@fleetless/contracts 1.2.0 → 2.0.0

package/artifacts/schema/joint-state-put-response.schema.json

@@ -0,0 +1,24 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "type": "object",
+  "properties": {
+    "joint_state_slug": {
+      "anyOf": [
+        {
+          "type": "string",
+          "minLength": 2,
+          "maxLength": 63,
+          "pattern": "^[a-z][a-z0-9]*(?:_[a-z0-9]+)*$"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "The stored mapping after the call, `null` when none is chosen. The same value `assetListResponse.joint_state_slug` carries."
+    }
+  },
+  "required": [
+    "joint_state_slug"
+  ],
+  "additionalProperties": false
+}

package/artifacts/schema/org-quota-usage-counts.schema.json

@@ -22,11 +22,6 @@
       "minimum": 0,
       "maximum": 9007199254740991
     },
-    "max_asset_storage_bytes": {
-      "type": "integer",
-      "minimum": 0,
-      "maximum": 9007199254740991
-    },
     "max_retention_writes_per_minute": {
       "type": "integer",
       "minimum": 0,

package/artifacts/schema/org-quota-usage.schema.json

@@ -34,11 +34,6 @@
           "type": "integer",
           "exclusiveMinimum": 0,
           "maximum": 9007199254740991
-        },
-        "max_asset_storage_bytes": {
-          "type": "integer",
-          "minimum": 0,
-          "maximum": 9007199254740991
         }
       },
       "required": [
@@ -47,8 +42,7 @@
         "max_end_users",
         "max_retention_bytes",
         "max_retention_writes_per_minute",
-        "max_realtime_connections",
-        "max_asset_storage_bytes"
+        "max_realtime_connections"
       ],
       "additionalProperties": false
     },
@@ -75,11 +69,6 @@
           "minimum": 0,
           "maximum": 9007199254740991
         },
-        "max_asset_storage_bytes": {
-          "type": "integer",
-          "minimum": 0,
-          "maximum": 9007199254740991
-        },
         "max_retention_writes_per_minute": {
           "type": "integer",
           "minimum": 0,

package/artifacts/schema/org-quotas.schema.json

@@ -31,11 +31,6 @@
       "type": "integer",
       "exclusiveMinimum": 0,
       "maximum": 9007199254740991
-    },
-    "max_asset_storage_bytes": {
-      "type": "integer",
-      "minimum": 0,
-      "maximum": 9007199254740991
     }
   },
   "required": [
@@ -44,8 +39,7 @@
     "max_end_users",
     "max_retention_bytes",
     "max_retention_writes_per_minute",
-    "max_realtime_connections",
-    "max_asset_storage_bytes"
+    "max_realtime_connections"
   ],
   "additionalProperties": false
 }

package/artifacts/schema/robot-config-doc.schema.json

@@ -105,6 +105,11 @@
               0.5
             ]
           },
+          "low_bandwidth": {
+            "description": "`keep` exempts this datapoint from the low-bandwidth rate cap; its backfill still pauses.",
+            "type": "string",
+            "const": "keep"
+          },
           "description": {
             "description": "Prose about what this value is, for whoever meets it in the console. It changes nothing the robot does, so a publish that touches only it pushes no configuration at all — but it is carried verbatim into `robot_describe`, where a model that has never seen this robot reads it. The datapoint is offered whenever the role grants it; without one it is offered with `description: null` and the model has less to go on, as for actions, services, publishers and cameras. Omission is the only way to say nothing; an empty string is refused, here and on all five.",
             "examples": [
@@ -425,7 +430,7 @@
           }
         ]
       },
-      "description": "Values the robot publishes, each one field of one topic or a whole topic, and **never several topics**. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state`, `robot_details` and `bridge_pressure` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all four are refused when the document is validated.",
+      "description": "Values the robot publishes, each one field of one topic or a whole topic, and **never several topics**. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state` and `robot_details` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all three are refused when the document is validated.",
       "defaultSnippets": [
         {
           "label": "a datapoint",
@@ -673,7 +678,7 @@
           }
         ]
       },
-      "description": "Things the robot does on request that take time, each reported as a job with progress. **At most one job runs per action slug**: a second call is refused `busy`, and every observer of that slug watches the same job. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state`, `robot_details` and `bridge_pressure` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all four are refused when the document is validated.",
+      "description": "Things the robot does on request that take time, each reported as a job with progress. **At most one job runs per action slug**: a second call is refused `busy`, and every observer of that slug watches the same job. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state` and `robot_details` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all three are refused when the document is validated.",
       "defaultSnippets": [
         {
           "label": "an action",
@@ -894,7 +899,7 @@
           }
         ]
       },
-      "description": "ROS service calls the robot answers — one request, one reply. Unlike an action a service reports **no progress** and the call returns with its result already on the job, so there is nothing left to observe; a second concurrent call is still refused `busy`, exactly as for an action. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state`, `robot_details` and `bridge_pressure` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all four are refused when the document is validated.",
+      "description": "ROS service calls the robot answers — one request, one reply. Unlike an action a service reports **no progress** and the call returns with its result already on the job, so there is nothing left to observe; a second concurrent call is still refused `busy`, exactly as for an action. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state` and `robot_details` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all three are refused when the document is validated.",
       "defaultSnippets": [
         {
           "label": "a service",
@@ -1202,7 +1207,7 @@
           }
         ]
       },
-      "description": "Topics clients may send to, and where the format's whole safety story lives. The `message` template fixes every value a caller cannot change, and **`failsafe` is required**: once a client falls silent the bridge sends the failsafe message itself, so an operator whose window closed does not leave a robot driving. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state`, `robot_details` and `bridge_pressure` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all four are refused when the document is validated.",
+      "description": "Topics clients may send to, and where the format's whole safety story lives. The `message` template fixes every value a caller cannot change, and **`failsafe` is required**: once a client falls silent the bridge sends the failsafe message itself, so an operator whose window closed does not leave a robot driving. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state` and `robot_details` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all three are refused when the document is validated.",
       "defaultSnippets": [
         {
           "label": "a publisher, with its parameters and its failsafe",
@@ -1586,7 +1591,7 @@
           }
         ]
       },
-      "description": "Video the robot streams, and the still frames the cloud serves from it. `width`, `height`, `fps` and `bitrate_kbps` are what **the bridge produces before sending**, not what the camera captures — they live in the configuration rather than in a viewer's request precisely so that no viewer can make a robot send more. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state`, `robot_details` and `bridge_pressure` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all four are refused when the document is validated.",
+      "description": "Video the robot streams, and the still frames the cloud serves from it. `width`, `height`, `fps` and `bitrate_kbps` are what **the bridge produces before sending**, not what the camera captures — they live in the configuration rather than in a viewer's request precisely so that no viewer can make a robot send more. Keys are slugs, one namespace across all five exposure sections, which is what lets a role grant say `{robot, slug}` without naming a kind; `bridge_state` and `robot_details` are built-in, and `history` is reserved because `GET …/jobs/history` would shadow an action of that name; all three are refused when the document is validated.",
       "defaultSnippets": [
         {
           "label": "a camera",
@@ -1607,6 +1612,86 @@
           }
         }
       ]
+    },
+    "low_bandwidth": {
+      "description": "Overrides for the bridge's low-bandwidth mode; see the section schema.",
+      "defaultSnippets": [
+        {
+          "label": "low-bandwidth mode, tuned",
+          "description": "Enters after ten seconds above two seconds of lag, caps every datapoint to 1 Hz and lets running streams continue at a reduced bitrate.",
+          "body": {
+            "enter_lag_ms": 2000,
+            "datapoint_max_hz": 1,
+            "camera": "reduce"
+          }
+        }
+      ],
+      "type": "object",
+      "properties": {
+        "mode": {
+          "description": "`auto` decides from the measured lag; `on` and `off` force the mode, for tests and for an operator who knows the link.",
+          "enumDescriptions": [
+            "The bridge enters and leaves the mode on its own, from the lag the cloud reports and the dwell it measures in its own send queue. The setting to leave alone.",
+            "The mode is held on, whatever the link is doing. For a robot on a link known to be poor, and for a test that would otherwise have to wait for a real one.",
+            "The mode never engages, whatever the link is doing. The robot then sends at its configured rates over a link that cannot carry them, which is a choice and not a default."
+          ],
+          "type": "string",
+          "enum": [
+            "auto",
+            "on",
+            "off"
+          ]
+        },
+        "enter_lag_ms": {
+          "description": "Lag or queue dwell above this enters the mode. Checked against exit_lag_ms only when both are in this document; a lone key composes with the bridge's parameter or the default on the robot, and a crossed pair is refused there when the configuration is applied, so name both when you change either.",
+          "type": "integer",
+          "minimum": 100,
+          "maximum": 9007199254740991
+        },
+        "enter_after_s": {
+          "description": "The entry condition must hold this long.",
+          "type": "integer",
+          "minimum": 1,
+          "maximum": 9007199254740991
+        },
+        "exit_lag_ms": {
+          "description": "Lag and dwell both at or below this leave the mode. Must be at or below enter_lag_ms: a crossed pair is a mode that leaves as it arrives. Checked here only when both keys are present; a lone key is checked on the robot against the parameter or default it composes with.",
+          "type": "integer",
+          "minimum": 0,
+          "maximum": 9007199254740991
+        },
+        "exit_after_s": {
+          "description": "The exit condition must hold this long.",
+          "type": "integer",
+          "minimum": 1,
+          "maximum": 9007199254740991
+        },
+        "datapoint_max_hz": {
+          "description": "The long-run rate for every datapoint in the mode, unless the datapoint says `low_bandwidth: keep`. It is an average, not a minimum gap: after a quiet spell two samples may go out close together, and over any longer window the rate holds.",
+          "type": "number",
+          "exclusiveMinimum": 0,
+          "maximum": 20
+        },
+        "camera": {
+          "description": "What happens to a running stream in the mode. New streams are refused either way.",
+          "enumDescriptions": [
+            "A running stream is re-encoded at `camera_bitrate_kbps` and keeps running. A viewer sees a worse picture rather than none.",
+            "A running stream ends and the viewer is told why. The uplink is then free for datapoints, which is the right trade where video is the nice-to-have."
+          ],
+          "type": "string",
+          "enum": [
+            "reduce",
+            "stop"
+          ]
+        },
+        "camera_bitrate_kbps": {
+          "description": "Bitrate applied to running streams under `reduce`.",
+          "type": "integer",
+          "minimum": 50,
+          "maximum": 20000
+        }
+      },
+      "additionalProperties": false
     }
   },
   "required": [

package/artifacts/schema/robot-deletion-summary.schema.json

@@ -34,7 +34,8 @@
     "asset_bytes_freed": {
       "type": "integer",
       "minimum": 0,
-      "maximum": 9007199254740991
+      "maximum": 9007199254740991,
+      "description": "What the robot's store gives back: every distinct mesh or texture blob it holds, counted once, URDF excluded; a blob another robot also references stays in the object store but is still credited here, because each robot's counter carries it."
     },
     "job_run_count": {
       "type": "integer",

package/artifacts/schema/robot-detail-response.schema.json

@@ -36,11 +36,16 @@
               "type": "null"
             }
           ]
+        },
+        "low_bandwidth": {
+          "type": "boolean",
+          "description": "Whether the bridge is in its low-bandwidth mode: datapoints capped, cameras reduced or stopped. Bridge-reported."
         }
       },
       "required": [
         "online",
-        "latency_ms"
+        "latency_ms",
+        "low_bandwidth"
       ],
       "additionalProperties": false
     },
@@ -82,6 +87,15 @@
       ],
       "additionalProperties": false
     },
+    "protocol_status": {
+      "description": "Where this robot's bridge stands against the protocol window: `current`, `deprecated` (still served, sunset date on the detail), or `refused` (its last hello was refused for its version; offline until upgraded). Absent from a cloud older than 0.21.0; read absence as `current`.",
+      "type": "string",
+      "enum": [
+        "current",
+        "deprecated",
+        "refused"
+      ]
+    },
     "bridge_version": {
       "anyOf": [
         {
@@ -93,6 +107,52 @@
         }
       ]
     },
+    "protocol_version": {
+      "description": "The protocol version the bridge announced in its last accepted hello; `null` before the first. Absent from a cloud older than 0.21.0.",
+      "anyOf": [
+        {
+          "type": "integer",
+          "exclusiveMinimum": 0,
+          "maximum": 9007199254740991
+        },
+        {
+          "type": "null"
+        }
+      ]
+    },
+    "protocol": {
+      "description": "The window verdict for `protocol_version`.",
+      "type": "object",
+      "properties": {
+        "status": {
+          "type": "string",
+          "enum": [
+            "current",
+            "deprecated",
+            "refused"
+          ],
+          "description": "Same values as `protocol_status`."
+        },
+        "sunset_at": {
+          "anyOf": [
+            {
+              "type": "string",
+              "format": "date",
+              "pattern": "^(?:(?:\\d\\d[2468][048]|\\d\\d[13579][26]|\\d\\d0[48]|[02468][048]00|[13579][26]00)-02-29|\\d{4}-(?:(?:0[13578]|1[02])-(?:0[1-9]|[12]\\d|3[01])|(?:0[469]|11)-(?:0[1-9]|[12]\\d|30)|(?:02)-(?:0[1-9]|1\\d|2[0-8])))$"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "description": "ISO date the announced version stops being served; `null` when current or unknown."
+        }
+      },
+      "required": [
+        "status",
+        "sunset_at"
+      ],
+      "additionalProperties": false
+    },
     "last_hello_error": {
       "anyOf": [
         {
@@ -202,7 +262,8 @@
                       "action",
                       "service",
                       "publisher",
-                      "camera"
+                      "camera",
+                      "low_bandwidth"
                     ]
                   },
                   "code": {

package/artifacts/schema/robot-list-item.schema.json

@@ -36,11 +36,16 @@
               "type": "null"
             }
           ]
+        },
+        "low_bandwidth": {
+          "type": "boolean",
+          "description": "Whether the bridge is in its low-bandwidth mode: datapoints capped, cameras reduced or stopped. Bridge-reported."
         }
       },
       "required": [
         "online",
-        "latency_ms"
+        "latency_ms",
+        "low_bandwidth"
       ],
       "additionalProperties": false
     },
@@ -81,6 +86,15 @@
         "cameras"
       ],
       "additionalProperties": false
+    },
+    "protocol_status": {
+      "description": "Where this robot's bridge stands against the protocol window: `current`, `deprecated` (still served, sunset date on the detail), or `refused` (its last hello was refused for its version; offline until upgraded). Absent from a cloud older than 0.21.0; read absence as `current`.",
+      "type": "string",
+      "enum": [
+        "current",
+        "deprecated",
+        "refused"
+      ]
     }
   },
   "required": [

package/artifacts/schema/robot-list-response.schema.json

@@ -41,11 +41,16 @@
                     "type": "null"
                   }
                 ]
+              },
+              "low_bandwidth": {
+                "type": "boolean",
+                "description": "Whether the bridge is in its low-bandwidth mode: datapoints capped, cameras reduced or stopped. Bridge-reported."
               }
             },
             "required": [
               "online",
-              "latency_ms"
+              "latency_ms",
+              "low_bandwidth"
             ],
             "additionalProperties": false
           },
@@ -86,6 +91,15 @@
               "cameras"
             ],
             "additionalProperties": false
+          },
+          "protocol_status": {
+            "description": "Where this robot's bridge stands against the protocol window: `current`, `deprecated` (still served, sunset date on the detail), or `refused` (its last hello was refused for its version; offline until upgraded). Absent from a cloud older than 0.21.0; read absence as `current`.",
+            "type": "string",
+            "enum": [
+              "current",
+              "deprecated",
+              "refused"
+            ]
           }
         },
         "required": [

package/artifacts/schema/robot-token-rotate-response.schema.json

@@ -0,0 +1,15 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "type": "object",
+  "properties": {
+    "token": {
+      "type": "string",
+      "pattern": "^frt_[0-9a-f]{32}$",
+      "description": "The robot's new bridge token. Returned exactly once; the previous token stops working at the bridge's next hello."
+    }
+  },
+  "required": [
+    "token"
+  ],
+  "additionalProperties": false
+}

package/artifacts/schema-outgoing/bridge-asset-progress.schema.json

@@ -38,32 +38,38 @@
             "enum": [
               "unresolvable",
               "upload_failed",
-              "refused",
-              "too_large"
+              "refused"
             ],
-            "description": "Why it failed. `unresolvable` means the reference names nothing the producer can find or may read, and is **permanent** — the only kind reconciliation may treat as gone. `upload_failed` means the bytes exist and the transfer did not succeed, `refused` means it was never attempted because a producer-side ceiling was hit, and `too_large` means it exceeds the upload limit and carries both numbers in `details`."
+            "description": "Why it failed. `unresolvable` means the reference names nothing the producer can find or may read, and is **permanent** — the only kind reconciliation may treat as gone. `upload_failed` means the bytes exist and the transfer did not succeed, and `refused` means it was never attempted, either because the robot's asset store had no room — then `details` carries the three numbers — or because a producer-side ceiling was hit."
           },
           "details": {
-            "description": "The two numbers behind a `too_large` failure, and absent for every other kind — a forced `null` on every `unresolvable` entry buys nothing. The pairing is enforced, not merely described.",
+            "description": "The three numbers behind a `refused` entry the robot's store had no room for, and absent for every other kind — a forced `null` on every `unresolvable` entry buys nothing. A `refused` entry may also carry no details: the producer's own ceiling is the other half of that kind, and no store number describes it.",
             "anyOf": [
               {
                 "type": "object",
                 "properties": {
-                  "limit_bytes": {
+                  "store_bytes": {
                     "type": "integer",
                     "exclusiveMinimum": 0,
                     "maximum": 9007199254740991,
-                    "description": "The upload ceiling, in bytes."
+                    "description": "The robot's store, in bytes."
+                  },
+                  "used_bytes": {
+                    "type": "integer",
+                    "minimum": 0,
+                    "maximum": 9007199254740991,
+                    "description": "Bytes the robot's assets occupy before this upload."
                   },
                   "size_bytes": {
                     "type": "integer",
                     "exclusiveMinimum": 0,
                     "maximum": 9007199254740991,
-                    "description": "How large the refused file is, in bytes. With `limit_bytes` beside it a developer can tell whether to shrink the mesh or raise the limit; \"too large\" alone answers neither."
+                    "description": "The refused upload, in bytes."
                   }
                 },
                 "required": [
-                  "limit_bytes",
+                  "store_bytes",
+                  "used_bytes",
                   "size_bytes"
                 ],
                 "additionalProperties": false

package/artifacts/schema-outgoing/bridge-config-applied.schema.json

@@ -29,7 +29,8 @@
               "action",
               "service",
               "publisher",
-              "camera"
+              "camera",
+              "low_bandwidth"
             ]
           },
           "code": {

package/artifacts/schema-outgoing/bridge-link-mode.schema.json

@@ -0,0 +1,37 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "type": "object",
+  "properties": {
+    "type": {
+      "type": "string",
+      "const": "link_mode"
+    },
+    "low_bandwidth": {
+      "type": "boolean",
+      "description": "Whether the mode is active after this transition."
+    },
+    "reason": {
+      "type": "string",
+      "enum": [
+        "lag",
+        "dwell",
+        "forced",
+        "recovered"
+      ],
+      "description": "`lag`: the cloud-measured lag crossed the threshold; `dwell`: the bridge-measured queue dwell did; `forced`: `mode: on` or `off`; `recovered`: both measures stayed at or below the exit threshold."
+    },
+    "at_ms": {
+      "type": "integer",
+      "minimum": 0,
+      "maximum": 9007199254740991,
+      "description": "Bridge time of the transition, epoch milliseconds."
+    }
+  },
+  "required": [
+    "type",
+    "low_bandwidth",
+    "reason",
+    "at_ms"
+  ],
+  "additionalProperties": false
+}

package/artifacts/schema-outgoing/datapoint-frame.schema.json

@@ -17,6 +17,10 @@
       "type": "integer",
       "minimum": 0,
       "maximum": 9007199254740991
+    },
+    "backfill": {
+      "description": "true when the sample was captured while the bridge was disconnected and is being replayed after the reconnect. The cloud keeps such a sample out of its lag measure; absent means live.",
+      "type": "boolean"
     }
   },
   "required": [