overseer v2 1

2026-09-16 09:31:20 -04:00 · 2026-05-03 22:51:50 -04:00
parent 32e4afdbe8
commit 850f89c8ed
26 changed files with 929 additions and 128 deletions
@@ -0,0 +1,26 @@
+const path = require('path');
+
+const PROMPT_PATH = path.join(__dirname, '..', '..', '..', 'prompts', 'overseer_control_system.txt');
+const DEFAULT_NAME = 'The Overseer';
+const DEFAULT_GATE_INTERVAL_MS = 2000;
+const DEFAULT_HEARTBEAT_MS = 30000;
+const MIN_INTERVAL_MS = 250;
+const MAX_RUN_HISTORY = 100;
+const MAX_CHAT_CONTEXT = 12;
+const MAX_BOT_CONTEXT = 2;
+
+function normalizeMs(value, fallback) {
+  if (!Number.isFinite(value)) return fallback;
+  return Math.max(MIN_INTERVAL_MS, Math.floor(value));
+}
+
+module.exports = {
+  PROMPT_PATH,
+  DEFAULT_NAME,
+  DEFAULT_GATE_INTERVAL_MS,
+  DEFAULT_HEARTBEAT_MS,
+  MAX_RUN_HISTORY,
+  MAX_CHAT_CONTEXT,
+  MAX_BOT_CONTEXT,
+  normalizeMs,
+};
@@ -0,0 +1,64 @@
+const { evaluateTools } = require('./tools');
+
+function toStateUpdate({ mode, homeAssistantState, neatoState, liftState, roster, triggerReason }) {
+  const lines = [];
+  lines.push(`trigger: ${triggerReason || 'heartbeat'}`);
+  lines.push(`mode: ${mode || 'unknown'}`);
+  lines.push(`home_assistant_connected: ${homeAssistantState?.connected ? 'yes' : 'no'}`);
+  lines.push(`lights_locked_on: ${homeAssistantState?.lightPolicy?.lockedOn ? 'yes' : 'no'}`);
+  lines.push(`lift: ${liftState?.connected ? 'connected' : 'offline'} busy=${liftState?.busy ? 'yes' : 'no'}`);
+  lines.push(`neato: ${neatoState?.connected ? 'connected' : 'offline'} state=${neatoState?.telemetry?.robotState || 'unknown'}`);
+  const roverLines = (Array.isArray(roster) ? roster : []).slice(0, 6).map((rover) => {
+    const roverId = rover?.id || 'unknown';
+    const driver = rover?.driverNickname || 'none';
+    const status = rover?.statusTag || 'unknown';
+    return `- ${roverId} status=${status} driver=${driver}`;
+  });
+  if (roverLines.length) {
+    lines.push('rovers:');
+    lines.push(...roverLines);
+  }
+  return lines.join('\n');
+}
+
+function buildToolState({ mode, homeAssistantState, neatoState, liftState }) {
+  return evaluateTools({ mode, homeAssistantState, neatoState, liftState });
+}
+
+function buildConversation({ recentMessages, name }) {
+  const rows = [];
+  (recentMessages || []).forEach((entry) => {
+    const text = String(entry?.text || '').trim();
+    if (!text) return;
+    const who = entry?.system ? (entry?.nickname || name || 'Overseer') : (entry?.nickname || 'user');
+    rows.push(`${who}: ${text}`);
+  });
+  return rows;
+}
+
+function buildModelMessages({ systemPrompt, stateUpdate, transcriptRows, availableTools, blockedTools }) {
+  const messages = [];
+  messages.push({ role: 'system', content: systemPrompt });
+  messages.push({ role: 'user', content: `STATE_UPDATE\n${stateUpdate}` });
+  transcriptRows.forEach((row) => messages.push({ role: 'user', content: row }));
+  messages.push({
+    role: 'user',
+    content: `available_tools:\n${availableTools.map((tool) => `- ${tool}`).join('\n') || '- none'}`,
+  });
+  messages.push({
+    role: 'user',
+    content: `blocked_tools:\n${blockedTools.map((entry) => `- ${entry.tool} reason=${entry.reason}`).join('\n') || '- none'}`,
+  });
+  messages.push({
+    role: 'user',
+    content: 'Respond with one line: SKIP, CHAT, ACTION, or ACTION+CHAT.',
+  });
+  return messages;
+}
+
+module.exports = {
+  toStateUpdate,
+  buildToolState,
+  buildConversation,
+  buildModelMessages,
+};
@@ -0,0 +1,343 @@
+const fsp = require('fs/promises');
+const { Ollama } = require('ollama');
+const io = require('../../globals/io');
+const logger = require('../../globals/logger').child('overseerControl');
+const { loadConfig } = require('../../helpers/configLoader');
+const { getRole, roleEvents } = require('../roleService');
+const { getMode } = require('../modeManager');
+const { getState: getHomeAssistantState, homeAssistantEvents } = require('../homeAssistantService');
+const { getState: getNeatoState, neatoEvents } = require('../neatoService');
+const { getState: getLiftState, liftEvents } = require('../liftService');
+const roverManager = require('../roverManager');
+const { getRecentMessages } = require('../chatService');
+const {
+  PROMPT_PATH,
+  DEFAULT_NAME,
+  DEFAULT_GATE_INTERVAL_MS,
+  DEFAULT_HEARTBEAT_MS,
+  MAX_RUN_HISTORY,
+  MAX_CHAT_CONTEXT,
+  MAX_BOT_CONTEXT,
+  normalizeMs,
+} = require('./constants');
+const {
+  isAdminRole,
+  buildAdminState,
+  normalizeDecision,
+  buildFailureInfo,
+} = require('./runtimeHelpers');
+const {
+  toStateUpdate,
+  buildToolState,
+  buildConversation,
+  buildModelMessages,
+} = require('./contextBuilder');
+
+const config = loadConfig();
+const overseerConfig = config.overseerControl || {};
+const enabled = Boolean(overseerConfig.enabled);
+const observeOnly = overseerConfig.observeOnly !== false;
+const name = String(overseerConfig.name || DEFAULT_NAME).trim() || DEFAULT_NAME;
+const model = String(overseerConfig.model || '').trim();
+const ollamaUrl = String(overseerConfig.ollamaUrl || overseerConfig.ollamaServer || '').trim();
+const gateIntervalMs = normalizeMs(Number(overseerConfig.gateIntervalMs), DEFAULT_GATE_INTERVAL_MS);
+const heartbeatMs = normalizeMs(Number(overseerConfig.heartbeatMs), DEFAULT_HEARTBEAT_MS);
+const ollamaClient = ollamaUrl ? new Ollama({ host: ollamaUrl }) : null;
+
+const runtime = {
+  timer: null,
+  inFlight: false,
+  running: false,
+  tickCount: 0,
+  lastModelAt: 0,
+  generationCount: 0,
+  generationTotalMs: 0,
+  runHistory: [],
+};
+
+let status = {
+  enabled,
+  observeOnly,
+  name,
+  model,
+  ollamaUrl,
+  promptPath: PROMPT_PATH,
+  gateIntervalMs,
+  heartbeatMs,
+  running: false,
+  inFlight: false,
+  phase: 'idle',
+  phaseAt: Date.now(),
+  tickCount: 0,
+  currentRunId: null,
+  nextRunAt: null,
+  lastTickAt: null,
+  lastTriggerReason: null,
+  lastSystemPrompt: null,
+  lastStateUpdate: null,
+  lastTranscript: null,
+  lastAvailableTools: null,
+  lastBlockedTools: null,
+  lastModelMessages: null,
+  lastModelInputAt: null,
+  lastModelOutputAt: null,
+  lastModelRawOutput: null,
+  lastDecision: null,
+  lastOutcome: null,
+  lastReason: null,
+  lastError: null,
+  lastErrorDetails: null,
+  lastFailedAt: null,
+  lastGenerationMs: null,
+  avgGenerationMs: null,
+  generationCount: 0,
+  updatedAt: Date.now(),
+};
+
+function updateStatus(patch = {}) {
+  status = {
+    ...status,
+    ...patch,
+    updatedAt: Date.now(),
+  };
+  const payload = buildAdminState(status, runtime.runHistory);
+  io.sockets.sockets.forEach((socket) => {
+    if (!isAdminRole(getRole(socket))) return;
+    socket.emit('overseer:state', payload);
+  });
+}
+
+function pushRun(run = {}) {
+  runtime.runHistory = [...runtime.runHistory.slice(-(MAX_RUN_HISTORY - 1)), run];
+}
+
+async function readPrompt() {
+  const raw = await fsp.readFile(PROMPT_PATH, 'utf8');
+  const prompt = String(raw || '').replace(/<NAME>/g, name).trim();
+  if (!prompt) throw new Error(`Prompt file empty: ${PROMPT_PATH}`);
+  return prompt;
+}
+
+function buildRosterSummary() {
+  return roverManager.getRoster().map((rover) => ({
+    id: rover?.id || 'unknown',
+    statusTag: rover?.statusTag || 'unknown',
+    driverNickname: rover?.driverNickname || null,
+  }));
+}
+
+function computeTriggerReason() {
+  const recent = getRecentMessages(1, { includeSystem: false });
+  const last = recent[recent.length - 1];
+  if (last && Date.now() - Number(last.ts || 0) < 5000) {
+    const txt = String(last.text || '').toLowerCase();
+    if (txt.includes(name.toLowerCase()) || txt.includes('overseer') || txt.includes('bot')) {
+      return 'direct_address';
+    }
+    return 'chat_activity';
+  }
+  if (!runtime.lastModelAt || Date.now() - runtime.lastModelAt >= heartbeatMs) {
+    return 'heartbeat';
+  }
+  return null;
+}
+
+async function runDecision(triggerReason) {
+  const runId = runtime.tickCount;
+  updateStatus({
+    phase: 'context_build',
+    currentRunId: runId,
+    lastTriggerReason: triggerReason,
+    lastError: null,
+    lastErrorDetails: null,
+  });
+
+  const mode = getMode();
+  const homeAssistantState = getHomeAssistantState();
+  const neatoState = getNeatoState();
+  const liftState = getLiftState();
+  const roster = buildRosterSummary();
+
+  const stateUpdate = toStateUpdate({ mode, homeAssistantState, neatoState, liftState, roster, triggerReason });
+  const toolState = buildToolState({ mode, homeAssistantState, neatoState, liftState });
+
+  const human = getRecentMessages(MAX_CHAT_CONTEXT, { includeSystem: false });
+  const bots = getRecentMessages(100, { includeSystem: true })
+    .filter((entry) => entry?.system)
+    .slice(-MAX_BOT_CONTEXT);
+  const transcriptRows = buildConversation({ recentMessages: [...human, ...bots].slice(-(MAX_CHAT_CONTEXT + MAX_BOT_CONTEXT)), name });
+
+  const systemPrompt = await readPrompt();
+  const modelMessages = buildModelMessages({
+    systemPrompt,
+    stateUpdate,
+    transcriptRows,
+    availableTools: toolState.available,
+    blockedTools: toolState.blocked,
+  });
+
+  updateStatus({
+    phase: 'awaiting_model',
+    lastSystemPrompt: systemPrompt,
+    lastStateUpdate: stateUpdate,
+    lastTranscript: transcriptRows,
+    lastAvailableTools: toolState.available,
+    lastBlockedTools: toolState.blocked,
+    lastModelMessages: modelMessages,
+    lastModelInputAt: Date.now(),
+  });
+
+  let decision = 'SKIP';
+  let rawOutput = '';
+  const generationStart = Date.now();
+  if (ollamaClient && model) {
+    const payload = await ollamaClient.chat({
+      model,
+      stream: false,
+      keep_alive: -1,
+      options: {
+        temperature: 0.4,
+        top_p: 0.9,
+      },
+      messages: modelMessages,
+    });
+    const parsed = normalizeDecision(payload?.message?.content || '');
+    rawOutput = parsed.raw;
+    decision = parsed.decision;
+  }
+
+  const generationMs = Math.max(0, Date.now() - generationStart);
+  runtime.generationCount += 1;
+  runtime.generationTotalMs += generationMs;
+  const avgGenerationMs = Math.round(runtime.generationTotalMs / runtime.generationCount);
+
+  runtime.lastModelAt = Date.now();
+  const outcome = observeOnly ? 'observed' : 'pending_execution';
+
+  updateStatus({
+    phase: 'decision_recorded',
+    lastModelOutputAt: Date.now(),
+    lastModelRawOutput: rawOutput,
+    lastDecision: decision,
+    lastOutcome: outcome,
+    lastReason: observeOnly ? 'observe-only mode' : null,
+    lastGenerationMs: generationMs,
+    avgGenerationMs,
+    generationCount: runtime.generationCount,
+  });
+
+  pushRun({
+    runId,
+    at: Date.now(),
+    triggerReason,
+    decision,
+    outcome,
+    observeOnly,
+    generationMs,
+    blockedTools: toolState.blocked,
+  });
+}
+
+async function tick() {
+  runtime.tickCount += 1;
+  runtime.inFlight = true;
+  updateStatus({
+    inFlight: true,
+    tickCount: runtime.tickCount,
+    lastTickAt: Date.now(),
+    phase: 'gate_check',
+  });
+
+  try {
+    const triggerReason = computeTriggerReason();
+    if (!triggerReason) {
+      updateStatus({
+        phase: 'idle',
+        lastOutcome: 'skipped',
+        lastReason: 'gate not triggered',
+      });
+      return;
+    }
+    await runDecision(triggerReason);
+  } catch (err) {
+    const failure = buildFailureInfo(err);
+    updateStatus({
+      phase: 'failed',
+      lastError: failure.message,
+      lastErrorDetails: failure.details,
+      lastFailedAt: Date.now(),
+      lastOutcome: 'failed',
+      lastReason: 'exception',
+    });
+  } finally {
+    runtime.inFlight = false;
+    updateStatus({
+      inFlight: false,
+      currentRunId: null,
+      phase: 'idle',
+      nextRunAt: Date.now() + gateIntervalMs,
+    });
+    runtime.timer = setTimeout(tick, gateIntervalMs);
+  }
+}
+
+function emitStateToSocket(socket) {
+  if (!socket || !isAdminRole(getRole(socket))) return;
+  socket.emit('overseer:state', buildAdminState(status, runtime.runHistory));
+}
+
+function clearHistory() {
+  runtime.runHistory = [];
+  runtime.generationCount = 0;
+  runtime.generationTotalMs = 0;
+  updateStatus({
+    lastReason: 'admin requested clear history',
+    lastOutcome: 'cleared',
+  });
+}
+
+io.on('connection', (socket) => {
+  emitStateToSocket(socket);
+  socket.on('overseer:control', ({ controls } = {}, cb = () => {}) => {
+    if (!isAdminRole(getRole(socket))) {
+      cb({ error: 'Not authorized' });
+      return;
+    }
+    const action = controls?.action || null;
+    if (action === 'clearHistory') {
+      clearHistory();
+      cb({ success: true, state: buildAdminState(status, runtime.runHistory) });
+      return;
+    }
+    cb({ error: 'Unknown overseer control action' });
+  });
+});
+
+roleEvents.on('change', ({ socket }) => {
+  emitStateToSocket(socket);
+});
+
+homeAssistantEvents.on('update', () => {
+  updateStatus({ phase: status.phase });
+});
+neatoEvents.on('update', () => {
+  updateStatus({ phase: status.phase });
+});
+liftEvents.on('update', () => {
+  updateStatus({ phase: status.phase });
+});
+roverManager.managerEvents.on('rover', () => {
+  updateStatus({ phase: status.phase });
+});
+
+if (!enabled) {
+  logger.info('overseerControl disabled');
+  updateStatus({ running: false, lastReason: 'overseerControl.enabled is false' });
+} else {
+  runtime.running = true;
+  updateStatus({ running: true, lastReason: observeOnly ? 'observe-only mode' : null });
+  runtime.timer = setTimeout(tick, gateIntervalMs);
+  logger.info('overseerControl enabled', { model, ollamaUrl, gateIntervalMs, heartbeatMs, observeOnly });
+}
+
+module.exports = {};
@@ -0,0 +1,93 @@
+function isAdminRole(role) {
+  return role === 'admin' || role === 'lockdown' || role === 'lockdown-admin';
+}
+
+function buildAdminState(status, runHistory) {
+  return {
+    runtime: {
+      running: status.running,
+      phase: status.phase,
+      phaseAt: status.phaseAt,
+      inFlight: status.inFlight,
+      tickCount: status.tickCount,
+      currentRunId: status.currentRunId,
+      lastTriggerReason: status.lastTriggerReason,
+      nextRunAt: status.nextRunAt,
+      lastTickAt: status.lastTickAt,
+    },
+    config: {
+      enabled: status.enabled,
+      name: status.name,
+      model: status.model,
+      ollamaUrl: status.ollamaUrl,
+      gateIntervalMs: status.gateIntervalMs,
+      heartbeatMs: status.heartbeatMs,
+      observeOnly: status.observeOnly,
+      promptPath: status.promptPath,
+    },
+    input: {
+      systemPrompt: status.lastSystemPrompt,
+      stateUpdate: status.lastStateUpdate,
+      transcript: status.lastTranscript,
+      availableTools: status.lastAvailableTools,
+      blockedTools: status.lastBlockedTools,
+      modelMessages: status.lastModelMessages,
+      modelInputAt: status.lastModelInputAt,
+    },
+    output: {
+      raw: status.lastModelRawOutput,
+      normalized: status.lastDecision,
+      outputAt: status.lastModelOutputAt,
+      outcome: status.lastOutcome,
+      reason: status.lastReason,
+    },
+    timings: {
+      lastGenerationMs: status.lastGenerationMs,
+      avgGenerationMs: status.avgGenerationMs,
+      generationCount: status.generationCount,
+    },
+    errors: {
+      message: status.lastError,
+      details: status.lastErrorDetails,
+      failedAt: status.lastFailedAt,
+    },
+    history: runHistory,
+    debug: {
+      status,
+    },
+    controls: {
+      supportedActions: ['clearHistory'],
+    },
+  };
+}
+
+function normalizeDecision(rawContent = '') {
+  const raw = typeof rawContent === 'string' ? rawContent : '';
+  const trimmed = raw.trim();
+  if (!trimmed) return { raw, decision: 'SKIP' };
+  const first = trimmed.split(/\r?\n/).map((line) => line.trim()).find(Boolean) || '';
+  const upper = first.toUpperCase();
+  if (['SKIP', 'CHAT', 'ACTION', 'ACTION+CHAT'].includes(upper)) {
+    return { raw, decision: upper };
+  }
+  return { raw, decision: 'CHAT' };
+}
+
+function buildFailureInfo(err) {
+  const message = err?.message || String(err || 'Unknown error');
+  const details = {
+    name: err?.name || null,
+    code: err?.code || null,
+  };
+  return {
+    message,
+    details,
+  };
+}
+
+module.exports = {
+  isAdminRole,
+  buildAdminState,
+  normalizeDecision,
+  buildFailureInfo,
+};
@@ -0,0 +1,6 @@
+module.exports = {
+  signature: 'chat_say(text)',
+  availability() {
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,14 @@
+module.exports = {
+  signature: 'ha_set_entity(entity_id, state)',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (ctx.homeAssistantState?.lightPolicy?.lockedOn) {
+      return { available: false, reason: 'policy_lock:lights_locked_on' };
+    }
+    if (!ctx.homeAssistantState?.connected) return { available: false, reason: 'unavailable' };
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,42 @@
+const chatSay = require('./chatSay');
+const memoryRead = require('./memoryRead');
+const memoryWrite = require('./memoryWrite');
+const liftUp = require('./liftUp');
+const liftDown = require('./liftDown');
+const neatoStart = require('./neatoStart');
+const neatoSendHome = require('./neatoSendHome');
+const neatoLocate = require('./neatoLocate');
+const neatoClearErrors = require('./neatoClearErrors');
+const haSetEntity = require('./haSetEntity');
+
+const TOOL_DEFINITIONS = [
+  chatSay,
+  memoryRead,
+  memoryWrite,
+  liftUp,
+  liftDown,
+  neatoStart,
+  neatoSendHome,
+  neatoLocate,
+  neatoClearErrors,
+  haSetEntity,
+];
+
+function evaluateTools(context = {}) {
+  const available = [];
+  const blocked = [];
+  TOOL_DEFINITIONS.forEach((tool) => {
+    const result = typeof tool.availability === 'function' ? tool.availability(context) : { available: false, reason: 'unavailable' };
+    if (result?.available) {
+      available.push(tool.signature);
+      return;
+    }
+    blocked.push({ tool: tool.signature, reason: result?.reason || 'unavailable' });
+  });
+  return { available, blocked };
+}
+
+module.exports = {
+  TOOL_DEFINITIONS,
+  evaluateTools,
+};
@@ -0,0 +1,12 @@
+module.exports = {
+  signature: 'lift_down()',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (!ctx.liftState?.connected) return { available: false, reason: 'unavailable' };
+    if (ctx.liftState?.busy) return { available: false, reason: 'busy' };
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,12 @@
+module.exports = {
+  signature: 'lift_up()',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (!ctx.liftState?.connected) return { available: false, reason: 'unavailable' };
+    if (ctx.liftState?.busy) return { available: false, reason: 'busy' };
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,6 @@
+module.exports = {
+  signature: 'memory_read()',
+  availability() {
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,6 @@
+module.exports = {
+  signature: 'memory_write(slot, text)',
+  availability() {
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,11 @@
+module.exports = {
+  signature: 'neato_clear_errors()',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (!ctx.neatoState?.connected) return { available: false, reason: 'unavailable' };
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,11 @@
+module.exports = {
+  signature: 'neato_locate()',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (!ctx.neatoState?.connected) return { available: false, reason: 'unavailable' };
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,11 @@
+module.exports = {
+  signature: 'neato_send_home()',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (!ctx.neatoState?.connected) return { available: false, reason: 'unavailable' };
+    return { available: true, reason: null };
+  },
+};
@@ -0,0 +1,11 @@
+module.exports = {
+  signature: 'neato_start()',
+  availability(ctx = {}) {
+    const mode = String(ctx.mode || '');
+    if (mode === 'admin' || mode === 'lockdown') {
+      return { available: false, reason: `policy_lock:site_mode_${mode}` };
+    }
+    if (!ctx.neatoState?.connected) return { available: false, reason: 'unavailable' };
+    return { available: true, reason: null };
+  },
+};