Feature/agent compaction 1899

bin/test-compaction

@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+# E2E Automatic Test for Agent History Compaction
+# This script temporarily lowers the token limit, runs the agent, spams it to force compaction,
+# and verifies it recovers without an API crash.
+
+set -e
+
+# 1. Temporarily patch the agent configuration to a very low 500-token limit
+echo "Temporarily patching AgentConfig to max_history_tokens=500..."
+# macOS requires -i '' for sed
+sed -i '' 's/max_history_tokens: int | None = None/max_history_tokens: int | None = 500/g' dimos/agents/agent.py
+
+# Ensure we revert the change even if the script fails or is aborted (Ctrl+C)
+cleanup() {
+    echo "Cleaning up..."
+    dimos stop --force || true
+    git checkout dimos/agents/agent.py
+    echo "Reverted dimos/agents/agent.py to original state."
+}
+trap cleanup EXIT
+
+# 2. Launch the agentic blueprint in daemon (background) mode
+echo "Starting Go2 Agentic Simulation in the background..."
+dimos --simulation run unitree-go2-agentic --daemon
+
+# Wait for the agent and all RPC modules to initialize
+echo "Waiting 15 seconds for modules to boot and connect..."
+sleep 15
+
+# 3. Send a physical command that inherently requires a tool call
+echo "Sending initial tool command to start execution..."
+dimos agent-send "Move forward 0.5 meters."
+sleep 10
+
+# 4. Spam the context window to force LangChain trim_messages() to drop the old tool history
+echo "Spamming the agent to force history compaction..."
+for i in {1..4}; do
+    echo "Sending spam block $i..."
+    # ~300 dummy words
+    SPAM_TEXT="Please explicitly acknowledge this message. Context block $i: $(printf 'spam dummy word %.0s' {1..300})"
+    dimos agent-send "$SPAM_TEXT"
+    sleep 10
+done
+
+# 5. Send one final physical tool command
+echo "Sending final tool command. If compaction breaks, LangGraph will crash now!"
+dimos agent-send "Now turn left 90 degrees."
+sleep 15
+
+echo "--------------------------------------------------------"
+echo "Test Completed Successfully! (No early exit from crashes)"
+echo "Run 'dimos log' to review the actual LLM tool outputs."
+echo "--------------------------------------------------------"

dimos/agents/agent.py

@@ -43,6 +43,7 @@ class AgentConfig(ModuleConfig):
     system_prompt: str | None = SYSTEM_PROMPT
     model: str = "gpt-4o"
     model_fixture: str | None = None
+    max_history_tokens: int | None = None
 
 
 class Agent(Module[AgentConfig]):
@@ -132,11 +133,31 @@ def _thread_loop(self) -> None:
     def _process_message(
         self, state_graph: CompiledStateGraph[Any, Any, Any, Any], message: BaseMessage
     ) -> None:
+        from langchain_core.messages import trim_messages
+        from dimos.agents.utils import estimate_tokens
+
         self.agent_idle.publish(False)
         self._history.append(message)
         pretty_print_langchain_message(message)
         self.agent.publish(message)
 
+        if self.config.max_history_tokens is not None:
+            trimmed_history = trim_messages(
+                self._history,
+                max_tokens=self.config.max_history_tokens,
+                strategy="last",
+                token_counter=estimate_tokens,
+                include_system=True,
+                allow_partial=False,
+            )
+            # Ensure it's a list since trim_messages can return other types sometimes
+            trimmed_history = list(trimmed_history)
+        else:
+            trimmed_history = self._history
+
+        # We replace the internal history with the pruned one so it doesn't grow indefinitely in RAM
+        self._history = trimmed_history.copy()
+
         for update in state_graph.stream({"messages": self._history}, stream_mode="updates"):
             for node_output in update.values():
                 for msg in node_output.get("messages", []):

dimos/agents/mcp/mcp_client.py

@@ -45,6 +45,7 @@ class McpClientConfig(ModuleConfig):
     model: str = "gpt-4o"
     model_fixture: str | None = None
     mcp_server_url: str = "http://localhost:9990/mcp"
+    max_history_tokens: int | None = None
 
 
 class McpClient(Module[McpClientConfig]):
@@ -213,11 +214,30 @@ def _thread_loop(self) -> None:
     def _process_message(
         self, state_graph: CompiledStateGraph[Any, Any, Any, Any], message: BaseMessage
     ) -> None:
+        from langchain_core.messages import trim_messages
+        from dimos.agents.utils import estimate_tokens
+
         self.agent_idle.publish(False)
         self._history.append(message)
         pretty_print_langchain_message(message)
         self.agent.publish(message)
 
+        if self.config.max_history_tokens is not None:
+            trimmed_history = trim_messages(
+                self._history,
+                max_tokens=self.config.max_history_tokens,
+                strategy="last",
+                token_counter=estimate_tokens,
+                include_system=True,
+                allow_partial=False,
+            )
+            # Ensure it's a list since trim_messages can return other types sometimes
+            trimmed_history = list(trimmed_history)
+        else:
+            trimmed_history = self._history
+
+        self._history = trimmed_history.copy()
+
         for update in state_graph.stream({"messages": self._history}, stream_mode="updates"):
             for node_output in update.values():
                 for msg in node_output.get("messages", []):

dimos/agents/test_compaction.py

@@ -0,0 +1,73 @@
+from langchain_core.messages import AIMessage, HumanMessage, SystemMessage, ToolMessage
+from dimos.agents.utils import estimate_tokens
+from langchain_core.messages import trim_messages
+
+def test_estimate_tokens():
+    msgs = [
+        SystemMessage(content="system prompt"),
+        HumanMessage(content="Hello world!"),  # length 12
+        AIMessage(content="", tool_calls=[{"name": "test_tool", "args": {}, "id": "call_123"}]) # 1 tool call
+    ]
+
+    # 13 char / 4 = 3 + 10 = 13 (System)
+    # 12 char / 4 = 3 + 10 = 13 (Human)
+    # 0 char / 4 = 0 + 10 = 10 + 50 (ToolCall) = 60 (AI)
+    # Total ~ 86
+    tokens = estimate_tokens(msgs)
+    assert tokens > 0
+    assert tokens < 150 # Roughly sane heuristic test
+
+def test_trim_history_preserves_system_prompt():
+    msgs = [
+        SystemMessage(content="System"),
+        HumanMessage(content="A" * 100),
+        AIMessage(content="B" * 100),
+        HumanMessage(content="C" * 100),
+    ]
+
+    # Need to find a threshold that drops something but keeps system
+    # Each block of 100 chars is ~35 tokens (100 / 4 + 10). System is ~11 tokens.
+    # Total is ~ 116.
+    # Let's set limit to 60. Should keep System and "C".
+    trimmed = trim_messages(
+        msgs,
+        max_tokens=60,
+        strategy="last",
+        token_counter=estimate_tokens,
+        include_system=True,
+        allow_partial=False
+    )
+
+    assert isinstance(trimmed, list)
+    assert len(trimmed) == 2
+    assert trimmed[0].content == "System"
+    assert trimmed[1].content == "C" * 100
+
+def test_trim_history_does_not_break_toolcalls():
+    msgs = [
+        SystemMessage(content="System"),
+        HumanMessage(content="trigger tool"),
+        # Tool call sequence
+        AIMessage(content="", tool_calls=[{"name": "test_tool", "args": {}, "id": "call_123"}]),
+        ToolMessage(content="tool result", tool_call_id="call_123"),
+        # New prompt
+        HumanMessage(content="D" * 200),
+    ]
+
+    # Total is around: 
+    # System: ~11, Human: ~13, AI: ~60, Tool: ~12, Human: ~60. Total ~156.
+    # What if we set max to 75?
+    # It must keep "D" (60 tokens). It needs 15 more, but the ToolMessage + AI block is ~72 tokens,
+    # so it should drop both. It should not keep just the ToolMessage or just the AIMessage.
+    trimmed = trim_messages(
+        msgs,
+        max_tokens=75,
+        strategy="last",
+        token_counter=estimate_tokens,
+        include_system=True,
+        allow_partial=False
+    )
+
+    assert len(trimmed) == 2
+    assert trimmed[0].content == "System"
+    assert trimmed[1].content == "D" * 200

dimos/agents/utils.py

@@ -16,6 +16,17 @@
 from typing import Any
 
 from langchain_core.messages.base import BaseMessage
+import json
+
+def estimate_tokens(msgs: list[BaseMessage]) -> int:
+    """Safely estimates token counts for agent history compaction."""
+    count = 0
+    for m in msgs:
+        content_str = json.dumps(m.content) if not isinstance(m.content, str) else m.content
+        count += len(content_str) // 4 + 10
+        if getattr(m, "tool_calls", None):
+            count += 50 * len(m.tool_calls) # type: ignore
+    return count
 
 from dimos.utils.logging_config import setup_logger
 

pyproject.toml

@@ -202,7 +202,7 @@ manipulation = [
 
     # Hardware SDKs
     "piper-sdk",
-    "pyrealsense2",
+    "pyrealsense2; sys_platform != 'darwin'",
     "xarm-python-sdk>=1.17.0",
 
     # Visualization (Optional)
@@ -226,7 +226,7 @@ cuda = [
     "cupy-cuda12x==13.6.0; platform_machine == 'x86_64'",
     "nvidia-nvimgcodec-cu12[all]; platform_machine == 'x86_64'",
     "onnxruntime-gpu>=1.17.1; platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12
-    "ctransformers[cuda]==0.2.27",
+    "ctransformers[cuda]==0.2.27; sys_platform != 'darwin'",
     "xformers>=0.0.20; platform_machine == 'x86_64'",
 ]