agenticros 0.1.18 → 0.2.0

package/dist/util/marketplace.js.map

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package/dist/util/mcp-discovery.d.ts

@@ -0,0 +1,57 @@
+/**
+ * Bridge from the CLI to the AgenticROS MCP server's `ros2_discover_robots` tool.
+ *
+ * Rather than re-implement live-topic discovery in the CLI (which would
+ * force `@agenticros/core` and its transport deps into the published
+ * `agenticros` tarball), we spawn the existing MCP server binary
+ * (`packages/agenticros-claude-code/dist/index.js`) and JSON-RPC the
+ * `ros2_discover_robots` tool — the exact code path Claude Code uses.
+ * This keeps the CLI light AND ensures the CLI sees the same robots
+ * the agent sees.
+ *
+ * Resilience: the spawn-and-rpc dance is wrapped in an overall timeout
+ * so a hung Zenoh router or a malformed reply can't lock up the CLI.
+ * The stderr stream is drained silently — the MCP server emits a
+ * connection banner that isn't useful for the CLI consumer.
+ */
+export interface DetectedRobot {
+    id: string;
+    cmdVelTopic: string;
+    topicCount: number;
+    configuredRobotId: string | null;
+}
+export interface ConfiguredRobotSummary {
+    id: string;
+    name: string;
+    namespace: string;
+    cameraTopic: string;
+    source: "config" | "legacy";
+}
+export interface DiscoveryResult {
+    total_topics: number;
+    detected: DetectedRobot[];
+    configured_online: ConfiguredRobotSummary[];
+    configured_offline: ConfiguredRobotSummary[];
+    unknown_detected: DetectedRobot[];
+}
+/**
+ * Resolve the path to the AgenticROS MCP server entrypoint, mirroring
+ * the same lookup the rest of the CLI uses. Returns undefined when the
+ * dist hasn't been built yet (so the caller can surface an actionable
+ * error rather than a cryptic spawn failure).
+ */
+export declare function findMcpEntry(): string | undefined;
+/**
+ * Run `ros2_discover_robots` against the MCP server and return the
+ * parsed `DiscoveryResult`.
+ *
+ * Throws with an actionable message when:
+ *   - the MCP server binary can't be found (suggests `pnpm build`)
+ *   - the initialize handshake times out (suggests Zenoh / config issues)
+ *   - the tool reports `isError: true` (surfaces the inner error)
+ *
+ * Always cleans up the child process — no orphan node processes after
+ * a failed call.
+ */
+export declare function discoverViaMcp(): Promise<DiscoveryResult>;
+//# sourceMappingURL=mcp-discovery.d.ts.map

package/dist/util/mcp-discovery.d.ts.map

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package/dist/util/mcp-discovery.js

@@ -0,0 +1,153 @@
+/**
+ * Bridge from the CLI to the AgenticROS MCP server's `ros2_discover_robots` tool.
+ *
+ * Rather than re-implement live-topic discovery in the CLI (which would
+ * force `@agenticros/core` and its transport deps into the published
+ * `agenticros` tarball), we spawn the existing MCP server binary
+ * (`packages/agenticros-claude-code/dist/index.js`) and JSON-RPC the
+ * `ros2_discover_robots` tool — the exact code path Claude Code uses.
+ * This keeps the CLI light AND ensures the CLI sees the same robots
+ * the agent sees.
+ *
+ * Resilience: the spawn-and-rpc dance is wrapped in an overall timeout
+ * so a hung Zenoh router or a malformed reply can't lock up the CLI.
+ * The stderr stream is drained silently — the MCP server emits a
+ * connection banner that isn't useful for the CLI consumer.
+ */
+import { spawn } from "node:child_process";
+import { existsSync } from "node:fs";
+import { join } from "node:path";
+import { getCliPaths } from "./paths.js";
+const DISCOVER_TIMEOUT_MS = 15_000;
+const INIT_TIMEOUT_MS = 8_000;
+/**
+ * Resolve the path to the AgenticROS MCP server entrypoint, mirroring
+ * the same lookup the rest of the CLI uses. Returns undefined when the
+ * dist hasn't been built yet (so the caller can surface an actionable
+ * error rather than a cryptic spawn failure).
+ */
+export function findMcpEntry() {
+    const { mcpDistDir } = getCliPaths();
+    const entry = join(mcpDistDir, "index.js");
+    return existsSync(entry) ? entry : undefined;
+}
+/** Minimal stdio JSON-RPC client over a child process. */
+class StdioRpc {
+    proc;
+    buffer = "";
+    nextId = 1;
+    pending = new Map();
+    constructor(proc) {
+        this.proc = proc;
+        proc.stdout.setEncoding("utf8");
+        proc.stdout.on("data", (chunk) => this.onChunk(chunk));
+        proc.stderr.setEncoding("utf8");
+        proc.stderr.on("data", () => { });
+    }
+    onChunk(chunk) {
+        this.buffer += chunk;
+        let idx;
+        while ((idx = this.buffer.indexOf("\n")) >= 0) {
+            const line = this.buffer.slice(0, idx).trim();
+            this.buffer = this.buffer.slice(idx + 1);
+            if (!line)
+                continue;
+            try {
+                const msg = JSON.parse(line);
+                if (typeof msg.id === "number" && this.pending.has(msg.id)) {
+                    this.pending.get(msg.id)(msg);
+                    this.pending.delete(msg.id);
+                }
+            }
+            catch {
+                /* ignore non-JSON noise — MCP server occasionally writes diagnostic banners to stdout */
+            }
+        }
+    }
+    rpc(method, params, timeoutMs) {
+        const id = this.nextId++;
+        return new Promise((resolve, reject) => {
+            const timer = setTimeout(() => {
+                this.pending.delete(id);
+                reject(new Error(`JSON-RPC '${method}' timed out after ${timeoutMs / 1000}s`));
+            }, timeoutMs);
+            this.pending.set(id, (msg) => {
+                clearTimeout(timer);
+                resolve(msg);
+            });
+            this.proc.stdin.write(`${JSON.stringify({ jsonrpc: "2.0", id, method, params })}\n`);
+        });
+    }
+    notify(method, params = {}) {
+        this.proc.stdin.write(`${JSON.stringify({ jsonrpc: "2.0", method, params })}\n`);
+    }
+}
+/**
+ * Run `ros2_discover_robots` against the MCP server and return the
+ * parsed `DiscoveryResult`.
+ *
+ * Throws with an actionable message when:
+ *   - the MCP server binary can't be found (suggests `pnpm build`)
+ *   - the initialize handshake times out (suggests Zenoh / config issues)
+ *   - the tool reports `isError: true` (surfaces the inner error)
+ *
+ * Always cleans up the child process — no orphan node processes after
+ * a failed call.
+ */
+export async function discoverViaMcp() {
+    const entry = findMcpEntry();
+    if (!entry) {
+        throw new Error("AgenticROS MCP server isn't built. Run `pnpm --filter @agenticros/claude-code build` (or `agenticros init`).");
+    }
+    // Forward AGENTICROS_* env so the MCP server picks up the same robot
+    // namespace + config path the CLI sees.
+    const proc = spawn("node", [entry], {
+        stdio: ["pipe", "pipe", "pipe"],
+        env: { ...process.env },
+    });
+    try {
+        const client = new StdioRpc(proc);
+        await client.rpc("initialize", {
+            protocolVersion: "2025-03-26",
+            clientInfo: { name: "agenticros-cli", version: "1.0" },
+            capabilities: {},
+        }, INIT_TIMEOUT_MS);
+        client.notify("notifications/initialized");
+        const callResp = await client.rpc("tools/call", { name: "ros2_discover_robots", arguments: {} }, DISCOVER_TIMEOUT_MS);
+        if (callResp.error) {
+            throw new Error(`MCP server returned error: ${callResp.error.message}`);
+        }
+        const result = callResp.result;
+        if (!result) {
+            throw new Error("MCP server returned no result for ros2_discover_robots.");
+        }
+        const text = result.content?.[0]?.text ?? "";
+        if (result.isError) {
+            throw new Error(`ros2_discover_robots failed: ${text}`);
+        }
+        const parsed = safeParse(text);
+        if (!parsed) {
+            throw new Error(`Unable to parse ros2_discover_robots response: ${text.slice(0, 200)}`);
+        }
+        return parsed;
+    }
+    finally {
+        proc.kill();
+    }
+}
+function safeParse(text) {
+    try {
+        const obj = JSON.parse(text);
+        return {
+            total_topics: Number(obj["total_topics"] ?? 0),
+            detected: obj["detected"] ?? [],
+            configured_online: obj["configured_online"] ?? [],
+            configured_offline: obj["configured_offline"] ?? [],
+            unknown_detected: obj["unknown_detected"] ?? [],
+        };
+    }
+    catch {
+        return null;
+    }
+}
+//# sourceMappingURL=mcp-discovery.js.map

package/dist/util/mcp-discovery.js.map

@@ -0,0 +1 @@
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package/dist/util/robot-config.d.ts

@@ -0,0 +1,167 @@
+/**
+ * Robot config R/W for the AgenticROS CLI.
+ *
+ * Lives in the CLI so the multi-robot persistence path does NOT pull
+ * `@agenticros/core` (and its transport deps) into the published
+ * `agenticros` tarball. The shape we read/write is intentionally a
+ * subset of `@agenticros/core`'s `AgenticROSConfig.robots`:
+ *
+ *   robots: Array<{
+ *     id: string;
+ *     name?: string;
+ *     namespace?: string;
+ *     cameraTopic?: string;
+ *     default?: boolean;
+ *   }>
+ *
+ * Backwards compat with the legacy single-robot config:
+ *   - If `config.robots` is absent/empty AND `config.robot` is set, we
+ *     "promote" `config.robot` into `robots[0]` on the next write. The
+ *     legacy `config.robot` field is LEFT in place (harmlessly — the
+ *     core resolver prefers the explicit array when non-empty) so older
+ *     adapters that only read `config.robot` keep working.
+ *   - When the file is missing or empty we treat it as `{}`. Writes
+ *     create both the file and its directory.
+ *
+ * All paths route through the CLI's own paths helper so workspace /
+ * installed / bundle modes pick up the same `~/.agenticros/config.json`.
+ */
+/** Sensor/hardware tags on a robot — mirrors @agenticros/core's RobotSensors. */
+export interface RobotSensors {
+    has_realsense?: boolean;
+    has_lidar?: boolean;
+    has_arm?: boolean;
+}
+/** What the CLI persists per robot. Matches the core config schema. */
+export interface RobotEntry {
+    id: string;
+    name?: string;
+    namespace?: string;
+    cameraTopic?: string;
+    default?: boolean;
+    /**
+     * Phase 1.e robot kind ("amr" | "arm" | "drone" | "rover" | …).
+     * Free-form string; core defaults to "amr" when unset.
+     */
+    kind?: string;
+    /**
+     * Phase 1.e sensor/hardware tags. Same all-false default semantics
+     * as core — only the keys the user sets are written through.
+     */
+    sensors?: RobotSensors;
+    /**
+     * Phase 1.e optional per-robot capability allowlist. When set, the
+     * `ros2_find_robots_for` filter uses this list instead of the
+     * gateway's global capability registry. Stored verbatim — the CLI
+     * doesn't import the registry to validate against.
+     */
+    capabilities?: string[];
+    /**
+     * Optional per-robot transport override. Opaque JSON — the core's
+     * `RobotTransportOverrideSchema` is the schema-of-truth and will Zod-
+     * validate this at config-load time. The CLI doesn't import core, so
+     * we only carry the field through as a plain object.
+     */
+    transport?: Record<string, unknown>;
+}
+export declare function robotConfigPath(): string;
+/** Parse `~/.agenticros/config.json` to a plain object, or `{}` when absent/bad. */
+export declare function readConfigObject(path?: string): Record<string, unknown>;
+/** Write the config object back, creating directories as needed. */
+export declare function writeConfigObject(obj: Record<string, unknown>, path?: string): void;
+/**
+ * Return the robots[] view the agent would see (explicit array when
+ * non-empty, otherwise a one-entry array synthesised from legacy
+ * `config.robot`). Read-only — the CLI uses this to render `robots list`
+ * without ever needing to import @agenticros/core.
+ */
+export declare function readRobots(obj?: Record<string, unknown>): {
+    robots: RobotEntry[];
+    from: "explicit" | "legacy" | "none";
+};
+/**
+ * Compute the active robot id using the same precedence the core
+ * resolver does:
+ *   1. explicit robots[] entry with `default: true`
+ *   2. first entry in robots[] (with legacy fallback)
+ *   3. undefined when there are no robots at all
+ */
+export declare function getActiveRobotId(obj?: Record<string, unknown>): string | undefined;
+export interface AddRobotResult {
+    /** Whether the entry was actually written (false = a duplicate id was already present). */
+    added: boolean;
+    /** True when this write promoted the legacy `config.robot` into `robots[]`. */
+    promotedLegacy: boolean;
+    /** The final robots[] array after the write. */
+    robots: RobotEntry[];
+}
+/**
+ * Add a robot to `config.robots[]`.
+ *
+ * Promotes the legacy single-robot config on first multi-robot write —
+ * `config.robot` is copied as the first entry in the array, and any
+ * `default: true` flag we'd set on the new entry is held against that
+ * promoted incumbent (it stays the default unless the caller explicitly
+ * asks otherwise).
+ *
+ * Idempotent: re-adding an existing id updates name/namespace/cameraTopic
+ * in place but returns `added: false` so the CLI can render the right
+ * "already present" message.
+ */
+export declare function addRobot(entry: RobotEntry, opts?: {
+    setDefault?: boolean;
+    obj?: Record<string, unknown>;
+}): AddRobotResult;
+/**
+ * Remove a robot from `config.robots[]` by id.
+ *
+ * Returns `removed: false` when the id isn't present. Removing the last
+ * entry leaves `robots: []` (which the core resolver then ignores in
+ * favour of the legacy `config.robot` fallback — so the deployment
+ * keeps working).
+ *
+ * Idempotent across re-runs.
+ */
+export declare function removeRobot(id: string, obj?: Record<string, unknown>): {
+    removed: boolean;
+    robots: RobotEntry[];
+};
+/**
+ * Set `default: true` on exactly one robot in `config.robots[]`.
+ *
+ * Auto-promotes the legacy single-robot config first if needed (so
+ * marking the first new robot as default doesn't lose the previous
+ * incumbent). Throws when the id isn't present after promotion.
+ */
+export declare function setDefaultRobot(id: string, obj?: Record<string, unknown>): {
+    robots: RobotEntry[];
+    promotedLegacy: boolean;
+};
+/**
+ * Apply a per-robot transport override to an existing robot.
+ *
+ * Auto-promotes legacy `config.robot` into `config.robots[]` so the
+ * caller can target the historical single-robot config by its derived
+ * id. Throws when the id can't be found after promotion — matching the
+ * UX of `setDefaultRobot`.
+ *
+ * The `override` argument is the plain JSON shape the core's
+ * `RobotTransportOverrideSchema` will validate at config-load time. The
+ * CLI doesn't validate field shapes — that lives in `@agenticros/core`.
+ */
+export declare function setTransportForRobot(id: string, override: Record<string, unknown>, obj?: Record<string, unknown>): {
+    robots: RobotEntry[];
+    promotedLegacy: boolean;
+};
+/**
+ * Remove a per-robot transport override (so the robot inherits the
+ * global transport config). Idempotent — returns `cleared: false` when
+ * the robot didn't have an override to begin with. Throws on unknown id
+ * (we'd rather complain loudly than silently no-op against a typo).
+ */
+export declare function clearTransportForRobot(id: string, obj?: Record<string, unknown>): {
+    cleared: boolean;
+    robots: RobotEntry[];
+    promotedLegacy: boolean;
+};
+//# sourceMappingURL=robot-config.d.ts.map

package/dist/util/robot-config.d.ts.map

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