Files
picoclaw/pkg/agent/loop.go

774 lines
24 KiB
Go

// PicoClaw - Ultra-lightweight personal AI agent
// Inspired by and based on nanobot: https://github.com/HKUDS/nanobot
// License: MIT
//
// Copyright (c) 2026 PicoClaw contributors
package agent
import (
"context"
"encoding/json"
"fmt"
"os"
"path/filepath"
"strings"
"sync"
"sync/atomic"
"time"
"github.com/sipeed/picoclaw/pkg/bus"
"github.com/sipeed/picoclaw/pkg/config"
"github.com/sipeed/picoclaw/pkg/constants"
"github.com/sipeed/picoclaw/pkg/logger"
"github.com/sipeed/picoclaw/pkg/providers"
"github.com/sipeed/picoclaw/pkg/session"
"github.com/sipeed/picoclaw/pkg/state"
"github.com/sipeed/picoclaw/pkg/tools"
"github.com/sipeed/picoclaw/pkg/utils"
)
type AgentLoop struct {
bus *bus.MessageBus
provider providers.LLMProvider
workspace string
model string
contextWindow int // Maximum context window size in tokens
maxIterations int
sessions *session.SessionManager
state *state.Manager
contextBuilder *ContextBuilder
tools *tools.ToolRegistry
running atomic.Bool
summarizing sync.Map // Tracks which sessions are currently being summarized
}
// processOptions configures how a message is processed
type processOptions struct {
SessionKey string // Session identifier for history/context
Channel string // Target channel for tool execution
ChatID string // Target chat ID for tool execution
UserMessage string // User message content (may include prefix)
DefaultResponse string // Response when LLM returns empty
EnableSummary bool // Whether to trigger summarization
SendResponse bool // Whether to send response via bus
NoHistory bool // If true, don't load session history (for heartbeat)
}
// createToolRegistry creates a tool registry with common tools.
// This is shared between main agent and subagents.
func createToolRegistry(workspace string, restrict bool, cfg *config.Config, msgBus *bus.MessageBus) *tools.ToolRegistry {
registry := tools.NewToolRegistry()
// File system tools
registry.Register(tools.NewReadFileTool(workspace, restrict))
registry.Register(tools.NewWriteFileTool(workspace, restrict))
registry.Register(tools.NewListDirTool(workspace, restrict))
registry.Register(tools.NewEditFileTool(workspace, restrict))
registry.Register(tools.NewAppendFileTool(workspace, restrict))
// Shell execution
registry.Register(tools.NewExecTool(workspace, restrict))
if searchTool := tools.NewWebSearchTool(tools.WebSearchToolOptions{
BraveAPIKey: cfg.Tools.Web.Brave.APIKey,
BraveMaxResults: cfg.Tools.Web.Brave.MaxResults,
BraveEnabled: cfg.Tools.Web.Brave.Enabled,
DuckDuckGoMaxResults: cfg.Tools.Web.DuckDuckGo.MaxResults,
DuckDuckGoEnabled: cfg.Tools.Web.DuckDuckGo.Enabled,
}); searchTool != nil {
registry.Register(searchTool)
}
registry.Register(tools.NewWebFetchTool(50000))
// Message tool - available to both agent and subagent
// Subagent uses it to communicate directly with user
messageTool := tools.NewMessageTool()
messageTool.SetSendCallback(func(channel, chatID, content string) error {
msgBus.PublishOutbound(bus.OutboundMessage{
Channel: channel,
ChatID: chatID,
Content: content,
})
return nil
})
registry.Register(messageTool)
return registry
}
func NewAgentLoop(cfg *config.Config, msgBus *bus.MessageBus, provider providers.LLMProvider) *AgentLoop {
workspace := cfg.WorkspacePath()
os.MkdirAll(workspace, 0755)
restrict := cfg.Agents.Defaults.RestrictToWorkspace
// Create tool registry for main agent
toolsRegistry := createToolRegistry(workspace, restrict, cfg, msgBus)
// Create subagent manager with its own tool registry
subagentManager := tools.NewSubagentManager(provider, cfg.Agents.Defaults.Model, workspace, msgBus)
subagentTools := createToolRegistry(workspace, restrict, cfg, msgBus)
// Subagent doesn't need spawn/subagent tools to avoid recursion
subagentManager.SetTools(subagentTools)
// Register spawn tool (for main agent)
spawnTool := tools.NewSpawnTool(subagentManager)
toolsRegistry.Register(spawnTool)
// Register subagent tool (synchronous execution)
subagentTool := tools.NewSubagentTool(subagentManager)
toolsRegistry.Register(subagentTool)
sessionsManager := session.NewSessionManager(filepath.Join(workspace, "sessions"))
// Create state manager for atomic state persistence
stateManager := state.NewManager(workspace)
// Create context builder and set tools registry
contextBuilder := NewContextBuilder(workspace)
contextBuilder.SetToolsRegistry(toolsRegistry)
return &AgentLoop{
bus: msgBus,
provider: provider,
workspace: workspace,
model: cfg.Agents.Defaults.Model,
contextWindow: cfg.Agents.Defaults.MaxTokens, // Restore context window for summarization
maxIterations: cfg.Agents.Defaults.MaxToolIterations,
sessions: sessionsManager,
state: stateManager,
contextBuilder: contextBuilder,
tools: toolsRegistry,
summarizing: sync.Map{},
}
}
func (al *AgentLoop) Run(ctx context.Context) error {
al.running.Store(true)
for al.running.Load() {
select {
case <-ctx.Done():
return nil
default:
msg, ok := al.bus.ConsumeInbound(ctx)
if !ok {
continue
}
response, err := al.processMessage(ctx, msg)
if err != nil {
response = fmt.Sprintf("Error processing message: %v", err)
}
if response != "" {
// Check if the message tool already sent a response during this round.
// If so, skip publishing to avoid duplicate messages to the user.
alreadySent := false
if tool, ok := al.tools.Get("message"); ok {
if mt, ok := tool.(*tools.MessageTool); ok {
alreadySent = mt.HasSentInRound()
}
}
if !alreadySent {
al.bus.PublishOutbound(bus.OutboundMessage{
Channel: msg.Channel,
ChatID: msg.ChatID,
Content: response,
})
}
}
}
}
return nil
}
func (al *AgentLoop) Stop() {
al.running.Store(false)
}
func (al *AgentLoop) RegisterTool(tool tools.Tool) {
al.tools.Register(tool)
}
// RecordLastChannel records the last active channel for this workspace.
// This uses the atomic state save mechanism to prevent data loss on crash.
func (al *AgentLoop) RecordLastChannel(channel string) error {
return al.state.SetLastChannel(channel)
}
// RecordLastChatID records the last active chat ID for this workspace.
// This uses the atomic state save mechanism to prevent data loss on crash.
func (al *AgentLoop) RecordLastChatID(chatID string) error {
return al.state.SetLastChatID(chatID)
}
func (al *AgentLoop) ProcessDirect(ctx context.Context, content, sessionKey string) (string, error) {
return al.ProcessDirectWithChannel(ctx, content, sessionKey, "cli", "direct")
}
func (al *AgentLoop) ProcessDirectWithChannel(ctx context.Context, content, sessionKey, channel, chatID string) (string, error) {
msg := bus.InboundMessage{
Channel: channel,
SenderID: "cron",
ChatID: chatID,
Content: content,
SessionKey: sessionKey,
}
return al.processMessage(ctx, msg)
}
// ProcessHeartbeat processes a heartbeat request without session history.
// Each heartbeat is independent and doesn't accumulate context.
func (al *AgentLoop) ProcessHeartbeat(ctx context.Context, content, channel, chatID string) (string, error) {
return al.runAgentLoop(ctx, processOptions{
SessionKey: "heartbeat",
Channel: channel,
ChatID: chatID,
UserMessage: content,
DefaultResponse: "I've completed processing but have no response to give.",
EnableSummary: false,
SendResponse: false,
NoHistory: true, // Don't load session history for heartbeat
})
}
func (al *AgentLoop) processMessage(ctx context.Context, msg bus.InboundMessage) (string, error) {
// Add message preview to log (show full content for error messages)
var logContent string
if strings.Contains(msg.Content, "Error:") || strings.Contains(msg.Content, "error") {
logContent = msg.Content // Full content for errors
} else {
logContent = utils.Truncate(msg.Content, 80)
}
logger.InfoCF("agent", fmt.Sprintf("Processing message from %s:%s: %s", msg.Channel, msg.SenderID, logContent),
map[string]interface{}{
"channel": msg.Channel,
"chat_id": msg.ChatID,
"sender_id": msg.SenderID,
"session_key": msg.SessionKey,
})
// Route system messages to processSystemMessage
if msg.Channel == "system" {
return al.processSystemMessage(ctx, msg)
}
// Process as user message
return al.runAgentLoop(ctx, processOptions{
SessionKey: msg.SessionKey,
Channel: msg.Channel,
ChatID: msg.ChatID,
UserMessage: msg.Content,
DefaultResponse: "I've completed processing but have no response to give.",
EnableSummary: true,
SendResponse: false,
})
}
func (al *AgentLoop) processSystemMessage(ctx context.Context, msg bus.InboundMessage) (string, error) {
// Verify this is a system message
if msg.Channel != "system" {
return "", fmt.Errorf("processSystemMessage called with non-system message channel: %s", msg.Channel)
}
logger.InfoCF("agent", "Processing system message",
map[string]interface{}{
"sender_id": msg.SenderID,
"chat_id": msg.ChatID,
})
// Parse origin channel from chat_id (format: "channel:chat_id")
var originChannel string
if idx := strings.Index(msg.ChatID, ":"); idx > 0 {
originChannel = msg.ChatID[:idx]
} else {
// Fallback
originChannel = "cli"
}
// Extract subagent result from message content
// Format: "Task 'label' completed.\n\nResult:\n<actual content>"
content := msg.Content
if idx := strings.Index(content, "Result:\n"); idx >= 0 {
content = content[idx+8:] // Extract just the result part
}
// Skip internal channels - only log, don't send to user
if constants.IsInternalChannel(originChannel) {
logger.InfoCF("agent", "Subagent completed (internal channel)",
map[string]interface{}{
"sender_id": msg.SenderID,
"content_len": len(content),
"channel": originChannel,
})
return "", nil
}
// Agent acts as dispatcher only - subagent handles user interaction via message tool
// Don't forward result here, subagent should use message tool to communicate with user
logger.InfoCF("agent", "Subagent completed",
map[string]interface{}{
"sender_id": msg.SenderID,
"channel": originChannel,
"content_len": len(content),
})
// Agent only logs, does not respond to user
return "", nil
}
// runAgentLoop is the core message processing logic.
// It handles context building, LLM calls, tool execution, and response handling.
func (al *AgentLoop) runAgentLoop(ctx context.Context, opts processOptions) (string, error) {
// 0. Record last channel for heartbeat notifications (skip internal channels)
if opts.Channel != "" && opts.ChatID != "" {
// Don't record internal channels (cli, system, subagent)
if !constants.IsInternalChannel(opts.Channel) {
channelKey := fmt.Sprintf("%s:%s", opts.Channel, opts.ChatID)
if err := al.RecordLastChannel(channelKey); err != nil {
logger.WarnCF("agent", "Failed to record last channel: %v", map[string]interface{}{"error": err.Error()})
}
}
}
// 1. Update tool contexts
al.updateToolContexts(opts.Channel, opts.ChatID)
// 2. Build messages (skip history for heartbeat)
var history []providers.Message
var summary string
if !opts.NoHistory {
history = al.sessions.GetHistory(opts.SessionKey)
summary = al.sessions.GetSummary(opts.SessionKey)
}
messages := al.contextBuilder.BuildMessages(
history,
summary,
opts.UserMessage,
nil,
opts.Channel,
opts.ChatID,
)
// 3. Save user message to session
al.sessions.AddMessage(opts.SessionKey, "user", opts.UserMessage)
// 4. Run LLM iteration loop
finalContent, iteration, err := al.runLLMIteration(ctx, messages, opts)
if err != nil {
return "", err
}
// If last tool had ForUser content and we already sent it, we might not need to send final response
// This is controlled by the tool's Silent flag and ForUser content
// 5. Handle empty response
if finalContent == "" {
finalContent = opts.DefaultResponse
}
// 6. Save final assistant message to session
al.sessions.AddMessage(opts.SessionKey, "assistant", finalContent)
al.sessions.Save(al.sessions.GetOrCreate(opts.SessionKey))
// 7. Optional: summarization
if opts.EnableSummary {
al.maybeSummarize(opts.SessionKey)
}
// 8. Optional: send response via bus
if opts.SendResponse {
al.bus.PublishOutbound(bus.OutboundMessage{
Channel: opts.Channel,
ChatID: opts.ChatID,
Content: finalContent,
})
}
// 9. Log response
responsePreview := utils.Truncate(finalContent, 120)
logger.InfoCF("agent", fmt.Sprintf("Response: %s", responsePreview),
map[string]interface{}{
"session_key": opts.SessionKey,
"iterations": iteration,
"final_length": len(finalContent),
})
return finalContent, nil
}
// runLLMIteration executes the LLM call loop with tool handling.
// Returns the final content, iteration count, and any error.
func (al *AgentLoop) runLLMIteration(ctx context.Context, messages []providers.Message, opts processOptions) (string, int, error) {
iteration := 0
var finalContent string
for iteration < al.maxIterations {
iteration++
logger.DebugCF("agent", "LLM iteration",
map[string]interface{}{
"iteration": iteration,
"max": al.maxIterations,
})
// Build tool definitions
providerToolDefs := al.tools.ToProviderDefs()
// Log LLM request details
logger.DebugCF("agent", "LLM request",
map[string]interface{}{
"iteration": iteration,
"model": al.model,
"messages_count": len(messages),
"tools_count": len(providerToolDefs),
"max_tokens": 8192,
"temperature": 0.7,
"system_prompt_len": len(messages[0].Content),
})
// Log full messages (detailed)
logger.DebugCF("agent", "Full LLM request",
map[string]interface{}{
"iteration": iteration,
"messages_json": formatMessagesForLog(messages),
"tools_json": formatToolsForLog(providerToolDefs),
})
// Call LLM
response, err := al.provider.Chat(ctx, messages, providerToolDefs, al.model, map[string]interface{}{
"max_tokens": 8192,
"temperature": 0.7,
})
if err != nil {
logger.ErrorCF("agent", "LLM call failed",
map[string]interface{}{
"iteration": iteration,
"error": err.Error(),
})
return "", iteration, fmt.Errorf("LLM call failed: %w", err)
}
// Check if no tool calls - we're done
if len(response.ToolCalls) == 0 {
finalContent = response.Content
logger.InfoCF("agent", "LLM response without tool calls (direct answer)",
map[string]interface{}{
"iteration": iteration,
"content_chars": len(finalContent),
})
break
}
// Log tool calls
toolNames := make([]string, 0, len(response.ToolCalls))
for _, tc := range response.ToolCalls {
toolNames = append(toolNames, tc.Name)
}
logger.InfoCF("agent", "LLM requested tool calls",
map[string]interface{}{
"tools": toolNames,
"count": len(response.ToolCalls),
"iteration": iteration,
})
// Build assistant message with tool calls
assistantMsg := providers.Message{
Role: "assistant",
Content: response.Content,
}
for _, tc := range response.ToolCalls {
argumentsJSON, _ := json.Marshal(tc.Arguments)
assistantMsg.ToolCalls = append(assistantMsg.ToolCalls, providers.ToolCall{
ID: tc.ID,
Type: "function",
Function: &providers.FunctionCall{
Name: tc.Name,
Arguments: string(argumentsJSON),
},
})
}
messages = append(messages, assistantMsg)
// Save assistant message with tool calls to session
al.sessions.AddFullMessage(opts.SessionKey, assistantMsg)
// Execute tool calls
for _, tc := range response.ToolCalls {
// Log tool call with arguments preview
argsJSON, _ := json.Marshal(tc.Arguments)
argsPreview := utils.Truncate(string(argsJSON), 200)
logger.InfoCF("agent", fmt.Sprintf("Tool call: %s(%s)", tc.Name, argsPreview),
map[string]interface{}{
"tool": tc.Name,
"iteration": iteration,
})
// Create async callback for tools that implement AsyncTool
// NOTE: Following openclaw's design, async tools do NOT send results directly to users.
// Instead, they notify the agent via PublishInbound, and the agent decides
// whether to forward the result to the user (in processSystemMessage).
asyncCallback := func(callbackCtx context.Context, result *tools.ToolResult) {
// Log the async completion but don't send directly to user
// The agent will handle user notification via processSystemMessage
if !result.Silent && result.ForUser != "" {
logger.InfoCF("agent", "Async tool completed, agent will handle notification",
map[string]interface{}{
"tool": tc.Name,
"content_len": len(result.ForUser),
})
}
}
toolResult := al.tools.ExecuteWithContext(ctx, tc.Name, tc.Arguments, opts.Channel, opts.ChatID, asyncCallback)
// Send ForUser content to user immediately if not Silent
if !toolResult.Silent && toolResult.ForUser != "" && opts.SendResponse {
al.bus.PublishOutbound(bus.OutboundMessage{
Channel: opts.Channel,
ChatID: opts.ChatID,
Content: toolResult.ForUser,
})
logger.DebugCF("agent", "Sent tool result to user",
map[string]interface{}{
"tool": tc.Name,
"content_len": len(toolResult.ForUser),
})
}
// Determine content for LLM based on tool result
contentForLLM := toolResult.ForLLM
if contentForLLM == "" && toolResult.Err != nil {
contentForLLM = toolResult.Err.Error()
}
toolResultMsg := providers.Message{
Role: "tool",
Content: contentForLLM,
ToolCallID: tc.ID,
}
messages = append(messages, toolResultMsg)
// Save tool result message to session
al.sessions.AddFullMessage(opts.SessionKey, toolResultMsg)
}
}
return finalContent, iteration, nil
}
// updateToolContexts updates the context for tools that need channel/chatID info.
func (al *AgentLoop) updateToolContexts(channel, chatID string) {
// Use ContextualTool interface instead of type assertions
if tool, ok := al.tools.Get("message"); ok {
if mt, ok := tool.(tools.ContextualTool); ok {
mt.SetContext(channel, chatID)
}
}
if tool, ok := al.tools.Get("spawn"); ok {
if st, ok := tool.(tools.ContextualTool); ok {
st.SetContext(channel, chatID)
}
}
if tool, ok := al.tools.Get("subagent"); ok {
if st, ok := tool.(tools.ContextualTool); ok {
st.SetContext(channel, chatID)
}
}
}
// maybeSummarize triggers summarization if the session history exceeds thresholds.
func (al *AgentLoop) maybeSummarize(sessionKey string) {
newHistory := al.sessions.GetHistory(sessionKey)
tokenEstimate := al.estimateTokens(newHistory)
threshold := al.contextWindow * 75 / 100
if len(newHistory) > 20 || tokenEstimate > threshold {
if _, loading := al.summarizing.LoadOrStore(sessionKey, true); !loading {
go func() {
defer al.summarizing.Delete(sessionKey)
al.summarizeSession(sessionKey)
}()
}
}
}
// GetStartupInfo returns information about loaded tools and skills for logging.
func (al *AgentLoop) GetStartupInfo() map[string]interface{} {
info := make(map[string]interface{})
// Tools info
tools := al.tools.List()
info["tools"] = map[string]interface{}{
"count": len(tools),
"names": tools,
}
// Skills info
info["skills"] = al.contextBuilder.GetSkillsInfo()
return info
}
// formatMessagesForLog formats messages for logging
func formatMessagesForLog(messages []providers.Message) string {
if len(messages) == 0 {
return "[]"
}
var result string
result += "[\n"
for i, msg := range messages {
result += fmt.Sprintf(" [%d] Role: %s\n", i, msg.Role)
if msg.ToolCalls != nil && len(msg.ToolCalls) > 0 {
result += " ToolCalls:\n"
for _, tc := range msg.ToolCalls {
result += fmt.Sprintf(" - ID: %s, Type: %s, Name: %s\n", tc.ID, tc.Type, tc.Name)
if tc.Function != nil {
result += fmt.Sprintf(" Arguments: %s\n", utils.Truncate(tc.Function.Arguments, 200))
}
}
}
if msg.Content != "" {
content := utils.Truncate(msg.Content, 200)
result += fmt.Sprintf(" Content: %s\n", content)
}
if msg.ToolCallID != "" {
result += fmt.Sprintf(" ToolCallID: %s\n", msg.ToolCallID)
}
result += "\n"
}
result += "]"
return result
}
// formatToolsForLog formats tool definitions for logging
func formatToolsForLog(tools []providers.ToolDefinition) string {
if len(tools) == 0 {
return "[]"
}
var result string
result += "[\n"
for i, tool := range tools {
result += fmt.Sprintf(" [%d] Type: %s, Name: %s\n", i, tool.Type, tool.Function.Name)
result += fmt.Sprintf(" Description: %s\n", tool.Function.Description)
if len(tool.Function.Parameters) > 0 {
result += fmt.Sprintf(" Parameters: %s\n", utils.Truncate(fmt.Sprintf("%v", tool.Function.Parameters), 200))
}
}
result += "]"
return result
}
// summarizeSession summarizes the conversation history for a session.
func (al *AgentLoop) summarizeSession(sessionKey string) {
ctx, cancel := context.WithTimeout(context.Background(), 120*time.Second)
defer cancel()
history := al.sessions.GetHistory(sessionKey)
summary := al.sessions.GetSummary(sessionKey)
// Keep last 4 messages for continuity
if len(history) <= 4 {
return
}
toSummarize := history[:len(history)-4]
// Oversized Message Guard
// Skip messages larger than 50% of context window to prevent summarizer overflow
maxMessageTokens := al.contextWindow / 2
validMessages := make([]providers.Message, 0)
omitted := false
for _, m := range toSummarize {
if m.Role != "user" && m.Role != "assistant" {
continue
}
// Estimate tokens for this message
msgTokens := len(m.Content) / 4
if msgTokens > maxMessageTokens {
omitted = true
continue
}
validMessages = append(validMessages, m)
}
if len(validMessages) == 0 {
return
}
// Multi-Part Summarization
// Split into two parts if history is significant
var finalSummary string
if len(validMessages) > 10 {
mid := len(validMessages) / 2
part1 := validMessages[:mid]
part2 := validMessages[mid:]
s1, _ := al.summarizeBatch(ctx, part1, "")
s2, _ := al.summarizeBatch(ctx, part2, "")
// Merge them
mergePrompt := fmt.Sprintf("Merge these two conversation summaries into one cohesive summary:\n\n1: %s\n\n2: %s", s1, s2)
resp, err := al.provider.Chat(ctx, []providers.Message{{Role: "user", Content: mergePrompt}}, nil, al.model, map[string]interface{}{
"max_tokens": 1024,
"temperature": 0.3,
})
if err == nil {
finalSummary = resp.Content
} else {
finalSummary = s1 + " " + s2
}
} else {
finalSummary, _ = al.summarizeBatch(ctx, validMessages, summary)
}
if omitted && finalSummary != "" {
finalSummary += "\n[Note: Some oversized messages were omitted from this summary for efficiency.]"
}
if finalSummary != "" {
al.sessions.SetSummary(sessionKey, finalSummary)
al.sessions.TruncateHistory(sessionKey, 4)
al.sessions.Save(al.sessions.GetOrCreate(sessionKey))
}
}
// summarizeBatch summarizes a batch of messages.
func (al *AgentLoop) summarizeBatch(ctx context.Context, batch []providers.Message, existingSummary string) (string, error) {
prompt := "Provide a concise summary of this conversation segment, preserving core context and key points.\n"
if existingSummary != "" {
prompt += "Existing context: " + existingSummary + "\n"
}
prompt += "\nCONVERSATION:\n"
for _, m := range batch {
prompt += fmt.Sprintf("%s: %s\n", m.Role, m.Content)
}
response, err := al.provider.Chat(ctx, []providers.Message{{Role: "user", Content: prompt}}, nil, al.model, map[string]interface{}{
"max_tokens": 1024,
"temperature": 0.3,
})
if err != nil {
return "", err
}
return response.Content, nil
}
// estimateTokens estimates the number of tokens in a message list.
func (al *AgentLoop) estimateTokens(messages []providers.Message) int {
total := 0
for _, m := range messages {
total += len(m.Content) / 4 // Simple heuristic: 4 chars per token
}
return total
}