agenticros 0.3.4 → 0.3.5
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +18 -3
- package/dist/util/skill-manifest.d.ts.map +1 -1
- package/dist/util/skill-manifest.js +22 -1
- package/dist/util/skill-manifest.js.map +1 -1
- package/package.json +1 -1
- package/runtime/BUNDLE.json +1 -1
- package/runtime/README.md +31 -6
- package/runtime/docs/cli.md +1 -1
- package/runtime/docs/robot-setup.md +1 -1
- package/runtime/packages/agenticros/openclaw.plugin.json +147 -1
- package/runtime/packages/agenticros/src/__tests__/capabilities-plugin.test.ts +2 -0
- package/runtime/packages/agenticros/src/routes.ts +4 -3
- package/runtime/packages/agenticros/src/tools/index.ts +6 -5
- package/runtime/packages/agenticros/src/tools/mission-pause.ts +49 -0
- package/runtime/packages/agenticros/src/tools/mission-resume.ts +41 -0
- package/runtime/packages/agenticros/src/tools/ros2-mission.ts +33 -84
- package/runtime/packages/agenticros-claude-code/README.md +2 -0
- package/runtime/packages/agenticros-claude-code/dist/tools.d.ts.map +1 -1
- package/runtime/packages/agenticros-claude-code/dist/tools.js +130 -111
- package/runtime/packages/agenticros-claude-code/dist/tools.js.map +1 -1
- package/runtime/packages/agenticros-claude-code/src/tools.ts +140 -99
- package/runtime/packages/agenticros-gemini/package.json +2 -0
- package/runtime/packages/agenticros-gemini/src/find-object/coco-classes.ts +38 -0
- package/runtime/packages/agenticros-gemini/src/find-object/find-object.ts +191 -0
- package/runtime/packages/agenticros-gemini/src/follow-me/controller.ts +109 -0
- package/runtime/packages/agenticros-gemini/src/follow-me/depth-loop.ts +452 -0
- package/runtime/packages/agenticros-gemini/src/follow-me/detector.ts +303 -0
- package/runtime/packages/agenticros-gemini/src/follow-me/loop.ts +359 -0
- package/runtime/packages/agenticros-gemini/src/tools.ts +351 -90
- package/runtime/packages/core/README.md +1 -1
- package/runtime/packages/core/package.json +1 -1
- package/runtime/packages/core/src/__tests__/config-persistence.test.ts +26 -0
- package/runtime/packages/core/src/__tests__/external-capability.test.ts +72 -0
- package/runtime/packages/core/src/__tests__/heartbeat-fleet.test.ts +152 -0
- package/runtime/packages/core/src/__tests__/mission-bindings.test.ts +101 -0
- package/runtime/packages/core/src/__tests__/mission-pause.test.ts +104 -0
- package/runtime/packages/core/src/capabilities.ts +38 -3
- package/runtime/packages/core/src/capability-schema.ts +58 -0
- package/runtime/packages/core/src/config.ts +20 -0
- package/runtime/packages/core/src/discovery.ts +21 -3
- package/runtime/packages/core/src/external-capability.ts +219 -0
- package/runtime/packages/core/src/fleet-config.ts +91 -0
- package/runtime/packages/core/src/heartbeat.ts +167 -0
- package/runtime/packages/core/src/index.ts +55 -0
- package/runtime/packages/core/src/mission-bindings.ts +189 -0
- package/runtime/packages/core/src/mission-registry.ts +31 -3
- package/runtime/packages/core/src/mission.ts +64 -7
- package/runtime/packages/core/src/robots.ts +6 -2
- package/runtime/packages/core/src/transport/rosbridge/client.ts +7 -0
- package/runtime/pnpm-lock.yaml +6 -0
- package/templates/skills/camera/package.json +1 -1
- package/templates/skills/depth/package.json +1 -1
- package/templates/skills/robot/package.json +1 -1
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1
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+
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,UAAU,GAAG,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,KAAK;wBAClE,qBAAqB,MAAM,CAAC,SAAU,CAAC,gBAAgB,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG;wBACrE,IAAI,MAAM,CAAC,SAAU,CAAC,gBAAgB,GAAG,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,OAAO,6BAA6B;oBAC5F,CAAC,CAAC,GAAG,MAAM,qBAAqB,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,mBAAmB,CAAC;YACtF,OAAO;gBACL,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,OAAO,GAAG,IAAI,GAAG,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,EAAE,CAAC;gBAC1E,OAAO,EAAE,CAAC,CAAC,MAAM,CAAC,KAAK;aACxB,CAAC;QACJ,CAAC;QAED;YACE,OAAO;gBACL,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,iBAAiB,IAAI,EAAE,EAAE,CAAC;gBAC1D,OAAO,EAAE,IAAI;aACd,CAAC;IACN,CAAC;AACH,CAAC;AAED;;;;GAIG;AACH,KAAK,UAAU,oBAAoB,CACjC,IAAY,EACZ,IAA6B,EAC7B,MAAwB;IAExB,MAAM,MAAM,GAAG,MAAM,YAAY,CAAC,MAAM,CAAC,CAAC;IAC1C,IAAI,CAAC,MAAM,EAAE,CAAC;QACZ,OAAO;YACL,OAAO,EAAE;gBACP;oBACE,IAAI,EAAE,MAAM;oBACZ,IAAI,EACF,+JAA+J;iBAClK;aACF;YACD,OAAO,EAAE,IAAI;SACd,CAAC;IACJ,CAAC;IACD,MAAM,SAAS,GAAG,sBAAsB,CAAC,MAAM,EAAE,IAAI,CAAC,WAAW,CAAuB,CAAC,CAAC;IAC1F,IAAI,CAAC;QACH,IAAI,IAAI,KAAK,iBAAiB,EAAE,CAAC;YAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,IAAI,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC;YACrD,IAAI,CAAC,OAAO,EAAE,CAAC;gBACb,OAAO,EAAE,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,qCAAqC,EAAE,CAAC,EAAE,OAAO,EAAE,IAAI,EAAE,CAAC;YACrG,CAAC;YACD,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAE,IAAI,CAAC,MAAM,CAAe,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC;YAC/F,MAAM,QAAQ,GAAG,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAE,IAAI,CAAC,MAAM,CAAY,CAAC,CAAC,CAAC,SAAS,CAAC;YACzF,MAAM,MAAM,GAAG,MAAM,MAAM,CAAC,QAAQ,CAAC,EAAE,OAAO,EAAE,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC;YACnF,OAAO;gBACL,OAAO,EAAE;oBACP;wBACE,IAAI,EAAE,MAAM;wBACZ,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC,EAAE,OAAO,EAAE,IAAI,EAAE,EAAE,EAAE,MAAM,CAAC,EAAE,EAAE,SAAS,EAAE,MAAM,CAAC,SAAS,EAAE,OAAO,EAAE,MAAM,CAAC,OAAO,EAAE,CAAC;qBAC7G;iBACF;aACF,CAAC;QACJ,CAAC;QACD,IAAI,IAAI,KAAK,eAAe,EAAE,CAAC;YAC7B,MAAM,KAAK,GAAG,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC;YACjD,IAAI,CAAC,KAAK,EAAE,CAAC;gBACX,OAAO,EAAE,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,iCAAiC,EAAE,CAAC,EAAE,OAAO,EAAE,IAAI,EAAE,CAAC;YACjG,CAAC;YACD,MAAM,KAAK,GAAG,OAAO,IAAI,CAAC,OAAO,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAE,IAAI,CAAC,OAAO,CAAY,CAAC,CAAC,CAAC,CAAC,CAAC;YAChF,MAAM,IAAI,GAAG,MAAM,MAAM,CAAC,MAAM,CAAC,EAAE,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,CAAC,CAAC;YAC9D,OAAO;gBACL,OAAO,EAAE;oBACP;wBACE,IAAI,EAAE,MAAM;wBACZ,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC;4BACnB,OAAO,EAAE,IAAI;4BACb,SAAS;4BACT,OAAO,EAAE,MAAM,CAAC,OAAO;4BACvB,KAAK,EAAE,IAAI,CAAC,MAAM;4BAClB,OAAO,EAAE,IAAI;yBACd,CAAC;qBACH;iBACF;aACF,CAAC;QACJ,CAAC;QACD,IAAI,IAAI,KAAK,eAAe,EAAE,CAAC;YAC7B,MAAM,EAAE,GAAG,OAAO,IAAI,CAAC,IAAI,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAE,IAAI,CAAC,IAAI,CAAY,CAAC,CAAC,CAAC,SAAS,CAAC;YAC/E,MAAM,KAAK,GAAG,OAAO,IAAI,CAAC,OAAO,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAE,IAAI,CAAC,OAAO,CAAY,CAAC,CAAC,CAAC,SAAS,CAAC;YACxF,MAAM,MAAM,GAAG,MAAM,MAAM,CAAC,MAAM,CAAC,EAAE,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,CAAC,CAAC;YAC7D,OAAO;gBACL,OAAO,EAAE;oBACP,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC,EAAE,OAAO,EAAE,IAAI,EAAE,GAAG,MAAM,EAAE,SAAS,EAAE,OAAO,EAAE,MAAM,CAAC,OAAO,EAAE,CAAC,EAAE;iBACzG;aACF,CAAC;QACJ,CAAC;QACD,MAAM,MAAM,GAAG,MAAM,MAAM,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC;QAC9C,OAAO,EAAE,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,IAAI,CAAC,SAAS,CAAC,EAAE,OAAO,EAAE,IAAI,EAAE,GAAG,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IAC7F,CAAC;IAAC,OAAO,GAAG,EAAE,CAAC;QACb,MAAM,OAAO,GAAG,GAAG,YAAY,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;QACjE,OAAO,EAAE,OAAO,EAAE,CAAC,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG,IAAI,YAAY,OAAO,EAAE,EAAE,CAAC,EAAE,OAAO,EAAE,IAAI,EAAE,CAAC;IAC5F,CAAC;AACH,CAAC"}
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@@ -7,7 +7,6 @@ import type {
|
|
|
7
7
|
Capability,
|
|
8
8
|
Mission,
|
|
9
9
|
MissionToolDispatcher,
|
|
10
|
-
CapabilityToolBindings,
|
|
11
10
|
ResolvedRobot,
|
|
12
11
|
} from "@agenticros/core";
|
|
13
12
|
import {
|
|
@@ -26,6 +25,10 @@ import {
|
|
|
26
25
|
createMemoryTranscriptSink,
|
|
27
26
|
missionTranscriptNamespace,
|
|
28
27
|
compileGoalToMission,
|
|
28
|
+
buildMissionBindings,
|
|
29
|
+
isExternalToolName,
|
|
30
|
+
capabilityIdFromExternalTool,
|
|
31
|
+
executeExternalCapability,
|
|
29
32
|
} from "@agenticros/core";
|
|
30
33
|
import { getMissionRegistry } from "./mission-registry.js";
|
|
31
34
|
import {
|
|
@@ -73,9 +76,12 @@ export const NO_TRANSPORT_TOOL_NAMES = new Set<string>([
|
|
|
73
76
|
// tool falls back to a transport-driven discovery only when the caller
|
|
74
77
|
// passes online=true. See the handler for the precise branch.
|
|
75
78
|
"ros2_find_robots_for",
|
|
76
|
-
// mission_cancel
|
|
77
|
-
// never
|
|
79
|
+
// mission_cancel / mission_pause / mission_resume only mutate the
|
|
80
|
+
// in-process MissionRegistry — they never publish to ROS, so they
|
|
81
|
+
// must work even when zenohd is down.
|
|
78
82
|
"mission_cancel",
|
|
83
|
+
"mission_pause",
|
|
84
|
+
"mission_resume",
|
|
79
85
|
// run_mission's *outer* call doesn't need transport — its handler
|
|
80
86
|
// first compiles the goal (Phase 1.g, no transport) or validates
|
|
81
87
|
// the mission shape, then per-step calls go through the transport
|
|
@@ -464,6 +470,40 @@ export const TOOLS: McpTool[] = [
|
|
|
464
470
|
required: ["mission_id"],
|
|
465
471
|
},
|
|
466
472
|
},
|
|
473
|
+
{
|
|
474
|
+
name: "mission_pause",
|
|
475
|
+
description:
|
|
476
|
+
"Pause a mission that's currently running in this MCP server. Pass the mission_id returned by run_mission. The runner waits at the next step boundary until mission_resume (or mission_cancel). Idempotent if already paused.",
|
|
477
|
+
inputSchema: {
|
|
478
|
+
type: "object",
|
|
479
|
+
properties: {
|
|
480
|
+
mission_id: {
|
|
481
|
+
type: "string",
|
|
482
|
+
description: "The mission_id echoed by run_mission. Required.",
|
|
483
|
+
},
|
|
484
|
+
reason: {
|
|
485
|
+
type: "string",
|
|
486
|
+
description: "Optional free-text reason — surfaced in the paused transcript entry.",
|
|
487
|
+
},
|
|
488
|
+
},
|
|
489
|
+
required: ["mission_id"],
|
|
490
|
+
},
|
|
491
|
+
},
|
|
492
|
+
{
|
|
493
|
+
name: "mission_resume",
|
|
494
|
+
description:
|
|
495
|
+
"Resume a mission previously paused with mission_pause. Pass the mission_id returned by run_mission. Idempotent if the mission is not paused.",
|
|
496
|
+
inputSchema: {
|
|
497
|
+
type: "object",
|
|
498
|
+
properties: {
|
|
499
|
+
mission_id: {
|
|
500
|
+
type: "string",
|
|
501
|
+
description: "The mission_id echoed by run_mission. Required.",
|
|
502
|
+
},
|
|
503
|
+
},
|
|
504
|
+
required: ["mission_id"],
|
|
505
|
+
},
|
|
506
|
+
},
|
|
467
507
|
];
|
|
468
508
|
|
|
469
509
|
export type ToolContent = { type: "text"; text: string } | { type: "image"; data: string; mimeType: string };
|
|
@@ -573,95 +613,6 @@ function formatFindRobotsForResponse(result: FindRobotsForResult): string {
|
|
|
573
613
|
});
|
|
574
614
|
}
|
|
575
615
|
|
|
576
|
-
/**
|
|
577
|
-
* Capability → MCP tool dispatch table used by `run_mission`.
|
|
578
|
-
*
|
|
579
|
-
* Every capability returned by `ros2_list_capabilities` that the mission
|
|
580
|
-
* runner can actually execute must appear here. If you add a new
|
|
581
|
-
* intrinsic capability to BUILTIN_CAPABILITIES, mirror it here. For new
|
|
582
|
-
* skill-declared capabilities, this is where you map them to the
|
|
583
|
-
* corresponding MCP tool. Steps that name a capability without an entry
|
|
584
|
-
* fail with an actionable "no mission-runner tool binding" error.
|
|
585
|
-
*/
|
|
586
|
-
const MISSION_BINDINGS: CapabilityToolBindings = {
|
|
587
|
-
drive_base: {
|
|
588
|
-
tool: "ros2_publish",
|
|
589
|
-
buildArgs: (inputs) => {
|
|
590
|
-
const lx = Number(inputs.linear_x ?? 0) || 0;
|
|
591
|
-
const az = Number(inputs.angular_z ?? 0) || 0;
|
|
592
|
-
return {
|
|
593
|
-
topic: "/cmd_vel",
|
|
594
|
-
type: "geometry_msgs/msg/Twist",
|
|
595
|
-
message: {
|
|
596
|
-
linear: { x: lx, y: 0, z: 0 },
|
|
597
|
-
angular: { x: 0, y: 0, z: az },
|
|
598
|
-
},
|
|
599
|
-
};
|
|
600
|
-
},
|
|
601
|
-
},
|
|
602
|
-
take_snapshot: {
|
|
603
|
-
tool: "ros2_camera_snapshot",
|
|
604
|
-
buildArgs: (inputs) => {
|
|
605
|
-
const out: Record<string, unknown> = {};
|
|
606
|
-
if (typeof inputs.topic === "string") out.topic = inputs.topic;
|
|
607
|
-
if (typeof inputs.message_type === "string") out.message_type = inputs.message_type;
|
|
608
|
-
if (typeof inputs.timeout === "number") out.timeout = inputs.timeout;
|
|
609
|
-
return out;
|
|
610
|
-
},
|
|
611
|
-
},
|
|
612
|
-
measure_depth: {
|
|
613
|
-
tool: "ros2_depth_distance",
|
|
614
|
-
buildArgs: (inputs) => {
|
|
615
|
-
const out: Record<string, unknown> = {};
|
|
616
|
-
if (typeof inputs.topic === "string") out.topic = inputs.topic;
|
|
617
|
-
if (typeof inputs.timeout === "number") out.timeout = inputs.timeout;
|
|
618
|
-
return out;
|
|
619
|
-
},
|
|
620
|
-
},
|
|
621
|
-
list_topics: {
|
|
622
|
-
tool: "ros2_list_topics",
|
|
623
|
-
buildArgs: () => ({}),
|
|
624
|
-
},
|
|
625
|
-
publish_topic: {
|
|
626
|
-
tool: "ros2_publish",
|
|
627
|
-
buildArgs: (inputs) => ({
|
|
628
|
-
topic: String(inputs.topic ?? ""),
|
|
629
|
-
type: String(inputs.type ?? inputs.msg_type ?? ""),
|
|
630
|
-
message: inputs.message ?? inputs.msg ?? {},
|
|
631
|
-
}),
|
|
632
|
-
},
|
|
633
|
-
subscribe_once: {
|
|
634
|
-
tool: "ros2_subscribe_once",
|
|
635
|
-
buildArgs: (inputs) => {
|
|
636
|
-
const out: Record<string, unknown> = { topic: String(inputs.topic ?? "") };
|
|
637
|
-
if (typeof inputs.type === "string") out.type = inputs.type;
|
|
638
|
-
if (typeof inputs.timeout === "number") out.timeout = inputs.timeout;
|
|
639
|
-
return out;
|
|
640
|
-
},
|
|
641
|
-
},
|
|
642
|
-
follow_person: {
|
|
643
|
-
tool: "ros2_follow_me_start",
|
|
644
|
-
buildArgs: (inputs) => {
|
|
645
|
-
const out: Record<string, unknown> = {};
|
|
646
|
-
if (typeof inputs.target_distance === "number") out.target_distance = inputs.target_distance;
|
|
647
|
-
if (typeof inputs.mode === "string") out.mode = inputs.mode;
|
|
648
|
-
return out;
|
|
649
|
-
},
|
|
650
|
-
},
|
|
651
|
-
find_object: {
|
|
652
|
-
tool: "ros2_find_object",
|
|
653
|
-
buildArgs: (inputs) => {
|
|
654
|
-
const target = String(inputs.target ?? "");
|
|
655
|
-
const out: Record<string, unknown> = { target };
|
|
656
|
-
if (typeof inputs.angular_speed === "number") out.angular_speed = inputs.angular_speed;
|
|
657
|
-
if (typeof inputs.clockwise === "boolean") out.clockwise = inputs.clockwise;
|
|
658
|
-
if (typeof inputs.timeout_seconds === "number") out.timeout_seconds = inputs.timeout_seconds;
|
|
659
|
-
if (typeof inputs.min_confidence === "number") out.min_confidence = inputs.min_confidence;
|
|
660
|
-
return out;
|
|
661
|
-
},
|
|
662
|
-
},
|
|
663
|
-
};
|
|
664
|
-
|
|
665
616
|
/**
|
|
666
617
|
* Phase 1.f — `mission_cancel` handler. Lives at module scope so the
|
|
667
618
|
* outer `handleToolCall` can invoke it WITHOUT first resolving a
|
|
@@ -701,6 +652,70 @@ function handleMissionCancel(
|
|
|
701
652
|
};
|
|
702
653
|
}
|
|
703
654
|
|
|
655
|
+
function handleMissionPause(
|
|
656
|
+
args: Record<string, unknown>,
|
|
657
|
+
): { content: ToolContent[]; isError?: boolean } {
|
|
658
|
+
const missionId = typeof args["mission_id"] === "string" ? args["mission_id"].trim() : "";
|
|
659
|
+
if (!missionId) {
|
|
660
|
+
return {
|
|
661
|
+
content: [
|
|
662
|
+
{
|
|
663
|
+
type: "text",
|
|
664
|
+
text: "mission_pause requires 'mission_id' (a non-empty string returned by run_mission).",
|
|
665
|
+
},
|
|
666
|
+
],
|
|
667
|
+
isError: true,
|
|
668
|
+
};
|
|
669
|
+
}
|
|
670
|
+
const reason = typeof args["reason"] === "string" ? args["reason"] : undefined;
|
|
671
|
+
const outcome = getMissionRegistry().pause(missionId, reason);
|
|
672
|
+
return {
|
|
673
|
+
content: [
|
|
674
|
+
{
|
|
675
|
+
type: "text",
|
|
676
|
+
text: JSON.stringify({
|
|
677
|
+
success: true,
|
|
678
|
+
mission_id: missionId,
|
|
679
|
+
found: outcome.found,
|
|
680
|
+
already_paused: outcome.alreadyPaused,
|
|
681
|
+
reason: reason ?? null,
|
|
682
|
+
}),
|
|
683
|
+
},
|
|
684
|
+
],
|
|
685
|
+
};
|
|
686
|
+
}
|
|
687
|
+
|
|
688
|
+
function handleMissionResume(
|
|
689
|
+
args: Record<string, unknown>,
|
|
690
|
+
): { content: ToolContent[]; isError?: boolean } {
|
|
691
|
+
const missionId = typeof args["mission_id"] === "string" ? args["mission_id"].trim() : "";
|
|
692
|
+
if (!missionId) {
|
|
693
|
+
return {
|
|
694
|
+
content: [
|
|
695
|
+
{
|
|
696
|
+
type: "text",
|
|
697
|
+
text: "mission_resume requires 'mission_id' (a non-empty string returned by run_mission).",
|
|
698
|
+
},
|
|
699
|
+
],
|
|
700
|
+
isError: true,
|
|
701
|
+
};
|
|
702
|
+
}
|
|
703
|
+
const outcome = getMissionRegistry().resume(missionId);
|
|
704
|
+
return {
|
|
705
|
+
content: [
|
|
706
|
+
{
|
|
707
|
+
type: "text",
|
|
708
|
+
text: JSON.stringify({
|
|
709
|
+
success: true,
|
|
710
|
+
mission_id: missionId,
|
|
711
|
+
found: outcome.found,
|
|
712
|
+
was_paused: outcome.wasPaused,
|
|
713
|
+
}),
|
|
714
|
+
},
|
|
715
|
+
],
|
|
716
|
+
};
|
|
717
|
+
}
|
|
718
|
+
|
|
704
719
|
/**
|
|
705
720
|
* Phase 1.c + 1.f + 1.g — `run_mission` handler. Lives at module scope
|
|
706
721
|
* so the outer `handleToolCall` can short-circuit BEFORE
|
|
@@ -778,6 +793,30 @@ async function handleRunMission(
|
|
|
778
793
|
}
|
|
779
794
|
}
|
|
780
795
|
const dispatcher: MissionToolDispatcher = async (toolName, toolArgs) => {
|
|
796
|
+
if (isExternalToolName(toolName)) {
|
|
797
|
+
const capId = capabilityIdFromExternalTool(toolName);
|
|
798
|
+
const cap = caps.find((c) => c.id === capId);
|
|
799
|
+
if (!cap) {
|
|
800
|
+
return {
|
|
801
|
+
text: `Unknown external capability "${capId}".`,
|
|
802
|
+
isError: true,
|
|
803
|
+
};
|
|
804
|
+
}
|
|
805
|
+
let robot;
|
|
806
|
+
try {
|
|
807
|
+
robot = resolveRobotFromArgs(config, toolArgs);
|
|
808
|
+
} catch (err) {
|
|
809
|
+
return {
|
|
810
|
+
text: err instanceof Error ? err.message : String(err),
|
|
811
|
+
isError: true,
|
|
812
|
+
};
|
|
813
|
+
}
|
|
814
|
+
const transport = await getTransportForRobot(config, robot);
|
|
815
|
+
const ext = await executeExternalCapability(cap, toolArgs, transport, {
|
|
816
|
+
namespace: robot.namespace,
|
|
817
|
+
});
|
|
818
|
+
return { text: ext.text, outputs: ext.outputs, isError: ext.isError };
|
|
819
|
+
}
|
|
781
820
|
const res = await handleToolCall(toolName, toolArgs, config);
|
|
782
821
|
const text = res.content
|
|
783
822
|
.map((c) => (c.type === "text" ? c.text : `[image: ${c.mimeType}]`))
|
|
@@ -796,7 +835,7 @@ async function handleRunMission(
|
|
|
796
835
|
|
|
797
836
|
let result;
|
|
798
837
|
try {
|
|
799
|
-
result = await runMission(mission, caps,
|
|
838
|
+
result = await runMission(mission, caps, buildMissionBindings(caps), dispatcher, {
|
|
800
839
|
mission_id: missionId,
|
|
801
840
|
cancellation: regEntry.cancellation,
|
|
802
841
|
transcript,
|
|
@@ -915,15 +954,17 @@ export async function handleToolCall(
|
|
|
915
954
|
};
|
|
916
955
|
}
|
|
917
956
|
}
|
|
918
|
-
// mission_cancel + run_mission must NOT trigger a
|
|
919
|
-
// at this outer layer
|
|
920
|
-
// MissionRegistry, and run_mission's handler does its OWN per-step
|
|
921
|
-
// dispatch (each step's inner `handleToolCall` connects as needed).
|
|
922
|
-
// Routing the outer call through `getTransportForRobot()` would
|
|
923
|
-
// hang or fail when an agent only wanted to compile / cancel.
|
|
957
|
+
// mission_cancel / pause / resume + run_mission must NOT trigger a
|
|
958
|
+
// transport connect at this outer layer.
|
|
924
959
|
if (name === "mission_cancel") {
|
|
925
960
|
return handleMissionCancel(args);
|
|
926
961
|
}
|
|
962
|
+
if (name === "mission_pause") {
|
|
963
|
+
return handleMissionPause(args);
|
|
964
|
+
}
|
|
965
|
+
if (name === "mission_resume") {
|
|
966
|
+
return handleMissionResume(args);
|
|
967
|
+
}
|
|
927
968
|
if (name === "run_mission") {
|
|
928
969
|
return handleRunMission(args, config);
|
|
929
970
|
}
|
|
@@ -0,0 +1,38 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* COCO 80-class names (index = YOLOv8 class ID). Lower-cased for lookup.
|
|
3
|
+
*/
|
|
4
|
+
|
|
5
|
+
export const COCO_CLASSES = [
|
|
6
|
+
"person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck",
|
|
7
|
+
"boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench",
|
|
8
|
+
"bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra",
|
|
9
|
+
"giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee",
|
|
10
|
+
"skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove",
|
|
11
|
+
"skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup",
|
|
12
|
+
"fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange",
|
|
13
|
+
"broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch",
|
|
14
|
+
"potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse",
|
|
15
|
+
"remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink",
|
|
16
|
+
"refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier",
|
|
17
|
+
"toothbrush",
|
|
18
|
+
] as const;
|
|
19
|
+
|
|
20
|
+
const ALIASES: Record<string, string> = {
|
|
21
|
+
phone: "cell phone",
|
|
22
|
+
cellphone: "cell phone",
|
|
23
|
+
mobile: "cell phone",
|
|
24
|
+
smartphone: "cell phone",
|
|
25
|
+
tv: "tv",
|
|
26
|
+
television: "tv",
|
|
27
|
+
monitor: "tv",
|
|
28
|
+
sofa: "couch",
|
|
29
|
+
plant: "potted plant",
|
|
30
|
+
bike: "bicycle",
|
|
31
|
+
};
|
|
32
|
+
|
|
33
|
+
export function resolveCocoClassId(name: string): number | null {
|
|
34
|
+
const key = name.trim().toLowerCase();
|
|
35
|
+
const canonical = ALIASES[key] ?? key;
|
|
36
|
+
const idx = COCO_CLASSES.indexOf(canonical as (typeof COCO_CLASSES)[number]);
|
|
37
|
+
return idx >= 0 ? idx : null;
|
|
38
|
+
}
|