dsh-ros2-state

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), UdsStateClient impl (request_id concurrency, heartbeat, STALE/DOWN/TIMEOUT)
• src/tools.ts — state_get / state_snapshot (read-only), via the deps.state seam
• src/config.ts — state { socketPath, timeoutMs, tcp }

The sidecar (data plane) is dsh-ros2-sidecar; this package is the control plane that connects to it. See docs/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.