
+    assert.equal(robots[0].id, "alpha");
+});
+test("robot-config: readRobots returns empty + from='none' when nothing is configured", () => {
+    const { robots, from } = readRobots({});
+    assert.equal(from, "none");
+    assert.deepEqual(robots, []);
+});
+test("robot-config: addRobot promotes legacy config.robot into robots[0] on first multi-robot write", () => {
+    const obj = {
+        robot: { name: "Legacy", namespace: "legacy-ns", cameraTopic: "/legacy/cam" },
+    };
+    const result = addRobot({ id: "beta", name: "Beta", namespace: "beta-ns" }, { obj });
+    assert.equal(result.added, true);
+    assert.equal(result.promotedLegacy, true, "legacy.robot must be promoted on first add");
+    assert.equal(result.robots.length, 2);
+    assert.equal(result.robots[0].id, "legacy-ns");
+    assert.equal(result.robots[0].default, true, "promoted legacy entry stays default so the prior single-robot behavior is preserved");
+    assert.equal(result.robots[1].id, "beta");
+    assert.notEqual(result.robots[1].default, true, "new entry isn't default unless asked");
+});
+test("robot-config: addRobot is idempotent — re-adding the same id updates in place and reports added=false", () => {
+    const obj = {
+        robots: [{ id: "alpha", name: "Old", namespace: "alpha-ns" }],
+    };
+    const result = addRobot({ id: "alpha", name: "New", namespace: "alpha-ns", cameraTopic: "/cam" }, { obj });
+    assert.equal(result.added, false, "re-adding same id must not double-count");
+    assert.equal(result.robots.length, 1);
+    assert.equal(result.robots[0].name, "New", "name must be updated in place");
+    assert.equal(result.robots[0].cameraTopic, "/cam");
+});
+test("robot-config: addRobot with setDefault=true demotes the previous default", () => {
+    const obj = {
+        robots: [
+            { id: "alpha", namespace: "alpha-ns", default: true },
+            { id: "beta", namespace: "beta-ns" },
+        ],
+    };
+    const result = addRobot({ id: "gamma", namespace: "gamma-ns" }, { setDefault: true, obj });
+    assert.equal(result.added, true);
+    const defaults = result.robots.filter((r) => r.default === true);
+    assert.equal(defaults.length, 1, "exactly one robot must be default at a time");
+    assert.equal(defaults[0].id, "gamma", "gamma should be the new default");
+});
+test("robot-config: removeRobot leaves an empty array so legacy fallback can resume", () => {
+    const obj = {
+        robots: [{ id: "alpha", namespace: "alpha-ns" }],
+        robot: { name: "Legacy", namespace: "legacy-ns" },
+    };
+    const result = removeRobot("alpha", obj);
+    assert.equal(result.removed, true);
+    assert.deepEqual(result.robots, [], "robots[] should be empty after removing the last entry");
+    // And reading again should now surface the legacy fallback.
+    const { from, robots } = readRobots(obj);
+    assert.equal(from, "legacy");
+    assert.equal(robots.length, 1);
+    assert.equal(robots[0].id, "legacy-ns");
+});
+test("robot-config: removeRobot is idempotent and reports removed=false for unknown ids", () => {
+    const obj = {
+        robots: [{ id: "alpha", namespace: "alpha-ns" }],
+    };
+    const result = removeRobot("no-such-robot", obj);
+    assert.equal(result.removed, false);
+    assert.equal(result.robots.length, 1, "robots[] must be untouched on no-op remove");
+});
+test("robot-config: setDefaultRobot swaps the default flag and only ever marks one robot default", () => {
+    const obj = {
+        robots: [
+            { id: "alpha", namespace: "alpha-ns", default: true },
+            { id: "beta", namespace: "beta-ns" },
+        ],
+    };
+    const { robots } = setDefaultRobot("beta", obj);
+    const defaults = robots.filter((r) => r.default === true);
+    assert.equal(defaults.length, 1);
+    assert.equal(defaults[0].id, "beta");
+    // Alpha must have been demoted (no leftover default flag).
+    const alpha = robots.find((r) => r.id === "alpha");
+    assert.equal(alpha?.default, undefined);
+});
+test("robot-config: setDefaultRobot promotes legacy then sets default on the named entry", () => {
+    const obj = {
+        robot: { namespace: "legacy-ns", name: "Legacy" },
+    };
+    // Add a second robot first.
+    addRobot({ id: "beta", namespace: "beta-ns" }, { obj });
+    // Now set the legacy one (now promoted into robots[]) as default.
+    const { robots, promotedLegacy } = setDefaultRobot("legacy-ns", obj);
+    assert.equal(promotedLegacy, false, "legacy was already promoted by the earlier addRobot");
+    const defaults = robots.filter((r) => r.default === true);
+    assert.equal(defaults.length, 1);
+    assert.equal(defaults[0].id, "legacy-ns");
+});
+test("robot-config: setDefaultRobot throws a self-correcting error when the id is unknown", () => {
+    const obj = {
+        robots: [{ id: "alpha", namespace: "alpha-ns" }],
+    };
+    assert.throws(() => setDefaultRobot("no-such-robot", obj), /Unknown robot id "no-such-robot".*Known: alpha/);
+});
+test("robot-config: getActiveRobotId picks the default-flagged entry over the first", () => {
+    const obj = {
+        robots: [
+            { id: "alpha", namespace: "alpha-ns" },
+            { id: "beta", namespace: "beta-ns", default: true },
+        ],
+    };
+    assert.equal(getActiveRobotId(obj), "beta");
+});
+test("robot-config: getActiveRobotId falls back to the first robot when no default is flagged", () => {
+    const obj = {
+        robots: [
+            { id: "alpha", namespace: "alpha-ns" },
+            { id: "beta", namespace: "beta-ns" },
+        ],
+    };
+    assert.equal(getActiveRobotId(obj), "alpha");
+});
+test("robot-config: getActiveRobotId falls back to legacy when robots[] is empty", () => {
+    const obj = { robot: { namespace: "legacy-ns" } };
+    assert.equal(getActiveRobotId(obj), "legacy-ns");
+});
+// ─────────────────────────────────────────────────────────────────────────────
+// Per-robot transport override (CLI persistence layer)
+// ─────────────────────────────────────────────────────────────────────────────
+test("robot-config: readRobots surfaces the per-robot transport override verbatim", () => {
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                transport: { mode: "zenoh", zenoh: { routerEndpoint: "ws://farm:10000" } },
+            },
+        ],
+    };
+    const { robots } = readRobots(obj);
+    assert.deepEqual(robots[0].transport, {
+        mode: "zenoh",
+        zenoh: { routerEndpoint: "ws://farm:10000" },
+    });
+});
+test("robot-config: addRobot writes transport on a new entry when provided", () => {
+    const obj = {};
+    const result = addRobot({
+        id: "alpha",
+        namespace: "alpha-ns",
+        transport: { mode: "zenoh", zenoh: { routerEndpoint: "ws://farm:10000" } },
+    }, { obj });
+    assert.equal(result.added, true);
+    assert.deepEqual(result.robots[0].transport, {
+        mode: "zenoh",
+        zenoh: { routerEndpoint: "ws://farm:10000" },
+    });
+});
+test("robot-config: addRobot preserves a prior transport on update when --transport is omitted", () => {
+    // This is the critical UX invariant: running `agenticros robots add alpha`
+    // again (e.g. to change the display name) must NOT silently drop a
+    // previously-configured per-robot transport override.
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                name: "Old",
+                transport: { mode: "local", local: { domainId: 5 } },
+            },
+        ],
+    };
+    const result = addRobot({ id: "alpha", name: "New", namespace: "alpha-ns" }, { obj });
+    assert.equal(result.added, false);
+    assert.equal(result.robots[0].name, "New");
+    assert.deepEqual(result.robots[0].transport, { mode: "local", local: { domainId: 5 } }, "prior transport must survive a name-only update");
+});
+test("robot-config: addRobot replaces transport on update when --transport is supplied", () => {
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                transport: { mode: "local", local: { domainId: 5 } },
+            },
+        ],
+    };
+    const result = addRobot({
+        id: "alpha",
+        namespace: "alpha-ns",
+        transport: { mode: "zenoh", zenoh: { routerEndpoint: "ws://farm:10000" } },
+    }, { obj });
+    assert.equal(result.added, false);
+    assert.deepEqual(result.robots[0].transport, {
+        mode: "zenoh",
+        zenoh: { routerEndpoint: "ws://farm:10000" },
+    });
+});
+test("robot-config: setTransportForRobot applies an override to an existing robot", () => {
+    const obj = {
+        robots: [
+            { id: "alpha", namespace: "alpha-ns" },
+            { id: "beta", namespace: "beta-ns" },
+        ],
+    };
+    const { robots, promotedLegacy } = setTransportForRobot("beta", { mode: "zenoh", zenoh: { routerEndpoint: "ws://farm:10000" } }, obj);
+    assert.equal(promotedLegacy, false);
+    const beta = robots.find((r) => r.id === "beta");
+    assert.deepEqual(beta.transport, {
+        mode: "zenoh",
+        zenoh: { routerEndpoint: "ws://farm:10000" },
+    });
+    // Alpha must be untouched.
+    const alpha = robots.find((r) => r.id === "alpha");
+    assert.equal(alpha.transport, undefined);
+});
+test("robot-config: setTransportForRobot promotes legacy first, then targets the promoted entry", () => {
+    const obj = {
+        robot: { namespace: "legacy-ns", name: "Legacy" },
+    };
+    const { robots, promotedLegacy } = setTransportForRobot("legacy-ns", { mode: "rosbridge", rosbridge: { url: "ws://10.0.0.5:9090" } }, obj);
+    assert.equal(promotedLegacy, true);
+    assert.equal(robots.length, 1);
+    assert.equal(robots[0].id, "legacy-ns");
+    assert.deepEqual(robots[0].transport, {
+        mode: "rosbridge",
+        rosbridge: { url: "ws://10.0.0.5:9090" },
+    });
+});
+test("robot-config: setTransportForRobot throws a self-correcting error on unknown id", () => {
+    const obj = {
+        robots: [{ id: "alpha", namespace: "alpha-ns" }],
+    };
+    assert.throws(() => setTransportForRobot("no-such-robot", { mode: "zenoh" }, obj), /Unknown robot id "no-such-robot".*Known: alpha/);
+});
+test("robot-config: clearTransportForRobot removes a previously-set override", () => {
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                transport: { mode: "local", local: { domainId: 5 } },
+            },
+        ],
+    };
+    const { cleared, robots } = clearTransportForRobot("alpha", obj);
+    assert.equal(cleared, true);
+    assert.equal(robots[0].transport, undefined);
+});
+test("robot-config: clearTransportForRobot is idempotent (cleared=false when no prior override)", () => {
+    const obj = {
+        robots: [{ id: "alpha", namespace: "alpha-ns" }],
+    };
+    const { cleared } = clearTransportForRobot("alpha", obj);
+    assert.equal(cleared, false);
+});
+test("robot-config: clearTransportForRobot throws on unknown id", () => {
+    const obj = {
+        robots: [{ id: "alpha", namespace: "alpha-ns" }],
+    };
+    assert.throws(() => clearTransportForRobot("no-such-robot", obj), /Unknown robot id "no-such-robot"/);
+});
+// ─────────────────────────────────────────────────────────────────────────────
+// Phase 1.e — kind / sensors / capabilities on RobotEntry
+// ─────────────────────────────────────────────────────────────────────────────
+test("robot-config: readRobots surfaces kind / sensors / capabilities verbatim", () => {
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                kind: "arm",
+                sensors: { has_realsense: true, has_arm: true },
+                capabilities: ["arm_grasp", "drive_base"],
+            },
+        ],
+    };
+    const { robots } = readRobots(obj);
+    assert.equal(robots[0].kind, "arm");
+    assert.deepEqual(robots[0].sensors, { has_realsense: true, has_arm: true });
+    assert.deepEqual(robots[0].capabilities, ["arm_grasp", "drive_base"]);
+});
+test("robot-config: addRobot writes kind / sensors / capabilities on a new entry", () => {
+    const obj = {};
+    const result = addRobot({
+        id: "alpha",
+        namespace: "alpha-ns",
+        kind: "drone",
+        sensors: { has_lidar: true },
+        capabilities: ["fly_to", "take_snapshot"],
+    }, { obj });
+    assert.equal(result.added, true);
+    const written = result.robots[0];
+    assert.equal(written.kind, "drone");
+    assert.deepEqual(written.sensors, { has_lidar: true });
+    assert.deepEqual(written.capabilities, ["fly_to", "take_snapshot"]);
+});
+test("robot-config: addRobot preserves prior kind / sensors / capabilities on a name-only update", () => {
+    // Same preserve-on-update invariant as `transport`: a follow-up
+    // `add` without these flags must NOT clobber what's already there.
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                kind: "drone",
+                sensors: { has_lidar: true },
+                capabilities: ["fly_to"],
+            },
+        ],
+    };
+    const result = addRobot({ id: "alpha", name: "Renamed", namespace: "alpha-ns" }, { obj });
+    const r = result.robots[0];
+    assert.equal(r.name, "Renamed");
+    assert.equal(r.kind, "drone", "prior kind must survive name-only update");
+    assert.deepEqual(r.sensors, { has_lidar: true });
+    assert.deepEqual(r.capabilities, ["fly_to"]);
+});
+test("robot-config: addRobot replaces capabilities with [] (caller-driven clear)", () => {
+    // Empty array means "clear the allowlist" — the CLI relies on this
+    // when the user passes --capabilities='' to revert a robot to the
+    // gateway-wide registry without removing the whole entry.
+    const obj = {
+        robots: [
+            {
+                id: "alpha",
+                namespace: "alpha-ns",
+                capabilities: ["arm_grasp"],
+            },
+        ],
+    };
+    const result = addRobot({ id: "alpha", namespace: "alpha-ns", capabilities: [] }, { obj });
+    const r = result.robots[0];
+    assert.deepEqual(r.capabilities, []);
+});
+//# sourceMappingURL=robot-config.test.js.map

package/dist/__tests__/robot-config.test.js.map

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package/dist/__tests__/transport-shorthand.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=transport-shorthand.test.d.ts.map

package/dist/__tests__/transport-shorthand.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"transport-shorthand.test.d.ts","sourceRoot":"","sources":["../../src/__tests__/transport-shorthand.test.ts"],"names":[],"mappings":""}

package/dist/__tests__/transport-shorthand.test.js

@@ -0,0 +1,88 @@
+import { describe, it } from "node:test";
+import assert from "node:assert/strict";
+import { parseTransportShorthand, parseTransportJson, } from "../util/transport-shorthand.js";
+describe("parseTransportShorthand", () => {
+    it("zenoh: mode-only inherits everything from global config", () => {
+        assert.deepEqual(parseTransportShorthand("zenoh"), { mode: "zenoh" });
+    });
+    it("zenoh:<url> overrides only the router endpoint", () => {
+        assert.deepEqual(parseTransportShorthand("zenoh:ws://farm:10000"), {
+            mode: "zenoh",
+            zenoh: { routerEndpoint: "ws://farm:10000" },
+        });
+    });
+    it("rosbridge:<url> overrides only the websocket url", () => {
+        assert.deepEqual(parseTransportShorthand("rosbridge:ws://10.0.0.5:9090"), {
+            mode: "rosbridge",
+            rosbridge: { url: "ws://10.0.0.5:9090" },
+        });
+    });
+    it("local mode-only inherits domainId from global config", () => {
+        assert.deepEqual(parseTransportShorthand("local"), { mode: "local" });
+    });
+    it("local:<n> overrides domainId (integer)", () => {
+        assert.deepEqual(parseTransportShorthand("local:7"), {
+            mode: "local",
+            local: { domainId: 7 },
+        });
+    });
+    it("local:0 is accepted (non-negative integer)", () => {
+        assert.deepEqual(parseTransportShorthand("local:0"), {
+            mode: "local",
+            local: { domainId: 0 },
+        });
+    });
+    it("local:<non-integer> is rejected with an actionable message", () => {
+        assert.throws(() => parseTransportShorthand("local:abc"), /non-negative integer/);
+        assert.throws(() => parseTransportShorthand("local:1.5"), /non-negative integer/);
+        assert.throws(() => parseTransportShorthand("local:-1"), /non-negative integer/);
+    });
+    it("webrtc:<signalingUrl> overrides only the signaling url", () => {
+        assert.deepEqual(parseTransportShorthand("webrtc:wss://sig.example/signal"), {
+            mode: "webrtc",
+            webrtc: { signalingUrl: "wss://sig.example/signal" },
+        });
+    });
+    it("unknown mode is rejected and the message lists accepted modes", () => {
+        assert.throws(() => parseTransportShorthand("bogus"), /Accepted:/);
+        assert.throws(() => parseTransportShorthand("bogus:value"), /Accepted:/);
+    });
+    it("empty input is rejected with usage hint", () => {
+        assert.throws(() => parseTransportShorthand(""), /requires a value/);
+        assert.throws(() => parseTransportShorthand("   "), /requires a value/);
+    });
+    it("mode is case-insensitive but value is preserved verbatim", () => {
+        assert.deepEqual(parseTransportShorthand("ZENOH:ws://Foo:10000"), {
+            mode: "zenoh",
+            zenoh: { routerEndpoint: "ws://Foo:10000" },
+        });
+    });
+    it("URLs containing colons are preserved (only first colon splits mode)", () => {
+        assert.deepEqual(parseTransportShorthand("zenoh:ws://farm:10000"), {
+            mode: "zenoh",
+            zenoh: { routerEndpoint: "ws://farm:10000" },
+        });
+    });
+});
+describe("parseTransportJson", () => {
+    it("accepts a well-formed override object", () => {
+        const out = parseTransportJson(JSON.stringify({ mode: "zenoh", zenoh: { routerEndpoint: "ws://farm:10000" } }));
+        assert.deepEqual(out, {
+            mode: "zenoh",
+            zenoh: { routerEndpoint: "ws://farm:10000" },
+        });
+    });
+    it("rejects invalid JSON with a helpful message", () => {
+        assert.throws(() => parseTransportJson("{not json"), /invalid JSON/);
+    });
+    it("rejects non-object JSON (array, number, string)", () => {
+        assert.throws(() => parseTransportJson("[]"), /must be a JSON object/);
+        assert.throws(() => parseTransportJson("42"), /must be a JSON object/);
+        assert.throws(() => parseTransportJson("\"zenoh\""), /must be a JSON object/);
+    });
+    it("rejects JSON missing or with invalid mode", () => {
+        assert.throws(() => parseTransportJson("{}"), /missing or invalid "mode"/);
+        assert.throws(() => parseTransportJson(JSON.stringify({ mode: "bogus" })), /missing or invalid "mode"/);
+    });
+});
+//# sourceMappingURL=transport-shorthand.test.js.map

package/dist/__tests__/transport-shorthand.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"transport-shorthand.test.js","sourceRoot":"","sources":["../../src/__tests__/transport-shorthand.test.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,QAAQ,EAAE,EAAE,EAAE,MAAM,WAAW,CAAC;AACzC,OAAO,MAAM,MAAM,oBAAoB,CAAC;AAExC,OAAO,EACL,uBAAuB,EACvB,kBAAkB,GACnB,MAAM,gCAAgC,CAAC;AAExC,QAAQ,CAAC,yBAAyB,EAAE,GAAG,EAAE;IACvC,EAAE,CAAC,yDAAyD,EAAE,GAAG,EAAE;QACjE,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,OAAO,CAAC,EAAE,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC,CAAC;IACxE,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,gDAAgD,EAAE,GAAG,EAAE;QACxD,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,uBAAuB,CAAC,EAAE;YACjE,IAAI,EAAE,OAAO;YACb,KAAK,EAAE,EAAE,cAAc,EAAE,iBAAiB,EAAE;SAC7C,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,kDAAkD,EAAE,GAAG,EAAE;QAC1D,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,8BAA8B,CAAC,EAAE;YACxE,IAAI,EAAE,WAAW;YACjB,SAAS,EAAE,EAAE,GAAG,EAAE,oBAAoB,EAAE;SACzC,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,sDAAsD,EAAE,GAAG,EAAE;QAC9D,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,OAAO,CAAC,EAAE,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC,CAAC;IACxE,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,wCAAwC,EAAE,GAAG,EAAE;QAChD,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,SAAS,CAAC,EAAE;YACnD,IAAI,EAAE,OAAO;YACb,KAAK,EAAE,EAAE,QAAQ,EAAE,CAAC,EAAE;SACvB,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,4CAA4C,EAAE,GAAG,EAAE;QACpD,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,SAAS,CAAC,EAAE;YACnD,IAAI,EAAE,OAAO;YACb,KAAK,EAAE,EAAE,QAAQ,EAAE,CAAC,EAAE;SACvB,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,4DAA4D,EAAE,GAAG,EAAE;QACpE,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,WAAW,CAAC,EAAE,sBAAsB,CAAC,CAAC;QAClF,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,WAAW,CAAC,EAAE,sBAAsB,CAAC,CAAC;QAClF,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,UAAU,CAAC,EAAE,sBAAsB,CAAC,CAAC;IACnF,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,wDAAwD,EAAE,GAAG,EAAE;QAChE,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,iCAAiC,CAAC,EAAE;YAC3E,IAAI,EAAE,QAAQ;YACd,MAAM,EAAE,EAAE,YAAY,EAAE,0BAA0B,EAAE;SACrD,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,+DAA+D,EAAE,GAAG,EAAE;QACvE,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,OAAO,CAAC,EAAE,WAAW,CAAC,CAAC;QACnE,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,aAAa,CAAC,EAAE,WAAW,CAAC,CAAC;IAC3E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,yCAAyC,EAAE,GAAG,EAAE;QACjD,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,EAAE,CAAC,EAAE,kBAAkB,CAAC,CAAC;QACrE,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,uBAAuB,CAAC,KAAK,CAAC,EAAE,kBAAkB,CAAC,CAAC;IAC1E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,0DAA0D,EAAE,GAAG,EAAE;QAClE,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,sBAAsB,CAAC,EAAE;YAChE,IAAI,EAAE,OAAO;YACb,KAAK,EAAE,EAAE,cAAc,EAAE,gBAAgB,EAAE;SAC5C,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,qEAAqE,EAAE,GAAG,EAAE;QAC7E,MAAM,CAAC,SAAS,CAAC,uBAAuB,CAAC,uBAAuB,CAAC,EAAE;YACjE,IAAI,EAAE,OAAO;YACb,KAAK,EAAE,EAAE,cAAc,EAAE,iBAAiB,EAAE;SAC7C,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,oBAAoB,EAAE,GAAG,EAAE;IAClC,EAAE,CAAC,uCAAuC,EAAE,GAAG,EAAE;QAC/C,MAAM,GAAG,GAAG,kBAAkB,CAC5B,IAAI,CAAC,SAAS,CAAC,EAAE,IAAI,EAAE,OAAO,EAAE,KAAK,EAAE,EAAE,cAAc,EAAE,iBAAiB,EAAE,EAAE,CAAC,CAChF,CAAC;QACF,MAAM,CAAC,SAAS,CAAC,GAAG,EAAE;YACpB,IAAI,EAAE,OAAO;YACb,KAAK,EAAE,EAAE,cAAc,EAAE,iBAAiB,EAAE;SAC7C,CAAC,CAAC;IACL,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,6CAA6C,EAAE,GAAG,EAAE;QACrD,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,kBAAkB,CAAC,WAAW,CAAC,EAAE,cAAc,CAAC,CAAC;IACvE,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,iDAAiD,EAAE,GAAG,EAAE;QACzD,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,kBAAkB,CAAC,IAAI,CAAC,EAAE,uBAAuB,CAAC,CAAC;QACvE,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,kBAAkB,CAAC,IAAI,CAAC,EAAE,uBAAuB,CAAC,CAAC;QACvE,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,kBAAkB,CAAC,WAAW,CAAC,EAAE,uBAAuB,CAAC,CAAC;IAChF,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,2CAA2C,EAAE,GAAG,EAAE;QACnD,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,CAAC,kBAAkB,CAAC,IAAI,CAAC,EAAE,2BAA2B,CAAC,CAAC;QAC3E,MAAM,CAAC,MAAM,CACX,GAAG,EAAE,CAAC,kBAAkB,CAAC,IAAI,CAAC,SAAS,CAAC,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC,CAAC,EAC3D,2BAA2B,CAC5B,CAAC;IACJ,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

package/dist/commands/down.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"down.d.ts","sourceRoot":"","sources":["../../src/commands/down.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAOH,MAAM,WAAW,WAAW;IAC1B,UAAU,CAAC,EAAE,OAAO,CAAC;IACrB,qEAAqE;IACrE,WAAW,CAAC,EAAE,OAAO,CAAC;CACvB;AAID,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAiClE"}
+{"version":3,"file":"down.d.ts","sourceRoot":"","sources":["../../src/commands/down.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAOH,MAAM,WAAW,WAAW;IAC1B,UAAU,CAAC,EAAE,OAAO,CAAC;IACrB,qEAAqE;IACrE,WAAW,CAAC,EAAE,OAAO,CAAC;CACvB;AAID,wBAAsB,WAAW,CAAC,IAAI,EAAE,WAAW,GAAG,OAAO,CAAC,IAAI,CAAC,CAgDlE"}

package/dist/commands/down.js

@@ -29,9 +29,24 @@ export async function downCommand(opts) {
             clearPid(name);
         });
     }
-    // Mop up any stray sim subprocesses that did not write a pidfile (children of
-    // ros2 launch typically inherit termination, but be defensive).
-    await tryKill(["gz sim", "ign gazebo", "rviz2", "parameter_bridge"]);
+    // Mop up stray subprocesses that don't have a pidfile we own. Two common
+    // sources of orphans:
+    //   - `ros2 launch realsense2_camera rs_launch.py` writes the launch parent's
+    //     PID to the pidfile, but the actual `realsense2_camera_node` is a
+    //     detached child. If the launch parent dies (or start_demo.sh's "already
+    //     running, skipping" path runs), the node keeps running with its IR
+    //     projector lit and is invisible to our pidfile bookkeeping.
+    //   - Sim children (gz sim, rviz, parameter_bridge) inherit termination from
+    //     ros2 launch in most cases but not always.
+    // We pkill them all by name. -f matches the full command line; SIGTERM first,
+    // then a brief grace period, then SIGKILL anything still hanging on.
+    if (!opts.keepCamera) {
+        await pkillAndWait([
+            "realsense2_camera_node",
+            "ros2 launch realsense2_camera",
+        ]);
+    }
+    await pkillAndWait(["gz sim", "ign gazebo", "rviz2", "parameter_bridge"]);
     if (opts.stopGateway) {
         await stopGatewayService();
     }
@@ -72,6 +87,43 @@ async function tryKill(patterns) {
         }
     }
 }
+/**
+ * Send SIGTERM to anything matching `patterns`, wait for the kernel to schedule
+ * the exits, then SIGKILL any survivors. Crucially, this is what actually turns
+ * the RealSense IR projector off: SIGTERM gives the realsense2_camera_node a
+ * chance to release the USB device cleanly, and the SIGKILL fallback handles
+ * the case where it's wedged.
+ */
+async function pkillAndWait(patterns, termGraceMs = 1500) {
+    // Phase 1: gentle termination.
+    let matchedAny = false;
+    for (const pattern of patterns) {
+        try {
+            const { exitCode } = await execa("pkill", ["-TERM", "-f", pattern], {
+                reject: false,
+            });
+            // pkill exits 0 when at least one process matched, 1 when nothing did.
+            if (exitCode === 0)
+                matchedAny = true;
+        }
+        catch {
+            // pkill missing — nothing to do.
+        }
+    }
+    if (!matchedAny)
+        return;
+    // Phase 2: brief wait so well-behaved processes can exit cleanly.
+    await new Promise((r) => setTimeout(r, termGraceMs));
+    // Phase 3: SIGKILL anything that's still around.
+    for (const pattern of patterns) {
+        try {
+            await execa("pkill", ["-KILL", "-f", pattern], { reject: false });
+        }
+        catch {
+            // ignore
+        }
+    }
+}
 async function stopGatewayService() {
     try {
         const { exitCode } = await execa("systemctl", ["--user", "is-active", "openclaw-gateway.service"], { reject: false });

package/dist/commands/down.js.map

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