dsh-ros2-state
已验证dsh-ros2-state · v0.1.0 · MIT
dsh-ros2 control-plane state client — long-lived UDS connection to the dsh-ros2-sidecar data plane, so the Agent reads reduced, fresh robot state in milliseconds (logic-direct / physically-separated). Provides state_get / state_snapshot tools + a StateCli
安装
dsh plugin add dsh-ros2-state 用 dsh --profile default --dump-config 确认 layer 已生效 —— 参见安装指南。
源码
发布到 npm 但没有公开仓库。安装前请检查包内容。
标签
说明文档
dsh-ros2-state
Control-plane state client for the dsh-ros2-sidecar data plane (逻辑直连 · 物理分离): a long-lived Unix Domain Socket connection (newline-JSON), letting the Agent read reduced, fresh robot state in milliseconds — no ROS2 subprocess per read, because the sidecar continuously reduces high-frequency topics into a semantic cache.
src/state-client.ts—StateClient(get / snapshot / subscribe / close),UdsStateClientimpl (request_id concurrency, heartbeat, STALE/DOWN/TIMEOUT)src/tools.ts—state_get/state_snapshot(read-only), via thedeps.stateseamsrc/config.ts—state { socketPath, timeoutMs, tcp }
The sidecar (data plane) is
dsh-ros2-sidecar; this package is the control plane that connects to it. Seedocs/sidecar-design.md.
Config (state.socketPath): path to the sidecar UDS socket.
fail-closed: safety-relevant reads surface STALE/DOWN as structured
errors — treat them as unsafe.