agenticros 0.1.18 → 0.2.0

package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.js

@@ -0,0 +1,392 @@
+/**
+ * Depth-only follow-me loop (no neural net).
+ *
+ * Subscribes only to a depth image topic (sensor_msgs/Image, 16UC1 mm or 32FC1 m),
+ * picks the closest "person-like" blob in front of the robot, and drives toward
+ * it using the same FollowerController as the YOLO loop.
+ *
+ * Why this exists: the YOLO-based local loop needs a yolov8n.onnx file and
+ * onnxruntime-node, both of which can be unavailable on a freshly-flashed robot
+ * (no ONNX hosted publicly anymore, no working torch on some Jetson images).
+ * Depth-only follow needs only the depth stream — perfect for unblocking the
+ * skill when the camera publishes depth but no person detector is wired up.
+ *
+ * Accuracy note: this picks the closest contiguous depth region in front of the
+ * camera. It works well in uncluttered indoor space with a single person, and
+ * deliberately ignores anything outside the [minPersonDepth, maxPersonDepth] band
+ * so floor/ceiling/back wall don't capture the controller. It does *not*
+ * recognise people semantically — if you walk behind a chair, it may follow the
+ * chair. Use mode='local' (YOLO) once yolov8n.onnx is available for real
+ * person re-identification.
+ */
+import { resolveCameraSubscribeTopic, toNamespacedTopic } from "@agenticros/core";
+import { ROS_MSG_IMAGE, coerceRosImageDataToBuffer, normalizeDepthImageEncoding, rosBoolField, rosNumericField, rosStringField, } from "@agenticros/ros-camera";
+import { FollowerController } from "./controller.js";
+const DEFAULT_DEPTH_TOPIC = "/camera/camera/depth/image_rect_raw";
+/** RealSense D435/D455 depth HFOV ≈ 87°. Used to convert image-x to lateral metres. */
+const DEFAULT_DEPTH_HORIZONTAL_FOV_RAD = 1.5184;
+const TICK_HZ = 8;
+/** Depth band considered a person (avoids floor/ceiling/back-wall lock-on). */
+const MIN_PERSON_DEPTH_M = 0.5;
+const MAX_PERSON_DEPTH_M = 4.0;
+/** Crop to a central band of the image so the floor and ceiling don't dominate. */
+const ROI_X_LO = 0.15;
+const ROI_X_HI = 0.85;
+const ROI_Y_LO = 0.30;
+const ROI_Y_HI = 0.95;
+/** Coarse grid for blob picking (W_CELLS × H_CELLS). Cheap, fast, robust. */
+const W_CELLS = 16;
+const H_CELLS = 12;
+/** Minimum fraction of valid in-band pixels in a cell for it to count. */
+const MIN_CELL_FILL = 0.20;
+export class FollowMeDepth {
+    robot;
+    config;
+    transport;
+    controller = new FollowerController();
+    enabled = false;
+    running = false;
+    targetDescription = null;
+    depthSub = null;
+    latestDepth = null;
+    tickHandle = null;
+    lastError = null;
+    framesProcessed = 0;
+    detectionsSinceStart = 0;
+    lastTarget = null;
+    tracking = false;
+    constructor(robot, config, transport) {
+        this.robot = robot;
+        this.config = config;
+        this.transport = transport;
+    }
+    /** Stable id of the robot this loop is bound to. Used by the registry below. */
+    get robotId() {
+        return this.robot.id;
+    }
+    async start(opts = {}) {
+        if (this.enabled)
+            return;
+        this.lastError = null;
+        this.framesProcessed = 0;
+        this.detectionsSinceStart = 0;
+        this.targetDescription = opts.targetDescription?.trim() || null;
+        this.controller.reset();
+        this.subscribeDepth();
+        this.enabled = true;
+        this.tickHandle = setInterval(() => this.tickSafe(), 1000 / TICK_HZ);
+    }
+    async stop() {
+        this.enabled = false;
+        if (this.tickHandle) {
+            clearInterval(this.tickHandle);
+            this.tickHandle = null;
+        }
+        this.unsubscribeDepth();
+        this.controller.reset();
+        this.tracking = false;
+        this.lastTarget = null;
+        await this.publishStop();
+    }
+    setTargetDistance(d) {
+        this.controller.setTargetDistance(d);
+    }
+    setTargetDescription(description) {
+        this.targetDescription = description.trim() || null;
+    }
+    status() {
+        return {
+            enabled: this.enabled,
+            tracking: this.tracking,
+            targetDistance: this.controller.config.targetDistance,
+            targetDescription: this.targetDescription,
+            lastTarget: this.lastTarget,
+            lastTwist: this.controller.getLastTwist(),
+            lastError: this.lastError,
+            framesProcessed: this.framesProcessed,
+            detectionsSinceStart: this.detectionsSinceStart,
+        };
+    }
+    subscribeDepth() {
+        const depthTopic = resolveCameraSubscribeTopic(this.robot.namespace, DEFAULT_DEPTH_TOPIC);
+        this.depthSub = this.transport.subscribe({ topic: depthTopic, type: ROS_MSG_IMAGE }, (msg) => {
+            try {
+                const encoding = normalizeDepthImageEncoding(rosStringField(msg.encoding, "16UC1"));
+                const width = rosNumericField(msg.width, "width");
+                const height = rosNumericField(msg.height, "height");
+                const bpp = encoding === "32FC1" ? 4 : 2;
+                const step = msg.step != null && msg.step !== "" ? rosNumericField(msg.step, "step") : width * bpp;
+                const isBigEndian = rosBoolField(msg.is_bigendian);
+                const data = new Uint8Array(coerceRosImageDataToBuffer(msg.data));
+                this.latestDepth = {
+                    width,
+                    height,
+                    step,
+                    encoding,
+                    isBigEndian,
+                    data,
+                    receivedAt: Date.now(),
+                };
+            }
+            catch (err) {
+                this.lastError = `depth decode: ${err instanceof Error ? err.message : String(err)}`;
+            }
+        });
+    }
+    unsubscribeDepth() {
+        this.depthSub?.unsubscribe();
+        this.depthSub = null;
+        this.latestDepth = null;
+    }
+    async tickSafe() {
+        if (this.running || !this.enabled)
+            return;
+        this.running = true;
+        try {
+            await this.tick();
+        }
+        catch (err) {
+            this.lastError = err instanceof Error ? err.message : String(err);
+        }
+        finally {
+            this.running = false;
+        }
+    }
+    async tick() {
+        const depth = this.latestDepth;
+        if (!depth)
+            return; // wait for first frame
+        this.framesProcessed += 1;
+        if (Date.now() - depth.receivedAt > 2000) {
+            // Stale depth → null target → controller watchdog zeroes velocity.
+            this.tracking = false;
+            this.lastTarget = null;
+            const twist = this.controller.update(null);
+            await this.publishTwist(twist);
+            return;
+        }
+        const blob = findClosestPersonBlob(depth);
+        if (!blob) {
+            this.tracking = false;
+            this.lastTarget = null;
+            const twist = this.controller.update(null);
+            await this.publishTwist(twist);
+            return;
+        }
+        // Convert centroid column to lateral metres using depth HFOV.
+        const normX = blob.cx / depth.width - 0.5;
+        const x = blob.z * Math.tan(normX * DEFAULT_DEPTH_HORIZONTAL_FOV_RAD);
+        this.tracking = true;
+        this.detectionsSinceStart += 1;
+        this.lastTarget = { x, z: blob.z, cellsInBlob: blob.cellsInBlob };
+        const twist = this.controller.update({ x, z: blob.z, confidence: 1.0 });
+        await this.publishTwist(twist);
+    }
+    async publishTwist(twist) {
+        const topic = resolveCmdVelTopic(this.config, this.robot);
+        const message = {
+            linear: { x: twist.linearX, y: 0, z: 0 },
+            angular: { x: 0, y: 0, z: twist.angularZ },
+        };
+        try {
+            await this.transport.publish({ topic, type: "geometry_msgs/msg/Twist", msg: message });
+        }
+        catch (err) {
+            this.lastError = `cmd_vel publish: ${err instanceof Error ? err.message : String(err)}`;
+        }
+    }
+    async publishStop() {
+        await this.publishTwist({ linearX: 0, angularZ: 0 });
+    }
+}
+/**
+ * Coarse grid blob finder.
+ *
+ * Splits the central ROI of the depth image into a small grid, computes a
+ * median depth per cell from pixels in the person-band [MIN_PERSON_DEPTH_M,
+ * MAX_PERSON_DEPTH_M], then chooses the connected component (4-neighbour) with
+ * the closest median that meets a minimum size threshold. Returns the centroid
+ * in pixel space and the blob's median depth in metres.
+ *
+ * Trade-offs:
+ *   - Cheap O(W·H) median per cell with a fixed-size sampling sort.
+ *   - Coarse grid (16×12 ≈ 192 cells) ⇒ very robust to noise; sub-cell
+ *     precision is not needed for a P-controller that drives at ≤0.5 m/s.
+ *   - 4-connectivity gives natural "find one person blob" behaviour without a
+ *     full image-level flood fill.
+ */
+export function findClosestPersonBlob(d) {
+    const W = d.width;
+    const H = d.height;
+    const xLo = Math.floor(W * ROI_X_LO);
+    const xHi = Math.floor(W * ROI_X_HI);
+    const yLo = Math.floor(H * ROI_Y_LO);
+    const yHi = Math.floor(H * ROI_Y_HI);
+    if (xHi <= xLo || yHi <= yLo)
+        return null;
+    const cellW = (xHi - xLo) / W_CELLS;
+    const cellH = (yHi - yLo) / H_CELLS;
+    if (cellW < 2 || cellH < 2)
+        return null;
+    // depth[i] = median metres for cell i (-1 = "no valid pixels", Infinity = "below fill threshold")
+    const cellMedian = new Float32Array(W_CELLS * H_CELLS).fill(-1);
+    // Pre-allocated sample buffer reused per cell.
+    const maxSamplesPerCell = Math.max(8, Math.floor(cellW * cellH));
+    const sampleBuf = new Float32Array(maxSamplesPerCell);
+    for (let cy = 0; cy < H_CELLS; cy++) {
+        const y0 = yLo + Math.floor(cy * cellH);
+        const y1 = yLo + Math.floor((cy + 1) * cellH);
+        for (let cx = 0; cx < W_CELLS; cx++) {
+            const x0 = xLo + Math.floor(cx * cellW);
+            const x1 = xLo + Math.floor((cx + 1) * cellW);
+            const inBandCount = sampleCellBand(d, x0, y0, x1, y1, sampleBuf);
+            const totalCellPx = (x1 - x0) * (y1 - y0);
+            if (inBandCount >= totalCellPx * MIN_CELL_FILL && inBandCount >= 4) {
+                // Median via in-place partial sort (n is small enough that JS sort is fine).
+                const subset = sampleBuf.subarray(0, inBandCount).slice().sort();
+                cellMedian[cy * W_CELLS + cx] = subset[subset.length >> 1];
+            }
+        }
+    }
+    // Connected components on cells that have a valid median. Choose component with
+    // smallest min-depth (a heavier component beats a singleton even if slightly farther).
+    const visited = new Uint8Array(W_CELLS * H_CELLS);
+    let bestZ = Infinity;
+    let bestCx = -1;
+    let bestCy = -1;
+    let bestSize = 0;
+    const stack = [];
+    for (let i = 0; i < cellMedian.length; i++) {
+        if (visited[i] || cellMedian[i] < 0)
+            continue;
+        let sumX = 0;
+        let sumY = 0;
+        let sumWeight = 0;
+        let minZInComp = Infinity;
+        let compSize = 0;
+        stack.length = 0;
+        stack.push(i);
+        while (stack.length) {
+            const idx = stack.pop();
+            if (visited[idx])
+                continue;
+            visited[idx] = 1;
+            const z = cellMedian[idx];
+            if (z < 0)
+                continue;
+            const ix = idx % W_CELLS;
+            const iy = (idx - ix) / W_CELLS;
+            const px = xLo + (ix + 0.5) * cellW;
+            const py = yLo + (iy + 0.5) * cellH;
+            // Weight nearer cells more heavily so a few outlier cells far back don't drag the centroid.
+            const w = 1 / Math.max(z, 0.2);
+            sumX += px * w;
+            sumY += py * w;
+            sumWeight += w;
+            if (z < minZInComp)
+                minZInComp = z;
+            compSize += 1;
+            // 4-neighbour expansion, gated by depth continuity (≤0.5m step) so a person
+            // blob doesn't fuse with a wall behind them.
+            const neighbours = [idx - 1, idx + 1, idx - W_CELLS, idx + W_CELLS];
+            // Don't wrap on left/right edges.
+            if (ix === 0)
+                neighbours[0] = -1;
+            if (ix === W_CELLS - 1)
+                neighbours[1] = -1;
+            for (const n of neighbours) {
+                if (n < 0 || n >= cellMedian.length)
+                    continue;
+                if (visited[n])
+                    continue;
+                const nz = cellMedian[n];
+                if (nz < 0)
+                    continue;
+                if (Math.abs(nz - z) <= 0.5)
+                    stack.push(n);
+            }
+        }
+        if (compSize >= 2 && minZInComp < bestZ) {
+            bestZ = minZInComp;
+            bestCx = sumX / sumWeight;
+            bestCy = sumY / sumWeight;
+            bestSize = compSize;
+        }
+    }
+    if (!Number.isFinite(bestZ) || bestCx < 0)
+        return null;
+    return { cx: bestCx, cy: bestCy, z: bestZ, cellsInBlob: bestSize };
+}
+/**
+ * Read pixels from rectangle [x0,y0)–[x1,y1), filter to person-depth band, fill
+ * `out` with valid samples in metres. Returns the count written.
+ */
+function sampleCellBand(d, x0, y0, x1, y1, out) {
+    let n = 0;
+    const cap = out.length;
+    if (d.encoding === "16UC1") {
+        for (let y = y0; y < y1 && n < cap; y++) {
+            for (let x = x0; x < x1 && n < cap; x++) {
+                const off = y * d.step + x * 2;
+                if (off + 2 > d.data.length)
+                    continue;
+                const lo = d.data[off];
+                const hi = d.data[off + 1];
+                const v = d.isBigEndian ? (lo << 8) | hi : (hi << 8) | lo;
+                if (v <= 0)
+                    continue;
+                const m = v / 1000;
+                if (m >= MIN_PERSON_DEPTH_M && m <= MAX_PERSON_DEPTH_M)
+                    out[n++] = m;
+            }
+        }
+    }
+    else if (d.encoding === "32FC1") {
+        const view = new DataView(d.data.buffer, d.data.byteOffset, d.data.byteLength);
+        for (let y = y0; y < y1 && n < cap; y++) {
+            for (let x = x0; x < x1 && n < cap; x++) {
+                const off = y * d.step + x * 4;
+                if (off + 4 > d.data.length)
+                    continue;
+                const m = view.getFloat32(off, !d.isBigEndian);
+                if (!Number.isFinite(m) || m <= 0)
+                    continue;
+                if (m >= MIN_PERSON_DEPTH_M && m <= MAX_PERSON_DEPTH_M)
+                    out[n++] = m;
+            }
+        }
+    }
+    return n;
+}
+function resolveCmdVelTopic(config, robot) {
+    const raw = (config.teleop?.cmdVelTopic ?? "").trim() || "/cmd_vel";
+    const namespaced = toNamespacedTopic(robot.namespace, raw);
+    const match = namespaced.match(/^\/([^/]+)\/cmd_vel$/i);
+    const segment = match?.[1] ?? "";
+    if (match && !segment.toLowerCase().startsWith("robot")) {
+        return `/robot${segment.replace(/-/g, "")}/cmd_vel`;
+    }
+    return namespaced;
+}
+/**
+ * Per-robot registry. Each robot gets its own `FollowMeDepth` instance the
+ * first time anyone asks for one — multi-robot Phase 1.d-extend.
+ *
+ * Keying by `robot.id` (not the namespace string) so two configs that resolve
+ * to the same id share the same loop, and a config swap that *changes* the id
+ * yields a fresh loop with fresh subscriptions.
+ */
+const instances = new Map();
+export function getFollowMeDepth(robot, config, transport) {
+    let entry = instances.get(robot.id);
+    if (!entry) {
+        entry = new FollowMeDepth(robot, config, transport);
+        instances.set(robot.id, entry);
+    }
+    return entry;
+}
+/** Test-only: clear the registry so suites can run in isolation. */
+export function _resetFollowMeDepthRegistry() {
+    instances.clear();
+}
+//# sourceMappingURL=depth-loop.js.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/depth-loop.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"depth-loop.js","sourceRoot":"","sources":["../../src/follow-me/depth-loop.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;GAoBG;AAQH,OAAO,EAAE,2BAA2B,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAClF,OAAO,EACL,aAAa,EACb,0BAA0B,EAC1B,2BAA2B,EAC3B,YAAY,EACZ,eAAe,EACf,cAAc,GACf,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,kBAAkB,EAAc,MAAM,iBAAiB,CAAC;AAEjE,MAAM,mBAAmB,GAAG,qCAAqC,CAAC;AAClE,uFAAuF;AACvF,MAAM,gCAAgC,GAAG,MAAM,CAAC;AAChD,MAAM,OAAO,GAAG,CAAC,CAAC;AAElB,+EAA+E;AAC/E,MAAM,kBAAkB,GAAG,GAAG,CAAC;AAC/B,MAAM,kBAAkB,GAAG,GAAG,CAAC;AAC/B,mFAAmF;AACnF,MAAM,QAAQ,GAAG,IAAI,CAAC;AACtB,MAAM,QAAQ,GAAG,IAAI,CAAC;AACtB,MAAM,QAAQ,GAAG,IAAI,CAAC;AACtB,MAAM,QAAQ,GAAG,IAAI,CAAC;AACtB,6EAA6E;AAC7E,MAAM,OAAO,GAAG,EAAE,CAAC;AACnB,MAAM,OAAO,GAAG,EAAE,CAAC;AACnB,0EAA0E;AAC1E,MAAM,aAAa,GAAG,IAAI,CAAC;AA6B3B,MAAM,OAAO,aAAa;IAeL;IACA;IACA;IAhBF,UAAU,GAAG,IAAI,kBAAkB,EAAE,CAAC;IAC/C,OAAO,GAAG,KAAK,CAAC;IAChB,OAAO,GAAG,KAAK,CAAC;IAChB,iBAAiB,GAAkB,IAAI,CAAC;IACxC,QAAQ,GAAwB,IAAI,CAAC;IACrC,WAAW,GAAuB,IAAI,CAAC;IACvC,UAAU,GAA0B,IAAI,CAAC;IACzC,SAAS,GAAkB,IAAI,CAAC;IAChC,eAAe,GAAG,CAAC,CAAC;IACpB,oBAAoB,GAAG,CAAC,CAAC;IACzB,UAAU,GAAyD,IAAI,CAAC;IACxE,QAAQ,GAAG,KAAK,CAAC;IAEzB,YACmB,KAAoB,EACpB,MAAwB,EACxB,SAAuB;QAFvB,UAAK,GAAL,KAAK,CAAe;QACpB,WAAM,GAAN,MAAM,CAAkB;QACxB,cAAS,GAAT,SAAS,CAAc;IACvC,CAAC;IAEJ,gFAAgF;IAChF,IAAI,OAAO;QACT,OAAO,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC;IACvB,CAAC;IAED,KAAK,CAAC,KAAK,CAAC,OAAqB,EAAE;QACjC,IAAI,IAAI,CAAC,OAAO;YAAE,OAAO;QACzB,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;QACtB,IAAI,CAAC,eAAe,GAAG,CAAC,CAAC;QACzB,IAAI,CAAC,oBAAoB,GAAG,CAAC,CAAC;QAC9B,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC,iBAAiB,EAAE,IAAI,EAAE,IAAI,IAAI,CAAC;QAChE,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;QACxB,IAAI,CAAC,cAAc,EAAE,CAAC;QACtB,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC,UAAU,GAAG,WAAW,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,QAAQ,EAAE,EAAE,IAAI,GAAG,OAAO,CAAC,CAAC;IACvE,CAAC;IAED,KAAK,CAAC,IAAI;QACR,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACrB,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;YACpB,aAAa,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;YAC/B,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACzB,CAAC;QACD,IAAI,CAAC,gBAAgB,EAAE,CAAC;QACxB,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;QACxB,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;QACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACvB,MAAM,IAAI,CAAC,WAAW,EAAE,CAAC;IAC3B,CAAC;IAED,iBAAiB,CAAC,CAAS;QACzB,IAAI,CAAC,UAAU,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC;IACvC,CAAC;IAED,oBAAoB,CAAC,WAAmB;QACtC,IAAI,CAAC,iBAAiB,GAAG,WAAW,CAAC,IAAI,EAAE,IAAI,IAAI,CAAC;IACtD,CAAC;IAED,MAAM;QACJ,OAAO;YACL,OAAO,EAAE,IAAI,CAAC,OAAO;YACrB,QAAQ,EAAE,IAAI,CAAC,QAAQ;YACvB,cAAc,EAAE,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,cAAc;YACrD,iBAAiB,EAAE,IAAI,CAAC,iBAAiB;YACzC,UAAU,EAAE,IAAI,CAAC,UAAU;YAC3B,SAAS,EAAE,IAAI,CAAC,UAAU,CAAC,YAAY,EAAE;YACzC,SAAS,EAAE,IAAI,CAAC,SAAS;YACzB,eAAe,EAAE,IAAI,CAAC,eAAe;YACrC,oBAAoB,EAAE,IAAI,CAAC,oBAAoB;SAChD,CAAC;IACJ,CAAC;IAEO,cAAc;QACpB,MAAM,UAAU,GAAG,2BAA2B,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,mBAAmB,CAAC,CAAC;QAC1F,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,SAAS,CAAC,SAAS,CACtC,EAAE,KAAK,EAAE,UAAU,EAAE,IAAI,EAAE,aAAa,EAAE,EAC1C,CAAC,GAAG,EAAE,EAAE;YACN,IAAI,CAAC;gBACH,MAAM,QAAQ,GAAG,2BAA2B,CAAC,cAAc,CAAC,GAAG,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAC,CAAC;gBACpF,MAAM,KAAK,GAAG,eAAe,CAAC,GAAG,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;gBAClD,MAAM,MAAM,GAAG,eAAe,CAAC,GAAG,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;gBACrD,MAAM,GAAG,GAAG,QAAQ,KAAK,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACzC,MAAM,IAAI,GACR,GAAG,CAAC,IAAI,IAAI,IAAI,IAAI,GAAG,CAAC,IAAI,KAAK,EAAE,CAAC,CAAC,CAAC,eAAe,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,GAAG,CAAC;gBACxF,MAAM,WAAW,GAAG,YAAY,CAAC,GAAG,CAAC,YAAY,CAAC,CAAC;gBACnD,MAAM,IAAI,GAAG,IAAI,UAAU,CAAC,0BAA0B,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;gBAClE,IAAI,CAAC,WAAW,GAAG;oBACjB,KAAK;oBACL,MAAM;oBACN,IAAI;oBACJ,QAAQ;oBACR,WAAW;oBACX,IAAI;oBACJ,UAAU,EAAE,IAAI,CAAC,GAAG,EAAE;iBACvB,CAAC;YACJ,CAAC;YAAC,OAAO,GAAG,EAAE,CAAC;gBACb,IAAI,CAAC,SAAS,GAAG,iBAAiB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;YACvF,CAAC;QACH,CAAC,CACF,CAAC;IACJ,CAAC;IAEO,gBAAgB;QACtB,IAAI,CAAC,QAAQ,EAAE,WAAW,EAAE,CAAC;QAC7B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAC1B,CAAC;IAEO,KAAK,CAAC,QAAQ;QACpB,IAAI,IAAI,CAAC,OAAO,IAAI,CAAC,IAAI,CAAC,OAAO;YAAE,OAAO;QAC1C,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC;YACH,MAAM,IAAI,CAAC,IAAI,EAAE,CAAC;QACpB,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;QACpE,CAAC;gBAAS,CAAC;YACT,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACvB,CAAC;IACH,CAAC;IAEO,KAAK,CAAC,IAAI;QAChB,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC;QAC/B,IAAI,CAAC,KAAK;YAAE,OAAO,CAAC,uBAAuB;QAE3C,IAAI,CAAC,eAAe,IAAI,CAAC,CAAC;QAE1B,IAAI,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,UAAU,GAAG,IAAI,EAAE,CAAC;YACzC,mEAAmE;YACnE,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;YACvB,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,OAAO;QACT,CAAC;QAED,MAAM,IAAI,GAAG,qBAAqB,CAAC,KAAK,CAAC,CAAC;QAC1C,IAAI,CAAC,IAAI,EAAE,CAAC;YACV,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;YACvB,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,OAAO;QACT,CAAC;QAED,8DAA8D;QAC9D,MAAM,KAAK,GAAG,IAAI,CAAC,EAAE,GAAG,KAAK,CAAC,KAAK,GAAG,GAAG,CAAC;QAC1C,MAAM,CAAC,GAAG,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,gCAAgC,CAAC,CAAC;QAEtE,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,oBAAoB,IAAI,CAAC,CAAC;QAC/B,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,WAAW,EAAE,IAAI,CAAC,WAAW,EAAE,CAAC;QAClE,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,UAAU,EAAE,GAAG,EAAE,CAAC,CAAC;QACxE,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;IACjC,CAAC;IAEO,KAAK,CAAC,YAAY,CAAC,KAAY;QACrC,MAAM,KAAK,GAAG,kBAAkB,CAAC,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC;QAC1D,MAAM,OAAO,GAAG;YACd,MAAM,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;YACxC,OAAO,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,QAAQ,EAAE;SAC3C,CAAC;QACF,IAAI,CAAC;YACH,MAAM,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,yBAAyB,EAAE,GAAG,EAAE,OAAO,EAAE,CAAC,CAAC;QACzF,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,oBAAoB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;QAC1F,CAAC;IACH,CAAC;IAEO,KAAK,CAAC,WAAW;QACvB,MAAM,IAAI,CAAC,YAAY,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAC;IACvD,CAAC;CACF;AAED;;;;;;;;;;;;;;;GAeG;AACH,MAAM,UAAU,qBAAqB,CACnC,CAAc;IAEd,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,CAAC;IAClB,MAAM,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC;IACnB,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC;IACrC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC;IACrC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC;IACrC,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC;IACrC,IAAI,GAAG,IAAI,GAAG,IAAI,GAAG,IAAI,GAAG;QAAE,OAAO,IAAI,CAAC;IAE1C,MAAM,KAAK,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,OAAO,CAAC;IACpC,MAAM,KAAK,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,OAAO,CAAC;IACpC,IAAI,KAAK,GAAG,CAAC,IAAI,KAAK,GAAG,CAAC;QAAE,OAAO,IAAI,CAAC;IAExC,kGAAkG;IAClG,MAAM,UAAU,GAAG,IAAI,YAAY,CAAC,OAAO,GAAG,OAAO,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAEhE,+CAA+C;IAC/C,MAAM,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,CAAC,CAAC;IACjE,MAAM,SAAS,GAAG,IAAI,YAAY,CAAC,iBAAiB,CAAC,CAAC;IAEtD,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,OAAO,EAAE,EAAE,EAAE,EAAE,CAAC;QACpC,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,GAAG,KAAK,CAAC,CAAC;QACxC,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC;QAC9C,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,OAAO,EAAE,EAAE,EAAE,EAAE,CAAC;YACpC,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,GAAG,KAAK,CAAC,CAAC;YACxC,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC;YAC9C,MAAM,WAAW,GAAG,cAAc,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,SAAS,CAAC,CAAC;YACjE,MAAM,WAAW,GAAG,CAAC,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC;YAC1C,IAAI,WAAW,IAAI,WAAW,GAAG,aAAa,IAAI,WAAW,IAAI,CAAC,EAAE,CAAC;gBACnE,6EAA6E;gBAC7E,MAAM,MAAM,GAAG,SAAS,CAAC,QAAQ,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,KAAK,EAAE,CAAC,IAAI,EAAE,CAAC;gBACjE,UAAU,CAAC,EAAE,GAAG,OAAO,GAAG,EAAE,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC,MAAM,IAAI,CAAC,CAAE,CAAC;YAC9D,CAAC;QACH,CAAC;IACH,CAAC;IAED,gFAAgF;IAChF,uFAAuF;IACvF,MAAM,OAAO,GAAG,IAAI,UAAU,CAAC,OAAO,GAAG,OAAO,CAAC,CAAC;IAClD,IAAI,KAAK,GAAG,QAAQ,CAAC;IACrB,IAAI,MAAM,GAAG,CAAC,CAAC,CAAC;IAChB,IAAI,MAAM,GAAG,CAAC,CAAC,CAAC;IAChB,IAAI,QAAQ,GAAG,CAAC,CAAC;IACjB,MAAM,KAAK,GAAa,EAAE,CAAC;IAC3B,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;QAC3C,IAAI,OAAO,CAAC,CAAC,CAAC,IAAI,UAAU,CAAC,CAAC,CAAE,GAAG,CAAC;YAAE,SAAS;QAC/C,IAAI,IAAI,GAAG,CAAC,CAAC;QACb,IAAI,IAAI,GAAG,CAAC,CAAC;QACb,IAAI,SAAS,GAAG,CAAC,CAAC;QAClB,IAAI,UAAU,GAAG,QAAQ,CAAC;QAC1B,IAAI,QAAQ,GAAG,CAAC,CAAC;QACjB,KAAK,CAAC,MAAM,GAAG,CAAC,CAAC;QACjB,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QACd,OAAO,KAAK,CAAC,MAAM,EAAE,CAAC;YACpB,MAAM,GAAG,GAAG,KAAK,CAAC,GAAG,EAAG,CAAC;YACzB,IAAI,OAAO,CAAC,GAAG,CAAC;gBAAE,SAAS;YAC3B,OAAO,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;YACjB,MAAM,CAAC,GAAG,UAAU,CAAC,GAAG,CAAE,CAAC;YAC3B,IAAI,CAAC,GAAG,CAAC;gBAAE,SAAS;YACpB,MAAM,EAAE,GAAG,GAAG,GAAG,OAAO,CAAC;YACzB,MAAM,EAAE,GAAG,CAAC,GAAG,GAAG,EAAE,CAAC,GAAG,OAAO,CAAC;YAChC,MAAM,EAAE,GAAG,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,CAAC,GAAG,KAAK,CAAC;YACpC,MAAM,EAAE,GAAG,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,CAAC,GAAG,KAAK,CAAC;YACpC,4FAA4F;YAC5F,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;YAC/B,IAAI,IAAI,EAAE,GAAG,CAAC,CAAC;YACf,IAAI,IAAI,EAAE,GAAG,CAAC,CAAC;YACf,SAAS,IAAI,CAAC,CAAC;YACf,IAAI,CAAC,GAAG,UAAU;gBAAE,UAAU,GAAG,CAAC,CAAC;YACnC,QAAQ,IAAI,CAAC,CAAC;YACd,4EAA4E;YAC5E,6CAA6C;YAC7C,MAAM,UAAU,GAAG,CAAC,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,OAAO,EAAE,GAAG,GAAG,OAAO,CAAC,CAAC;YACpE,kCAAkC;YAClC,IAAI,EAAE,KAAK,CAAC;gBAAE,UAAU,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;YACjC,IAAI,EAAE,KAAK,OAAO,GAAG,CAAC;gBAAE,UAAU,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;YAC3C,KAAK,MAAM,CAAC,IAAI,UAAU,EAAE,CAAC;gBAC3B,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,UAAU,CAAC,MAAM;oBAAE,SAAS;gBAC9C,IAAI,OAAO,CAAC,CAAC,CAAC;oBAAE,SAAS;gBACzB,MAAM,EAAE,GAAG,UAAU,CAAC,CAAC,CAAE,CAAC;gBAC1B,IAAI,EAAE,GAAG,CAAC;oBAAE,SAAS;gBACrB,IAAI,IAAI,CAAC,GAAG,CAAC,EAAE,GAAG,CAAC,CAAC,IAAI,GAAG;oBAAE,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YAC7C,CAAC;QACH,CAAC;QACD,IAAI,QAAQ,IAAI,CAAC,IAAI,UAAU,GAAG,KAAK,EAAE,CAAC;YACxC,KAAK,GAAG,UAAU,CAAC;YACnB,MAAM,GAAG,IAAI,GAAG,SAAS,CAAC;YAC1B,MAAM,GAAG,IAAI,GAAG,SAAS,CAAC;YAC1B,QAAQ,GAAG,QAAQ,CAAC;QACtB,CAAC;IACH,CAAC;IAED,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,MAAM,GAAG,CAAC;QAAE,OAAO,IAAI,CAAC;IACvD,OAAO,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,CAAC,EAAE,KAAK,EAAE,WAAW,EAAE,QAAQ,EAAE,CAAC;AACrE,CAAC;AAED;;;GAGG;AACH,SAAS,cAAc,CACrB,CAAc,EACd,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU,EACV,GAAiB;IAEjB,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,MAAM,GAAG,GAAG,GAAG,CAAC,MAAM,CAAC;IACvB,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QAC3B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC;YACxC,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC;gBACxC,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC;gBAC/B,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM;oBAAE,SAAS;gBACtC,MAAM,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAE,CAAC;gBACxB,MAAM,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,CAAE,CAAC;gBAC5B,MAAM,CAAC,GAAG,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC1D,IAAI,CAAC,IAAI,CAAC;oBAAE,SAAS;gBACrB,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC;gBACnB,IAAI,CAAC,IAAI,kBAAkB,IAAI,CAAC,IAAI,kBAAkB;oBAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC;YACvE,CAAC;QACH,CAAC;IACH,CAAC;SAAM,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QAClC,MAAM,IAAI,GAAG,IAAI,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,UAAU,EAAE,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;QAC/E,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC;YACxC,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC;gBACxC,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC;gBAC/B,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM;oBAAE,SAAS;gBACtC,MAAM,CAAC,GAAG,IAAI,CAAC,UAAU,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC;gBAC/C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC;oBAAE,SAAS;gBAC5C,IAAI,CAAC,IAAI,kBAAkB,IAAI,CAAC,IAAI,kBAAkB;oBAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC;YACvE,CAAC;QACH,CAAC;IACH,CAAC;IACD,OAAO,CAAC,CAAC;AACX,CAAC;AAED,SAAS,kBAAkB,CAAC,MAAwB,EAAE,KAAoB;IACxE,MAAM,GAAG,GAAG,CAAC,MAAM,CAAC,MAAM,EAAE,WAAW,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,UAAU,CAAC;IACpE,MAAM,UAAU,GAAG,iBAAiB,CAAC,KAAK,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC;IAC3D,MAAM,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC,uBAAuB,CAAC,CAAC;IACxD,MAAM,OAAO,GAAG,KAAK,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC;IACjC,IAAI,KAAK,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC,EAAE,CAAC;QACxD,OAAO,SAAS,OAAO,CAAC,OAAO,CAAC,IAAI,EAAE,EAAE,CAAC,UAAU,CAAC;IACtD,CAAC;IACD,OAAO,UAAU,CAAC;AACpB,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,SAAS,GAAG,IAAI,GAAG,EAAyB,CAAC;AAEnD,MAAM,UAAU,gBAAgB,CAC9B,KAAoB,EACpB,MAAwB,EACxB,SAAuB;IAEvB,IAAI,KAAK,GAAG,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;IACpC,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,KAAK,GAAG,IAAI,aAAa,CAAC,KAAK,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;QACpD,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,oEAAoE;AACpE,MAAM,UAAU,2BAA2B;IACzC,SAAS,CAAC,KAAK,EAAE,CAAC;AACpB,CAAC"}

package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.d.ts

@@ -4,7 +4,7 @@
  *
  * This is the `mode: 'local'` alternative to the agenticros_follow_me ROS2 node.
  */
-import type { AgenticROSConfig, RosTransport } from "@agenticros/core";
+import type { AgenticROSConfig, ResolvedRobot, RosTransport } from "@agenticros/core";
 import { type Twist } from "./controller.js";
 export interface FollowMeLocalStatus {
     enabled: boolean;
@@ -26,6 +26,7 @@ export interface StartOptions {
     targetDescription?: string;
 }
 export declare class FollowMeLocal {
+    private readonly robot;
     private readonly config;
     private readonly transport;
     private readonly detector;
@@ -43,7 +44,9 @@ export declare class FollowMeLocal {
     private detectionsSinceStart;
     private lastPerson;
     private tracking;
-    constructor(config: AgenticROSConfig, transport: RosTransport);
+    constructor(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport);
+    /** Stable id of the robot this loop is bound to. Used by the registry below. */
+    get robotId(): string;
     start(opts?: StartOptions): Promise<void>;
     stop(): Promise<void>;
     setTargetDistance(d: number): void;
@@ -57,5 +60,7 @@ export declare class FollowMeLocal {
     private publishTwist;
     private publishStop;
 }
-export declare function getFollowMeLocal(config: AgenticROSConfig, transport: RosTransport): FollowMeLocal;
+export declare function getFollowMeLocal(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport): FollowMeLocal;
+/** Test-only: clear the registry so suites can run in isolation. */
+export declare function _resetFollowMeLocalRegistry(): void;
 //# sourceMappingURL=loop.d.ts.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"loop.d.ts","sourceRoot":"","sources":["../../src/follow-me/loop.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAEH,OAAO,KAAK,EAAE,gBAAgB,EAAE,YAAY,EAAgB,MAAM,kBAAkB,CAAC;AAarF,OAAO,EAAsB,KAAK,KAAK,EAAE,MAAM,iBAAiB,CAAC;AAOjE,MAAM,WAAW,mBAAmB;IAClC,OAAO,EAAE,OAAO,CAAC;IACjB,QAAQ,EAAE,OAAO,CAAC;IAClB,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,MAAM,GAAG,IAAI,CAAC;IACjC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE;QAAE,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAC;QAAC,UAAU,EAAE,MAAM,CAAA;KAAE,GAAG,IAAI,CAAC;IAChE,SAAS,EAAE,KAAK,CAAC;IACjB,SAAS,EAAE,MAAM,GAAG,IAAI,CAAC;IACzB,eAAe,EAAE,MAAM,CAAC;IACxB,oBAAoB,EAAE,MAAM,CAAC;CAC9B;AAED,MAAM,WAAW,YAAY;IAC3B,iBAAiB,CAAC,EAAE,MAAM,CAAC;CAC5B;AAiBD,qBAAa,aAAa;IAkBtB,OAAO,CAAC,QAAQ,CAAC,MAAM;IACvB,OAAO,CAAC,QAAQ,CAAC,SAAS;IAlB5B,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAwB;IACjD,OAAO,CAAC,QAAQ,CAAC,UAAU,CAA4B;IACvD,OAAO,CAAC,OAAO,CAAS;IACxB,OAAO,CAAC,OAAO,CAAS;IACxB,OAAO,CAAC,iBAAiB,CAAuB;IAChD,OAAO,CAAC,QAAQ,CAA6B;IAC7C,OAAO,CAAC,QAAQ,CAA6B;IAC7C,OAAO,CAAC,WAAW,CAA4B;IAC/C,OAAO,CAAC,WAAW,CAA4B;IAC/C,OAAO,CAAC,UAAU,CAA+B;IACjD,OAAO,CAAC,SAAS,CAAuB;IACxC,OAAO,CAAC,eAAe,CAAK;IAC5B,OAAO,CAAC,oBAAoB,CAAK;IACjC,OAAO,CAAC,UAAU,CAA6D;IAC/E,OAAO,CAAC,QAAQ,CAAS;gBAGN,MAAM,EAAE,gBAAgB,EACxB,SAAS,EAAE,YAAY;IAGpC,KAAK,CAAC,IAAI,GAAE,YAAiB,GAAG,OAAO,CAAC,IAAI,CAAC;IAa7C,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAa3B,iBAAiB,CAAC,CAAC,EAAE,MAAM,GAAG,IAAI;IAIlC,oBAAoB,CAAC,WAAW,EAAE,MAAM,GAAG,IAAI;IAI/C,MAAM,IAAI,mBAAmB;IAe7B,OAAO,CAAC,eAAe;IAuCvB,OAAO,CAAC,iBAAiB;YASX,QAAQ;YAYR,IAAI;IAwClB,OAAO,CAAC,WAAW;YAgCL,YAAY;YAaZ,WAAW;CAG1B;AAgDD,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,gBAAgB,EAAE,SAAS,EAAE,YAAY,GAAG,aAAa,CAGjG"}
+{"version":3,"file":"loop.d.ts","sourceRoot":"","sources":["../../src/follow-me/loop.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAEH,OAAO,KAAK,EACV,gBAAgB,EAChB,aAAa,EACb,YAAY,EAEb,MAAM,kBAAkB,CAAC;AAa1B,OAAO,EAAsB,KAAK,KAAK,EAAE,MAAM,iBAAiB,CAAC;AAOjE,MAAM,WAAW,mBAAmB;IAClC,OAAO,EAAE,OAAO,CAAC;IACjB,QAAQ,EAAE,OAAO,CAAC;IAClB,cAAc,EAAE,MAAM,CAAC;IACvB,iBAAiB,EAAE,MAAM,GAAG,IAAI,CAAC;IACjC,WAAW,EAAE,MAAM,CAAC;IACpB,UAAU,EAAE;QAAE,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAC;QAAC,UAAU,EAAE,MAAM,CAAA;KAAE,GAAG,IAAI,CAAC;IAChE,SAAS,EAAE,KAAK,CAAC;IACjB,SAAS,EAAE,MAAM,GAAG,IAAI,CAAC;IACzB,eAAe,EAAE,MAAM,CAAC;IACxB,oBAAoB,EAAE,MAAM,CAAC;CAC9B;AAED,MAAM,WAAW,YAAY;IAC3B,iBAAiB,CAAC,EAAE,MAAM,CAAC;CAC5B;AAiBD,qBAAa,aAAa;IAkBtB,OAAO,CAAC,QAAQ,CAAC,KAAK;IACtB,OAAO,CAAC,QAAQ,CAAC,MAAM;IACvB,OAAO,CAAC,QAAQ,CAAC,SAAS;IAnB5B,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAwB;IACjD,OAAO,CAAC,QAAQ,CAAC,UAAU,CAA4B;IACvD,OAAO,CAAC,OAAO,CAAS;IACxB,OAAO,CAAC,OAAO,CAAS;IACxB,OAAO,CAAC,iBAAiB,CAAuB;IAChD,OAAO,CAAC,QAAQ,CAA6B;IAC7C,OAAO,CAAC,QAAQ,CAA6B;IAC7C,OAAO,CAAC,WAAW,CAA4B;IAC/C,OAAO,CAAC,WAAW,CAA4B;IAC/C,OAAO,CAAC,UAAU,CAA+B;IACjD,OAAO,CAAC,SAAS,CAAuB;IACxC,OAAO,CAAC,eAAe,CAAK;IAC5B,OAAO,CAAC,oBAAoB,CAAK;IACjC,OAAO,CAAC,UAAU,CAA6D;IAC/E,OAAO,CAAC,QAAQ,CAAS;gBAGN,KAAK,EAAE,aAAa,EACpB,MAAM,EAAE,gBAAgB,EACxB,SAAS,EAAE,YAAY;IAG1C,gFAAgF;IAChF,IAAI,OAAO,IAAI,MAAM,CAEpB;IAEK,KAAK,CAAC,IAAI,GAAE,YAAiB,GAAG,OAAO,CAAC,IAAI,CAAC;IAa7C,IAAI,IAAI,OAAO,CAAC,IAAI,CAAC;IAa3B,iBAAiB,CAAC,CAAC,EAAE,MAAM,GAAG,IAAI;IAIlC,oBAAoB,CAAC,WAAW,EAAE,MAAM,GAAG,IAAI;IAI/C,MAAM,IAAI,mBAAmB;IAe7B,OAAO,CAAC,eAAe;IAuCvB,OAAO,CAAC,iBAAiB;YASX,QAAQ;YAYR,IAAI;IAwClB,OAAO,CAAC,WAAW;YAgCL,YAAY;YAaZ,WAAW;CAG1B;AAqDD,wBAAgB,gBAAgB,CAC9B,KAAK,EAAE,aAAa,EACpB,MAAM,EAAE,gBAAgB,EACxB,SAAS,EAAE,YAAY,GACtB,aAAa,CAOf;AAED,oEAAoE;AACpE,wBAAgB,2BAA2B,IAAI,IAAI,CAElD"}

package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.js

@@ -13,6 +13,7 @@ const DEFAULT_DEPTH_TOPIC = "/camera/camera/depth/image_rect_raw";
 const DEFAULT_HORIZONTAL_FOV_RAD = 1.20428; // RealSense D435 color HFOV ≈ 69°
 const TICK_HZ = 8;
 export class FollowMeLocal {
+    robot;
     config;
     transport;
     detector = new PersonDetector();
@@ -30,10 +31,15 @@ export class FollowMeLocal {
     detectionsSinceStart = 0;
     lastPerson = null;
     tracking = false;
-    constructor(config, transport) {
+    constructor(robot, config, transport) {
+        this.robot = robot;
         this.config = config;
         this.transport = transport;
     }
+    /** Stable id of the robot this loop is bound to. Used by the registry below. */
+    get robotId() {
+        return this.robot.id;
+    }
     async start(opts = {}) {
         if (this.enabled)
             return;
@@ -80,9 +86,9 @@ export class FollowMeLocal {
         };
     }
     subscribeFrames() {
-        const colorTopicRaw = (this.config.robot?.cameraTopic ?? "").trim() || DEFAULT_COLOR_TOPIC;
-        const colorTopic = resolveCameraSubscribeTopic(this.config, colorTopicRaw);
-        const depthTopic = resolveCameraSubscribeTopic(this.config, DEFAULT_DEPTH_TOPIC);
+        const colorTopicRaw = this.robot.cameraTopic.trim() || DEFAULT_COLOR_TOPIC;
+        const colorTopic = resolveCameraSubscribeTopic(this.robot.namespace, colorTopicRaw);
+        const depthTopic = resolveCameraSubscribeTopic(this.robot.namespace, DEFAULT_DEPTH_TOPIC);
         const isCompressed = colorTopic.includes("compressed");
         this.colorSub = this.transport.subscribe({ topic: colorTopic, type: isCompressed ? ROS_MSG_COMPRESSED_IMAGE : ROS_MSG_IMAGE }, (msg) => {
             try {
@@ -197,7 +203,7 @@ export class FollowMeLocal {
         return { x, z, confidence: person.confidence };
     }
     async publishTwist(twist) {
-        const topic = resolveCmdVelTopic(this.config);
+        const topic = resolveCmdVelTopic(this.config, this.robot);
         const message = {
             linear: { x: twist.linearX, y: 0, z: 0 },
             angular: { x: 0, y: 0, z: twist.angularZ },
@@ -248,9 +254,9 @@ function sampleDepthRegion(d, x0, y0, x1, y1) {
     }
     return out;
 }
-function resolveCmdVelTopic(config) {
+function resolveCmdVelTopic(config, robot) {
     const raw = (config.teleop?.cmdVelTopic ?? "").trim() || "/cmd_vel";
-    const namespaced = toNamespacedTopic(config, raw);
+    const namespaced = toNamespacedTopic(robot.namespace, raw);
     // Apply same uuid → robot<uuid-no-dashes> rewrite as ros2_publish handler.
     const match = namespaced.match(/^\/([^/]+)\/cmd_vel$/i);
     const segment = match?.[1] ?? "";
@@ -259,10 +265,22 @@ function resolveCmdVelTopic(config) {
     }
     return namespaced;
 }
-let singleton = null;
-export function getFollowMeLocal(config, transport) {
-    if (!singleton)
-        singleton = new FollowMeLocal(config, transport);
-    return singleton;
+/**
+ * Per-robot registry. Each robot gets its own `FollowMeLocal` instance (with
+ * its own YOLO detector + camera subs) the first time anyone asks for one.
+ * Multi-robot Phase 1.d-extend.
+ */
+const instances = new Map();
+export function getFollowMeLocal(robot, config, transport) {
+    let entry = instances.get(robot.id);
+    if (!entry) {
+        entry = new FollowMeLocal(robot, config, transport);
+        instances.set(robot.id, entry);
+    }
+    return entry;
+}
+/** Test-only: clear the registry so suites can run in isolation. */
+export function _resetFollowMeLocalRegistry() {
+    instances.clear();
 }
 //# sourceMappingURL=loop.js.map

package/runtime/packages/agenticros-claude-code/dist/follow-me/loop.js.map

@@ -1 +1 @@
-{"version":3,"file":"loop.js","sourceRoot":"","sources":["../../src/follow-me/loop.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAGH,OAAO,EAAE,2BAA2B,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAClF,OAAO,EACL,wBAAwB,EACxB,aAAa,EACb,8BAA8B,EAC9B,0BAA0B,EAC1B,2BAA2B,EAC3B,YAAY,EACZ,eAAe,EACf,cAAc,GACf,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,cAAc,EAAwB,MAAM,eAAe,CAAC;AACrE,OAAO,EAAE,kBAAkB,EAAc,MAAM,iBAAiB,CAAC;AAEjE,MAAM,mBAAmB,GAAG,2CAA2C,CAAC;AACxE,MAAM,mBAAmB,GAAG,qCAAqC,CAAC;AAClE,MAAM,0BAA0B,GAAG,OAAO,CAAC,CAAC,kCAAkC;AAC9E,MAAM,OAAO,GAAG,CAAC,CAAC;AAkClB,MAAM,OAAO,aAAa;IAkBL;IACA;IAlBF,QAAQ,GAAG,IAAI,cAAc,EAAE,CAAC;IAChC,UAAU,GAAG,IAAI,kBAAkB,EAAE,CAAC;IAC/C,OAAO,GAAG,KAAK,CAAC;IAChB,OAAO,GAAG,KAAK,CAAC;IAChB,iBAAiB,GAAkB,IAAI,CAAC;IACxC,QAAQ,GAAwB,IAAI,CAAC;IACrC,QAAQ,GAAwB,IAAI,CAAC;IACrC,WAAW,GAAuB,IAAI,CAAC;IACvC,WAAW,GAAuB,IAAI,CAAC;IACvC,UAAU,GAA0B,IAAI,CAAC;IACzC,SAAS,GAAkB,IAAI,CAAC;IAChC,eAAe,GAAG,CAAC,CAAC;IACpB,oBAAoB,GAAG,CAAC,CAAC;IACzB,UAAU,GAAwD,IAAI,CAAC;IACvE,QAAQ,GAAG,KAAK,CAAC;IAEzB,YACmB,MAAwB,EACxB,SAAuB;QADvB,WAAM,GAAN,MAAM,CAAkB;QACxB,cAAS,GAAT,SAAS,CAAc;IACvC,CAAC;IAEJ,KAAK,CAAC,KAAK,CAAC,OAAqB,EAAE;QACjC,IAAI,IAAI,CAAC,OAAO;YAAE,OAAO;QACzB,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;QACtB,IAAI,CAAC,eAAe,GAAG,CAAC,CAAC;QACzB,IAAI,CAAC,oBAAoB,GAAG,CAAC,CAAC;QAC9B,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC,iBAAiB,EAAE,IAAI,EAAE,IAAI,IAAI,CAAC;QAChE,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;QACxB,MAAM,IAAI,CAAC,QAAQ,CAAC,IAAI,EAAE,CAAC;QAC3B,IAAI,CAAC,eAAe,EAAE,CAAC;QACvB,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC,UAAU,GAAG,WAAW,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,QAAQ,EAAE,EAAE,IAAI,GAAG,OAAO,CAAC,CAAC;IACvE,CAAC;IAED,KAAK,CAAC,IAAI;QACR,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACrB,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;YACpB,aAAa,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;YAC/B,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACzB,CAAC;QACD,IAAI,CAAC,iBAAiB,EAAE,CAAC;QACzB,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;QACxB,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;QACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACvB,MAAM,IAAI,CAAC,WAAW,EAAE,CAAC;IAC3B,CAAC;IAED,iBAAiB,CAAC,CAAS;QACzB,IAAI,CAAC,UAAU,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC;IACvC,CAAC;IAED,oBAAoB,CAAC,WAAmB;QACtC,IAAI,CAAC,iBAAiB,GAAG,WAAW,CAAC,IAAI,EAAE,IAAI,IAAI,CAAC;IACtD,CAAC;IAED,MAAM;QACJ,OAAO;YACL,OAAO,EAAE,IAAI,CAAC,OAAO;YACrB,QAAQ,EAAE,IAAI,CAAC,QAAQ;YACvB,cAAc,EAAE,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,cAAc;YACrD,iBAAiB,EAAE,IAAI,CAAC,iBAAiB;YACzC,WAAW,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YACpC,UAAU,EAAE,IAAI,CAAC,UAAU;YAC3B,SAAS,EAAE,IAAI,CAAC,UAAU,CAAC,YAAY,EAAE;YACzC,SAAS,EAAE,IAAI,CAAC,SAAS;YACzB,eAAe,EAAE,IAAI,CAAC,eAAe;YACrC,oBAAoB,EAAE,IAAI,CAAC,oBAAoB;SAChD,CAAC;IACJ,CAAC;IAEO,eAAe;QACrB,MAAM,aAAa,GAAG,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,WAAW,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,mBAAmB,CAAC;QAC3F,MAAM,UAAU,GAAG,2BAA2B,CAAC,IAAI,CAAC,MAAM,EAAE,aAAa,CAAC,CAAC;QAC3E,MAAM,UAAU,GAAG,2BAA2B,CAAC,IAAI,CAAC,MAAM,EAAE,mBAAmB,CAAC,CAAC;QACjF,MAAM,YAAY,GAAG,UAAU,CAAC,QAAQ,CAAC,YAAY,CAAC,CAAC;QAEvD,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,SAAS,CAAC,SAAS,CACtC,EAAE,KAAK,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,CAAC,CAAC,CAAC,wBAAwB,CAAC,CAAC,CAAC,aAAa,EAAE,EACpF,CAAC,GAAG,EAAE,EAAE;YACN,IAAI,CAAC;gBACH,MAAM,OAAO,GAAG,8BAA8B,CAAC,YAAY,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC,CAAC,OAAO,EAAE,GAAG,CAAC,CAAC;gBAChG,MAAM,GAAG,GAAG,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,UAAU,EAAE,QAAQ,CAAC,CAAC;gBACtD,IAAI,CAAC,WAAW,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,UAAU,EAAE,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC;YAC7D,CAAC;YAAC,OAAO,GAAG,EAAE,CAAC;gBACb,IAAI,CAAC,SAAS,GAAG,iBAAiB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;YACvF,CAAC;QACH,CAAC,CACF,CAAC;QAEF,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,SAAS,CAAC,SAAS,CACtC,EAAE,KAAK,EAAE,UAAU,EAAE,IAAI,EAAE,aAAa,EAAE,EAC1C,CAAC,GAAG,EAAE,EAAE;YACN,IAAI,CAAC;gBACH,MAAM,QAAQ,GAAG,2BAA2B,CAAC,cAAc,CAAC,GAAG,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAC,CAAC;gBACpF,MAAM,KAAK,GAAG,eAAe,CAAC,GAAG,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;gBAClD,MAAM,MAAM,GAAG,eAAe,CAAC,GAAG,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;gBACrD,MAAM,GAAG,GAAG,QAAQ,KAAK,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACzC,MAAM,IAAI,GACR,GAAG,CAAC,IAAI,IAAI,IAAI,IAAI,GAAG,CAAC,IAAI,KAAK,EAAE,CAAC,CAAC,CAAC,eAAe,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,GAAG,CAAC;gBACxF,MAAM,WAAW,GAAG,YAAY,CAAC,GAAG,CAAC,YAAY,CAAC,CAAC;gBACnD,MAAM,IAAI,GAAG,IAAI,UAAU,CAAC,0BAA0B,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;gBAClE,IAAI,CAAC,WAAW,GAAG,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC;YAClG,CAAC;YAAC,OAAO,GAAG,EAAE,CAAC;gBACb,IAAI,CAAC,SAAS,GAAG,iBAAiB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;YACvF,CAAC;QACH,CAAC,CACF,CAAC;IACJ,CAAC;IAEO,iBAAiB;QACvB,IAAI,CAAC,QAAQ,EAAE,WAAW,EAAE,CAAC;QAC7B,IAAI,CAAC,QAAQ,EAAE,WAAW,EAAE,CAAC;QAC7B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;QACxB,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAC1B,CAAC;IAEO,KAAK,CAAC,QAAQ;QACpB,IAAI,IAAI,CAAC,OAAO,IAAI,CAAC,IAAI,CAAC,OAAO;YAAE,OAAO;QAC1C,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC;YACH,MAAM,IAAI,CAAC,IAAI,EAAE,CAAC;QACpB,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;QACpE,CAAC;gBAAS,CAAC;YACT,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACvB,CAAC;IACH,CAAC;IAEO,KAAK,CAAC,IAAI;QAChB,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC;QAC/B,IAAI,CAAC,KAAK;YAAE,OAAO,CAAC,uBAAuB;QAC3C,IAAI,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,UAAU,GAAG,IAAI,EAAE,CAAC;YACzC,sDAAsD;YACtD,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,OAAO;QACT,CAAC;QAED,IAAI,CAAC,eAAe,IAAI,CAAC,CAAC;QAC1B,MAAM,GAAG,GAAG,MAAM,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;QACrD,MAAM,OAAO,GAAG,GAAG,CAAC,OAAO,CAAC;QAC5B,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACzB,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;YACvB,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,OAAO;QACT,CAAC;QAED,uFAAuF;QACvF,2FAA2F;QAC3F,MAAM,MAAM,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC;QACnC,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,MAAM,EAAE,GAAG,CAAC,KAAK,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC;QAC/D,IAAI,CAAC,MAAM,EAAE,CAAC;YACZ,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,OAAO;QACT,CAAC;QAED,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,oBAAoB,IAAI,CAAC,CAAC;QAC/B,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,UAAU,EAAE,MAAM,CAAC,UAAU,EAAE,CAAC;QAC9E,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;QAC7C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;IACjC,CAAC;IAEO,WAAW,CACjB,MAAuB,EACvB,IAAY,EACZ,IAAY;QAEZ,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC;QAC/B,IAAI,CAAC,KAAK,IAAI,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,UAAU,GAAG,IAAI;YAAE,OAAO,IAAI,CAAC;QAEhE,wFAAwF;QACxF,gFAAgF;QAChF,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,KAAK,CAAC,KAAK,CAAC;QAC3C,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,KAAK,CAAC,MAAM,CAAC;QAC5C,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,MAAM,CAAC,GAAG,GAAG;YACnF,CAAC,KAAK,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QAC/B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QACnD,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QAC7D,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QACnD,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,MAAM,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QAC9D,MAAM,OAAO,GAAG,iBAAiB,CAAC,KAAK,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;QACzD,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;YAAE,OAAO,IAAI,CAAC;QAEtC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAC9B,oFAAoF;QACpF,MAAM,CAAC,GAAG,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC,CAAC,IAAI,OAAO,CAAC,CAAC,CAAE,CAAC;QACpE,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC;YAAE,OAAO,IAAI,CAAC;QAE/C,8EAA8E;QAC9E,MAAM,KAAK,GAAG,MAAM,CAAC,EAAE,GAAG,IAAI,GAAG,GAAG,CAAC;QACrC,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,0BAA0B,CAAC,CAAC;QAC3D,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,UAAU,EAAE,MAAM,CAAC,UAAU,EAAE,CAAC;IACjD,CAAC;IAEO,KAAK,CAAC,YAAY,CAAC,KAAY;QACrC,MAAM,KAAK,GAAG,kBAAkB,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;QAC9C,MAAM,OAAO,GAAG;YACd,MAAM,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;YACxC,OAAO,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,QAAQ,EAAE;SAC3C,CAAC;QACF,IAAI,CAAC;YACH,MAAM,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,yBAAyB,EAAE,GAAG,EAAE,OAAO,EAAE,CAAC,CAAC;QACzF,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,oBAAoB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;QAC1F,CAAC;IACH,CAAC;IAEO,KAAK,CAAC,WAAW;QACvB,MAAM,IAAI,CAAC,YAAY,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAC;IACvD,CAAC;CACF;AAED,SAAS,UAAU,CAAC,OAA0B;IAC5C,OAAO,OAAO,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,CAAC,CAAC,MAAM,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC;AACjG,CAAC;AAED,SAAS,iBAAiB,CAAC,CAAc,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU;IACvF,4FAA4F;IAC5F,iDAAiD;IACjD,MAAM,GAAG,GAAa,EAAE,CAAC;IACzB,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QAC3B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;YAC7B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC7B,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC;gBAC/B,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM;oBAAE,SAAS;gBACtC,MAAM,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAE,CAAC;gBACxB,MAAM,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,CAAE,CAAC;gBAC5B,MAAM,CAAC,GAAG,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC1D,IAAI,CAAC,GAAG,CAAC;oBAAE,GAAG,CAAC,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;YAChC,CAAC;QACH,CAAC;IACH,CAAC;SAAM,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QAClC,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;YAC7B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC7B,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC;gBAC/B,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM;oBAAE,SAAS;gBACtC,MAAM,CAAC,GAAG,IAAI,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,UAAU,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC;gBAChG,IAAI,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC;oBAAE,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YAC/C,CAAC;QACH,CAAC;IACH,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED,SAAS,kBAAkB,CAAC,MAAwB;IAClD,MAAM,GAAG,GAAG,CAAC,MAAM,CAAC,MAAM,EAAE,WAAW,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,UAAU,CAAC;IACpE,MAAM,UAAU,GAAG,iBAAiB,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;IAClD,2EAA2E;IAC3E,MAAM,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC,uBAAuB,CAAC,CAAC;IACxD,MAAM,OAAO,GAAG,KAAK,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC;IACjC,IAAI,KAAK,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC,EAAE,CAAC;QACxD,OAAO,SAAS,OAAO,CAAC,OAAO,CAAC,IAAI,EAAE,EAAE,CAAC,UAAU,CAAC;IACtD,CAAC;IACD,OAAO,UAAU,CAAC;AACpB,CAAC;AAED,IAAI,SAAS,GAAyB,IAAI,CAAC;AAE3C,MAAM,UAAU,gBAAgB,CAAC,MAAwB,EAAE,SAAuB;IAChF,IAAI,CAAC,SAAS;QAAE,SAAS,GAAG,IAAI,aAAa,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IACjE,OAAO,SAAS,CAAC;AACnB,CAAC"}
+{"version":3,"file":"loop.js","sourceRoot":"","sources":["../../src/follow-me/loop.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAQH,OAAO,EAAE,2BAA2B,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAClF,OAAO,EACL,wBAAwB,EACxB,aAAa,EACb,8BAA8B,EAC9B,0BAA0B,EAC1B,2BAA2B,EAC3B,YAAY,EACZ,eAAe,EACf,cAAc,GACf,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,cAAc,EAAwB,MAAM,eAAe,CAAC;AACrE,OAAO,EAAE,kBAAkB,EAAc,MAAM,iBAAiB,CAAC;AAEjE,MAAM,mBAAmB,GAAG,2CAA2C,CAAC;AACxE,MAAM,mBAAmB,GAAG,qCAAqC,CAAC;AAClE,MAAM,0BAA0B,GAAG,OAAO,CAAC,CAAC,kCAAkC;AAC9E,MAAM,OAAO,GAAG,CAAC,CAAC;AAkClB,MAAM,OAAO,aAAa;IAkBL;IACA;IACA;IAnBF,QAAQ,GAAG,IAAI,cAAc,EAAE,CAAC;IAChC,UAAU,GAAG,IAAI,kBAAkB,EAAE,CAAC;IAC/C,OAAO,GAAG,KAAK,CAAC;IAChB,OAAO,GAAG,KAAK,CAAC;IAChB,iBAAiB,GAAkB,IAAI,CAAC;IACxC,QAAQ,GAAwB,IAAI,CAAC;IACrC,QAAQ,GAAwB,IAAI,CAAC;IACrC,WAAW,GAAuB,IAAI,CAAC;IACvC,WAAW,GAAuB,IAAI,CAAC;IACvC,UAAU,GAA0B,IAAI,CAAC;IACzC,SAAS,GAAkB,IAAI,CAAC;IAChC,eAAe,GAAG,CAAC,CAAC;IACpB,oBAAoB,GAAG,CAAC,CAAC;IACzB,UAAU,GAAwD,IAAI,CAAC;IACvE,QAAQ,GAAG,KAAK,CAAC;IAEzB,YACmB,KAAoB,EACpB,MAAwB,EACxB,SAAuB;QAFvB,UAAK,GAAL,KAAK,CAAe;QACpB,WAAM,GAAN,MAAM,CAAkB;QACxB,cAAS,GAAT,SAAS,CAAc;IACvC,CAAC;IAEJ,gFAAgF;IAChF,IAAI,OAAO;QACT,OAAO,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC;IACvB,CAAC;IAED,KAAK,CAAC,KAAK,CAAC,OAAqB,EAAE;QACjC,IAAI,IAAI,CAAC,OAAO;YAAE,OAAO;QACzB,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;QACtB,IAAI,CAAC,eAAe,GAAG,CAAC,CAAC;QACzB,IAAI,CAAC,oBAAoB,GAAG,CAAC,CAAC;QAC9B,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC,iBAAiB,EAAE,IAAI,EAAE,IAAI,IAAI,CAAC;QAChE,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;QACxB,MAAM,IAAI,CAAC,QAAQ,CAAC,IAAI,EAAE,CAAC;QAC3B,IAAI,CAAC,eAAe,EAAE,CAAC;QACvB,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC,UAAU,GAAG,WAAW,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,QAAQ,EAAE,EAAE,IAAI,GAAG,OAAO,CAAC,CAAC;IACvE,CAAC;IAED,KAAK,CAAC,IAAI;QACR,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACrB,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;YACpB,aAAa,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;YAC/B,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACzB,CAAC;QACD,IAAI,CAAC,iBAAiB,EAAE,CAAC;QACzB,IAAI,CAAC,UAAU,CAAC,KAAK,EAAE,CAAC;QACxB,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;QACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;QACvB,MAAM,IAAI,CAAC,WAAW,EAAE,CAAC;IAC3B,CAAC;IAED,iBAAiB,CAAC,CAAS;QACzB,IAAI,CAAC,UAAU,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC;IACvC,CAAC;IAED,oBAAoB,CAAC,WAAmB;QACtC,IAAI,CAAC,iBAAiB,GAAG,WAAW,CAAC,IAAI,EAAE,IAAI,IAAI,CAAC;IACtD,CAAC;IAED,MAAM;QACJ,OAAO;YACL,OAAO,EAAE,IAAI,CAAC,OAAO;YACrB,QAAQ,EAAE,IAAI,CAAC,QAAQ;YACvB,cAAc,EAAE,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,cAAc;YACrD,iBAAiB,EAAE,IAAI,CAAC,iBAAiB;YACzC,WAAW,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YACpC,UAAU,EAAE,IAAI,CAAC,UAAU;YAC3B,SAAS,EAAE,IAAI,CAAC,UAAU,CAAC,YAAY,EAAE;YACzC,SAAS,EAAE,IAAI,CAAC,SAAS;YACzB,eAAe,EAAE,IAAI,CAAC,eAAe;YACrC,oBAAoB,EAAE,IAAI,CAAC,oBAAoB;SAChD,CAAC;IACJ,CAAC;IAEO,eAAe;QACrB,MAAM,aAAa,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,mBAAmB,CAAC;QAC3E,MAAM,UAAU,GAAG,2BAA2B,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,aAAa,CAAC,CAAC;QACpF,MAAM,UAAU,GAAG,2BAA2B,CAAC,IAAI,CAAC,KAAK,CAAC,SAAS,EAAE,mBAAmB,CAAC,CAAC;QAC1F,MAAM,YAAY,GAAG,UAAU,CAAC,QAAQ,CAAC,YAAY,CAAC,CAAC;QAEvD,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,SAAS,CAAC,SAAS,CACtC,EAAE,KAAK,EAAE,UAAU,EAAE,IAAI,EAAE,YAAY,CAAC,CAAC,CAAC,wBAAwB,CAAC,CAAC,CAAC,aAAa,EAAE,EACpF,CAAC,GAAG,EAAE,EAAE;YACN,IAAI,CAAC;gBACH,MAAM,OAAO,GAAG,8BAA8B,CAAC,YAAY,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC,CAAC,OAAO,EAAE,GAAG,CAAC,CAAC;gBAChG,MAAM,GAAG,GAAG,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,UAAU,EAAE,QAAQ,CAAC,CAAC;gBACtD,IAAI,CAAC,WAAW,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,UAAU,EAAE,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC;YAC7D,CAAC;YAAC,OAAO,GAAG,EAAE,CAAC;gBACb,IAAI,CAAC,SAAS,GAAG,iBAAiB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;YACvF,CAAC;QACH,CAAC,CACF,CAAC;QAEF,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,SAAS,CAAC,SAAS,CACtC,EAAE,KAAK,EAAE,UAAU,EAAE,IAAI,EAAE,aAAa,EAAE,EAC1C,CAAC,GAAG,EAAE,EAAE;YACN,IAAI,CAAC;gBACH,MAAM,QAAQ,GAAG,2BAA2B,CAAC,cAAc,CAAC,GAAG,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAC,CAAC;gBACpF,MAAM,KAAK,GAAG,eAAe,CAAC,GAAG,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;gBAClD,MAAM,MAAM,GAAG,eAAe,CAAC,GAAG,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;gBACrD,MAAM,GAAG,GAAG,QAAQ,KAAK,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACzC,MAAM,IAAI,GACR,GAAG,CAAC,IAAI,IAAI,IAAI,IAAI,GAAG,CAAC,IAAI,KAAK,EAAE,CAAC,CAAC,CAAC,eAAe,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,GAAG,CAAC;gBACxF,MAAM,WAAW,GAAG,YAAY,CAAC,GAAG,CAAC,YAAY,CAAC,CAAC;gBACnD,MAAM,IAAI,GAAG,IAAI,UAAU,CAAC,0BAA0B,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;gBAClE,IAAI,CAAC,WAAW,GAAG,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC;YAClG,CAAC;YAAC,OAAO,GAAG,EAAE,CAAC;gBACb,IAAI,CAAC,SAAS,GAAG,iBAAiB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;YACvF,CAAC;QACH,CAAC,CACF,CAAC;IACJ,CAAC;IAEO,iBAAiB;QACvB,IAAI,CAAC,QAAQ,EAAE,WAAW,EAAE,CAAC;QAC7B,IAAI,CAAC,QAAQ,EAAE,WAAW,EAAE,CAAC;QAC7B,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;QACxB,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;IAC1B,CAAC;IAEO,KAAK,CAAC,QAAQ;QACpB,IAAI,IAAI,CAAC,OAAO,IAAI,CAAC,IAAI,CAAC,OAAO;YAAE,OAAO;QAC1C,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC;YACH,MAAM,IAAI,CAAC,IAAI,EAAE,CAAC;QACpB,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;QACpE,CAAC;gBAAS,CAAC;YACT,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QACvB,CAAC;IACH,CAAC;IAEO,KAAK,CAAC,IAAI;QAChB,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC;QAC/B,IAAI,CAAC,KAAK;YAAE,OAAO,CAAC,uBAAuB;QAC3C,IAAI,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,UAAU,GAAG,IAAI,EAAE,CAAC;YACzC,sDAAsD;YACtD,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,OAAO;QACT,CAAC;QAED,IAAI,CAAC,eAAe,IAAI,CAAC,CAAC;QAC1B,MAAM,GAAG,GAAG,MAAM,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;QACrD,MAAM,OAAO,GAAG,GAAG,CAAC,OAAO,CAAC;QAC5B,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACzB,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC;YACvB,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,OAAO;QACT,CAAC;QAED,uFAAuF;QACvF,2FAA2F;QAC3F,MAAM,MAAM,GAAG,UAAU,CAAC,OAAO,CAAC,CAAC;QACnC,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,MAAM,EAAE,GAAG,CAAC,KAAK,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC;QAC/D,IAAI,CAAC,MAAM,EAAE,CAAC;YACZ,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;YAC3C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;YAC/B,OAAO;QACT,CAAC;QAED,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;QACrB,IAAI,CAAC,oBAAoB,IAAI,CAAC,CAAC;QAC/B,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,UAAU,EAAE,MAAM,CAAC,UAAU,EAAE,CAAC;QAC9E,MAAM,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;QAC7C,MAAM,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC;IACjC,CAAC;IAEO,WAAW,CACjB,MAAuB,EACvB,IAAY,EACZ,IAAY;QAEZ,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC;QAC/B,IAAI,CAAC,KAAK,IAAI,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,UAAU,GAAG,IAAI;YAAE,OAAO,IAAI,CAAC;QAEhE,wFAAwF;QACxF,gFAAgF;QAChF,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,KAAK,CAAC,KAAK,CAAC;QAC3C,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,KAAK,CAAC,MAAM,CAAC;QAC5C,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,MAAM,CAAC,GAAG,GAAG;YACnF,CAAC,KAAK,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QAC/B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QACnD,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QAC7D,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QACnD,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,MAAM,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC;QAC9D,MAAM,OAAO,GAAG,iBAAiB,CAAC,KAAK,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;QACzD,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;YAAE,OAAO,IAAI,CAAC;QAEtC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAC9B,oFAAoF;QACpF,MAAM,CAAC,GAAG,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC,CAAC,IAAI,OAAO,CAAC,CAAC,CAAE,CAAC;QACpE,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC;YAAE,OAAO,IAAI,CAAC;QAE/C,8EAA8E;QAC9E,MAAM,KAAK,GAAG,MAAM,CAAC,EAAE,GAAG,IAAI,GAAG,GAAG,CAAC;QACrC,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,0BAA0B,CAAC,CAAC;QAC3D,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,UAAU,EAAE,MAAM,CAAC,UAAU,EAAE,CAAC;IACjD,CAAC;IAEO,KAAK,CAAC,YAAY,CAAC,KAAY;QACrC,MAAM,KAAK,GAAG,kBAAkB,CAAC,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC;QAC1D,MAAM,OAAO,GAAG;YACd,MAAM,EAAE,EAAE,CAAC,EAAE,KAAK,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;YACxC,OAAO,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,QAAQ,EAAE;SAC3C,CAAC;QACF,IAAI,CAAC;YACH,MAAM,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,yBAAyB,EAAE,GAAG,EAAE,OAAO,EAAE,CAAC,CAAC;QACzF,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,oBAAoB,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,EAAE,CAAC;QAC1F,CAAC;IACH,CAAC;IAEO,KAAK,CAAC,WAAW;QACvB,MAAM,IAAI,CAAC,YAAY,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,CAAC,CAAC;IACvD,CAAC;CACF;AAED,SAAS,UAAU,CAAC,OAA0B;IAC5C,OAAO,OAAO,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,CAAC,CAAC,MAAM,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC;AACjG,CAAC;AAED,SAAS,iBAAiB,CAAC,CAAc,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU;IACvF,4FAA4F;IAC5F,iDAAiD;IACjD,MAAM,GAAG,GAAa,EAAE,CAAC;IACzB,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QAC3B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;YAC7B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC7B,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC;gBAC/B,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM;oBAAE,SAAS;gBACtC,MAAM,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAE,CAAC;gBACxB,MAAM,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,CAAE,CAAC;gBAC5B,MAAM,CAAC,GAAG,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC1D,IAAI,CAAC,GAAG,CAAC;oBAAE,GAAG,CAAC,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;YAChC,CAAC;QACH,CAAC;IACH,CAAC;SAAM,IAAI,CAAC,CAAC,QAAQ,KAAK,OAAO,EAAE,CAAC;QAClC,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;YAC7B,KAAK,IAAI,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC7B,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC;gBAC/B,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM;oBAAE,SAAS;gBACtC,MAAM,CAAC,GAAG,IAAI,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,IAAI,CAAC,UAAU,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC;gBAChG,IAAI,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC;oBAAE,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YAC/C,CAAC;QACH,CAAC;IACH,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED,SAAS,kBAAkB,CAAC,MAAwB,EAAE,KAAoB;IACxE,MAAM,GAAG,GAAG,CAAC,MAAM,CAAC,MAAM,EAAE,WAAW,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,UAAU,CAAC;IACpE,MAAM,UAAU,GAAG,iBAAiB,CAAC,KAAK,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC;IAC3D,2EAA2E;IAC3E,MAAM,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC,uBAAuB,CAAC,CAAC;IACxD,MAAM,OAAO,GAAG,KAAK,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC;IACjC,IAAI,KAAK,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC,EAAE,CAAC;QACxD,OAAO,SAAS,OAAO,CAAC,OAAO,CAAC,IAAI,EAAE,EAAE,CAAC,UAAU,CAAC;IACtD,CAAC;IACD,OAAO,UAAU,CAAC;AACpB,CAAC;AAED;;;;GAIG;AACH,MAAM,SAAS,GAAG,IAAI,GAAG,EAAyB,CAAC;AAEnD,MAAM,UAAU,gBAAgB,CAC9B,KAAoB,EACpB,MAAwB,EACxB,SAAuB;IAEvB,IAAI,KAAK,GAAG,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC;IACpC,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,KAAK,GAAG,IAAI,aAAa,CAAC,KAAK,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;QACpD,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,oEAAoE;AACpE,MAAM,UAAU,2BAA2B;IACzC,SAAS,CAAC,KAAK,EAAE,CAAC;AACpB,CAAC"}

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

@@ -14,7 +14,7 @@ import { ListToolsRequestSchema, CallToolRequestSchema } from "@modelcontextprot
 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 { TOOLS, handleToolCall, MEMORY_TOOL_NAMES, NO_TRANSPORT_TOOL_NAMES } from "./tools.js";
 import { ensureMemory } from "./memory.js";
 let config = null;
 let transportConnected = false;
@@ -71,10 +71,10 @@ function main() {
             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)) {
+            // Tools that don't need the ROS transport (memory + capabilities) are
+            // self-contained — skip `ensureConnected()` so they work even when
+            // zenohd is down. Every other tool needs the transport up.
+            if (!NO_TRANSPORT_TOOL_NAMES.has(name)) {
                 await ensureConnected();
             }
             const result = await handleToolCall(name, args ?? {}, config);

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

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";AACA;;;;;;;GAOG;AACH,OAAO,EAAE,MAAM,EAAE,MAAM,MAAM,CAAC;AAC9B,OAAO,EAAE,MAAM,EAAE,MAAM,2CAA2C,CAAC;AACnE,OAAO,EAAE,oBAAoB,EAAE,MAAM,2CAA2C,CAAC;AACjF,OAAO,EAAE,sBAAsB,EAAE,qBAAqB,EAAE,MAAM,oCAAoC,CAAC;AAEnG,OAAO,EAAE,sBAAsB,EAAE,MAAM,kBAAkB,CAAC;AAC1D,OAAO,EAAE,UAAU,EAAE,MAAM,aAAa,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,UAAU,EAAE,MAAM,gBAAgB,CAAC;AACrD,OAAO,EAAE,KAAK,EAAE,cAAc,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAC;AACtE,OAAO,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAE3C,IAAI,MAAM,GAA4B,IAAI,CAAC;AAC3C,IAAI,kBAAkB,GAAG,KAAK,CAAC;AAE/B,KAAK,UAAU,eAAe;IAC5B,IAAI,kBAAkB;QAAE,OAAO;IAC/B,IAAI,CAAC,MAAM,EAAE,CAAC;QACZ,MAAM,GAAG,UAAU,EAAE,CAAC;IACxB,CAAC;IACD,MAAM,OAAO,CAAC,MAAM,CAAC,CAAC;IACtB,kBAAkB,GAAG,IAAI,CAAC;AAC5B,CAAC;AAED,SAAS,IAAI;IACX,kEAAkE;IAClE,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,OAAO,EAAE,CAAC,GAA0B,EAAE,EAAE;QACxD,IAAI,GAAG,EAAE,IAAI,KAAK,OAAO;YAAE,MAAM,GAAG,CAAC;IACvC,CAAC,CAAC,CAAC;IACH,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,OAAO,EAAE,CAAC,GAA0B,EAAE,EAAE;QACxD,IAAI,GAAG,EAAE,IAAI,KAAK,OAAO;YAAE,MAAM,GAAG,CAAC;IACvC,CAAC,CAAC,CAAC;IACH,yDAAyD;IACzD,MAAM,WAAW,GAAG,CAAC,IAAe,EAAE,EAAE;QACtC,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,CAAC;IAC/C,CAAC,CAAC;IACF,OAAO,CAAC,GAAG,GAAG,CAAC,GAAG,IAAe,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;IACxD,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,IAAe,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;IAEzD,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,sBAAsB,CAAC,EAAE,KAAK,EAAE,OAAO,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC,GAAG,MAAM,CAAC,CAAC;IAEvF,MAAM,MAAM,GAAG,IAAI,MAAM,CACvB;QACE,IAAI,EAAE,YAAY;QAClB,OAAO,EAAE,OAAO;KACjB,EACD;QACE,YAAY,EAAE;YACZ,KAAK,EAAE,EAAE;SACV;KACF,CACF,CAAC;IAEF,MAAM,CAAC,iBAAiB,CAAC,sBAAsB,EAAE,KAAK,IAAI,EAAE;QAC1D,MAAM,GAAG,GAAG,MAAM,IAAI,UAAU,EAAE,CAAC;QACnC,MAAM,MAAM,GAAG,MAAM,YAAY,CAAC,GAAG,CAAC,CAAC;QACvC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,iBAAiB,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC;QACtF,OAAO;YACL,KAAK,EAAE,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC;gBAC1B,IAAI,EAAE,CAAC,CAAC,IAAI;gBACZ,WAAW,EAAE,CAAC,CAAC,WAAW;gBAC1B,WAAW,EAAE,CAAC,CAAC,WAAW;aAC3B,CAAC,CAAC;SACJ,CAAC;IACJ,CAAC,CAAC,CAAC;IAEH,MAAM,CAAC,iBAAiB,CAAC,qBAAqB,EAAE,KAAK,EAAE,OAAO,EAAE,EAAE;QAChE,MAAM,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE,GAAG,OAAO,CAAC,MAAM,CAAC;QACjD,IAAI,CAAC;YACH,qHAAqH;YACrH,MAAM,GAAG,UAAU,EAAE,CAAC;YACtB,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,KAAK,EAAE,SAAS,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC;YAClD,OAAO,CAAC,MAAM,CAAC,KAAK,CAClB,wCAAwC,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC,IAAI,MAAM,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC,CAAC,UAAU,IAAI,CAC1G,CAAC;YACF,qEAAqE;YACrE,yEAAyE;YACzE,2DAA2D;YAC3D,IAAI,CAAC,iBAAiB,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC;gBACjC,MAAM,eAAe,EAAE,CAAC;YAC1B,CAAC;YACD,MAAM,MAAM,GAAG,MAAM,cAAc,CAAC,IAAI,EAAE,IAAI,IAAI,EAAE,EAAE,MAAM,CAAC,CAAC;YAC9D,OAAO;gBACL,OAAO,EAAE,MAAM,CAAC,OAAO;gBACvB,OAAO,EAAE,MAAM,CAAC,OAAO;aACxB,CAAC;QACJ,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,MAAM,OAAO,GAAG,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;YACjE,OAAO;gBACL,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,eAAe,OAAO,EAAE,EAAE,CAAC;gBAC3D,OAAO,EAAE,IAAI;aACd,CAAC;QACJ,CAAC;IACH,CAAC,CAAC,CAAC;IAEH,MAAM,SAAS,GAAG,IAAI,oBAAoB,EAAE,CAAC;IAE7C,KAAK,UAAU,GAAG;QAChB,MAAM,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,CAAC;IAClC,CAAC;IAED,SAAS,QAAQ;QACf,UAAU,EAAE;aACT,IAAI,CAAC,GAAG,EAAE,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;aAC3B,KAAK,CAAC,GAAG,EAAE,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAClC,CAAC;IAED,OAAO,CAAC,EAAE,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAC;IAC/B,OAAO,CAAC,EAAE,CAAC,SAAS,EAAE,QAAQ,CAAC,CAAC;IAEhC,GAAG,EAAE,CAAC,KAAK,CAAC,CAAC,GAAG,EAAE,EAAE;QAClB,OAAO,CAAC,KAAK,CAAC,8BAA8B,EAAE,GAAG,CAAC,CAAC;QACnD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC,CAAC,CAAC;AACL,CAAC;AAED,IAAI,EAAE,CAAC"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";AACA;;;;;;;GAOG;AACH,OAAO,EAAE,MAAM,EAAE,MAAM,MAAM,CAAC;AAC9B,OAAO,EAAE,MAAM,EAAE,MAAM,2CAA2C,CAAC;AACnE,OAAO,EAAE,oBAAoB,EAAE,MAAM,2CAA2C,CAAC;AACjF,OAAO,EAAE,sBAAsB,EAAE,qBAAqB,EAAE,MAAM,oCAAoC,CAAC;AAEnG,OAAO,EAAE,sBAAsB,EAAE,MAAM,kBAAkB,CAAC;AAC1D,OAAO,EAAE,UAAU,EAAE,MAAM,aAAa,CAAC;AACzC,OAAO,EAAE,OAAO,EAAE,UAAU,EAAE,MAAM,gBAAgB,CAAC;AACrD,OAAO,EAAE,KAAK,EAAE,cAAc,EAAE,iBAAiB,EAAE,uBAAuB,EAAE,MAAM,YAAY,CAAC;AAC/F,OAAO,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAE3C,IAAI,MAAM,GAA4B,IAAI,CAAC;AAC3C,IAAI,kBAAkB,GAAG,KAAK,CAAC;AAE/B,KAAK,UAAU,eAAe;IAC5B,IAAI,kBAAkB;QAAE,OAAO;IAC/B,IAAI,CAAC,MAAM,EAAE,CAAC;QACZ,MAAM,GAAG,UAAU,EAAE,CAAC;IACxB,CAAC;IACD,MAAM,OAAO,CAAC,MAAM,CAAC,CAAC;IACtB,kBAAkB,GAAG,IAAI,CAAC;AAC5B,CAAC;AAED,SAAS,IAAI;IACX,kEAAkE;IAClE,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,OAAO,EAAE,CAAC,GAA0B,EAAE,EAAE;QACxD,IAAI,GAAG,EAAE,IAAI,KAAK,OAAO;YAAE,MAAM,GAAG,CAAC;IACvC,CAAC,CAAC,CAAC;IACH,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC,OAAO,EAAE,CAAC,GAA0B,EAAE,EAAE;QACxD,IAAI,GAAG,EAAE,IAAI,KAAK,OAAO;YAAE,MAAM,GAAG,CAAC;IACvC,CAAC,CAAC,CAAC;IACH,yDAAyD;IACzD,MAAM,WAAW,GAAG,CAAC,IAAe,EAAE,EAAE;QACtC,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,CAAC;IAC/C,CAAC,CAAC;IACF,OAAO,CAAC,GAAG,GAAG,CAAC,GAAG,IAAe,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;IACxD,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,IAAe,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;IAEzD,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,sBAAsB,CAAC,EAAE,KAAK,EAAE,OAAO,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC,GAAG,MAAM,CAAC,CAAC;IAEvF,MAAM,MAAM,GAAG,IAAI,MAAM,CACvB;QACE,IAAI,EAAE,YAAY;QAClB,OAAO,EAAE,OAAO;KACjB,EACD;QACE,YAAY,EAAE;YACZ,KAAK,EAAE,EAAE;SACV;KACF,CACF,CAAC;IAEF,MAAM,CAAC,iBAAiB,CAAC,sBAAsB,EAAE,KAAK,IAAI,EAAE;QAC1D,MAAM,GAAG,GAAG,MAAM,IAAI,UAAU,EAAE,CAAC;QACnC,MAAM,MAAM,GAAG,MAAM,YAAY,CAAC,GAAG,CAAC,CAAC;QACvC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,iBAAiB,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC;QACtF,OAAO;YACL,KAAK,EAAE,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC;gBAC1B,IAAI,EAAE,CAAC,CAAC,IAAI;gBACZ,WAAW,EAAE,CAAC,CAAC,WAAW;gBAC1B,WAAW,EAAE,CAAC,CAAC,WAAW;aAC3B,CAAC,CAAC;SACJ,CAAC;IACJ,CAAC,CAAC,CAAC;IAEH,MAAM,CAAC,iBAAiB,CAAC,qBAAqB,EAAE,KAAK,EAAE,OAAO,EAAE,EAAE;QAChE,MAAM,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE,GAAG,OAAO,CAAC,MAAM,CAAC;QACjD,IAAI,CAAC;YACH,qHAAqH;YACrH,MAAM,GAAG,UAAU,EAAE,CAAC;YACtB,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,KAAK,EAAE,SAAS,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC;YAClD,OAAO,CAAC,MAAM,CAAC,KAAK,CAClB,wCAAwC,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC,IAAI,MAAM,EAAE,CAAC,CAAC,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC,CAAC,UAAU,IAAI,CAC1G,CAAC;YACF,sEAAsE;YACtE,mEAAmE;YACnE,2DAA2D;YAC3D,IAAI,CAAC,uBAAuB,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC;gBACvC,MAAM,eAAe,EAAE,CAAC;YAC1B,CAAC;YACD,MAAM,MAAM,GAAG,MAAM,cAAc,CAAC,IAAI,EAAE,IAAI,IAAI,EAAE,EAAE,MAAM,CAAC,CAAC;YAC9D,OAAO;gBACL,OAAO,EAAE,MAAM,CAAC,OAAO;gBACvB,OAAO,EAAE,MAAM,CAAC,OAAO;aACxB,CAAC;QACJ,CAAC;QAAC,OAAO,GAAG,EAAE,CAAC;YACb,MAAM,OAAO,GAAG,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;YACjE,OAAO;gBACL,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,eAAe,OAAO,EAAE,EAAE,CAAC;gBAC3D,OAAO,EAAE,IAAI;aACd,CAAC;QACJ,CAAC;IACH,CAAC,CAAC,CAAC;IAEH,MAAM,SAAS,GAAG,IAAI,oBAAoB,EAAE,CAAC;IAE7C,KAAK,UAAU,GAAG;QAChB,MAAM,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,CAAC;IAClC,CAAC;IAED,SAAS,QAAQ;QACf,UAAU,EAAE;aACT,IAAI,CAAC,GAAG,EAAE,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;aAC3B,KAAK,CAAC,GAAG,EAAE,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAClC,CAAC;IAED,OAAO,CAAC,EAAE,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAC;IAC/B,OAAO,CAAC,EAAE,CAAC,SAAS,EAAE,QAAQ,CAAC,CAAC;IAEhC,GAAG,EAAE,CAAC,KAAK,CAAC,CAAC,GAAG,EAAE,EAAE;QAClB,OAAO,CAAC,KAAK,CAAC,8BAA8B,EAAE,GAAG,CAAC,CAAC;QACnD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAClB,CAAC,CAAC,CAAC;AACL,CAAC;AAED,IAAI,EAAE,CAAC"}