@wandelbots/nova-js 4.9.1-nova-api-dev.26-8-0-dev-66 → 4.9.1-nova-api-dev.26-8-0-dev-68

package/dist/experimental/nats/index.d.mts

@@ -38,7 +38,7 @@ type CellDescription = string;
  * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
  * via the `definition` "Manufacturer".
  */
-type Manufacturer = "abb" | "fanuc" | "kuka" | "staubli" | "universalrobots" | "yaskawa";
+type Manufacturer = "abb" | "bostondynamics" | "fanuc" | "kuka" | "staubli" | "techman" | "unitree" | "universalrobots" | "yaskawa";
 /**
  * Identifies a single motion group model.
  * See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
@@ -180,6 +180,16 @@ type IOValue = IOBooleanValue | IOIntegerValue | IOFloatValue;
  * via the `definition` "ListIOValuesResponse".
  */
 type ListIOValuesResponse = IOValue[];
+/**
+ * Type of update for a stream of input/output values.
+ *   - changes: Only send updates when the value changes.
+ *   - full: Send the full list of values at the update rate.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "IOUpdateType".
+ */
+type IOUpdateType = "changes" | "full";
 /**
  * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.
  *
@@ -384,6 +394,30 @@ type SystemUpdateCompletedEvent = CloudEvent & {
     error?: string;
   };
 };
+/**
+ * Network attachment method used to expose the interface to workloads.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "NetworkBackend".
+ */
+type NetworkBackend = "macvlan" | "sriov";
+/**
+ * Link state of the physical interface.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "NetworkLinkState".
+ */
+type NetworkLinkState = "up" | "down";
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "NetworkInterfacesReply".
+ */
+type NetworkInterfacesReply = NetworkInterface[];
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "ArpScanReply".
+ */
+type ArpScanReply = Device[];
 /**
  * The operating state.
  *
@@ -580,48 +614,49 @@ type RobotControllerDeletedEvent = {
   };
   data: RobotControllerEventData;
 } & CloudEvent;
-interface AbbController {
-  kind: "AbbController";
-  controller_ip: string;
+interface ControllerNetworkInterface {
   /**
-   * Default values: 80, 443. If custom value is set, field is required.
+   * Network port identifier. Either a bare port name, e.g., `enp3s0` or a
+   * node-qualified identifier, e.g., `wandelbox-abc123-enp3s0`. Use the
+   * node-qualified form on multi-node clusters to pin the interface to a
+   * specific node.
+   *
+   * Cannot be changed in-place. Delete and add the controller again to another port.
    *
    */
-  controller_port: number;
+  interface: string;
   /**
-   * The EGM server runs inside of the cell, thus its IP must be in the same network as the 'controller_ip'
+   * IPv4 addresses to assign to the interface, in address/prefix format, e.g., `192.168.1.10/24`.
+   *
+   * @minItems 1
    */
-  egm_server: {
-    ip: string;
-    port: number;
-  };
+  addresses: [string, ...string[]];
 }
 /**
- * Optional dedicated network interface for a physical robot controller.
- *
- * When set, the controller is given its own network interface on the selected
- * physical network port (`pf`) with the given `address`, so it can reach the
- * robot network directly.
+ * The configuration of a physical ABB robot controller has to contain IP address.
+ * Additionally an EGM server configuration has to be specified in order to control the robot.
+ * Deploying the server is a functionality of this API.
  *
  *
  * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
- * via the `definition` "ControllerNetworkInterface".
+ * via the `definition` "AbbController".
  */
-interface ControllerNetworkInterface {
+interface AbbController {
+  kind: "AbbController";
+  controller_ip: string;
+  network_interface?: ControllerNetworkInterface;
   /**
-   * IPv4 address in CIDR notation to assign to the controller's network
-   * interface, for example `192.168.1.10/24`. The value must be a valid IPv4
-   * address followed by a prefix length between 0 and 32.
+   * Default values: 80, 443. If custom value is set, field is required.
    *
    */
-  address: string;
+  controller_port: number;
   /**
-   * Name of the node's physical network port that connects to the robot
-   * network, for example `enp10s0f0`. The controller's interface is provided
-   * from this port.
-   *
+   * The EGM server runs inside of the cell, thus its IP must be in the same network as the 'controller_ip'
    */
-  pf: string;
+  egm_server: {
+    ip: string;
+    port: number;
+  };
 }
 /**
  * The configuration of a physical FANUC robot controller has to contain IP address of the controller.
@@ -633,6 +668,12 @@ interface FanucController {
   kind: "FanucController";
   controller_ip: string;
   network_interface?: ControllerNetworkInterface;
+  /**
+   * Enable the FANUC Stream Motion interface. When enabled, the GCI server
+   * communicates with the controller via the Stream Motion interface.
+   *
+   */
+  stream_motion?: boolean;
 }
 /**
  * The configuration of a physical KUKA robot controller has to contain an IP address.
@@ -646,6 +687,7 @@ interface FanucController {
 interface KukaController {
   kind: "KukaController";
   controller_ip: string;
+  network_interface?: ControllerNetworkInterface1;
   controller_port: number;
   /**
    * The RSI server runs inside of the cell.
@@ -660,6 +702,88 @@ interface KukaController {
    */
   slow_cycle_rate?: boolean;
 }
+/**
+ * Direct network interface for the robot controller. When set, the controller
+ * gets its own interface on the specified port with the given addresses to
+ * reach the controller's network.
+ *
+ */
+interface ControllerNetworkInterface1 {
+  /**
+   * Network port identifier. Either a bare port name, e.g., `enp3s0` or a
+   * node-qualified identifier, e.g., `wandelbox-abc123-enp3s0`. Use the
+   * node-qualified form on multi-node clusters to pin the interface to a
+   * specific node.
+   *
+   * Cannot be changed in-place. Delete and add the controller again to another port.
+   *
+   */
+  interface: string;
+  /**
+   * IPv4 addresses to assign to the interface, in address/prefix format, e.g., `192.168.1.10/24`.
+   *
+   * @minItems 1
+   */
+  addresses: [string, ...string[]];
+}
+/**
+ * The configuration of a physical STÄUBLI robot controller has to contain an IP address.
+ * Additionally, an RTI server configuration has to be specified in order to control the robot.
+ * Deploying the server is a functionality of this API.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "StaubliController".
+ */
+interface StaubliController {
+  kind: "StaubliController";
+  controller_ip: string;
+  network_interface?: ControllerNetworkInterface;
+  controller_port: number;
+  command_port: number;
+  /**
+   * The RTI server runs inside of the cell.
+   */
+  rti_server: {
+    ip: string;
+    port: number;
+  };
+}
+/**
+ * The configuration of a physical Techman robot controller has to contain an IP address.
+ * Additionally an RTRS server configuration has to be specified to obtain state from the robot.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "TechmanController".
+ */
+interface TechmanController {
+  kind: "TechmanController";
+  controller_ip: string;
+  network_interface?: ControllerNetworkInterface;
+  /**
+   * TCP port for the TMSVR channel on the robot controller.
+   */
+  tmsvr_port?: number;
+  /**
+   * TCP port for the TMSCT channel on the robot controller.
+   */
+  tmsct_port?: number;
+  /**
+   * RTRS server configuration for real-time communication.
+   */
+  rtrs: {
+    ip: string;
+    /**
+     * TCP port for the TMRTS state reporting channel.
+     */
+    tmrts_port?: number;
+    /**
+     * TCP port for the TMRTC real-time control channel.
+     */
+    tmrtc_port?: number;
+  };
+}
 /**
  * The configuration of a physical Universal Robots controller has to contain IP address of the controller.
  *
@@ -669,6 +793,7 @@ interface KukaController {
 interface UniversalrobotsController {
   kind: "UniversalrobotsController";
   controller_ip: string;
+  network_interface?: ControllerNetworkInterface;
 }
 /**
  * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
@@ -781,6 +906,78 @@ interface VirtualController {
 interface YaskawaController {
   kind: "YaskawaController";
   controller_ip: string;
+  network_interface?: ControllerNetworkInterface;
+}
+/**
+ * The configuration of a Boston Dynamics robot controller.
+ * Requires the hostname or IP address of the robot and authentication credentials.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "BostondynamicsController".
+ */
+interface BostondynamicsController {
+  kind: "BostondynamicsController";
+  /**
+   * The hostname or IP address of the robot.
+   */
+  controller_ip: string;
+  /**
+   * The Boston Dynamics robot model type.
+   */
+  robot_type?: "spot";
+  /**
+   * The authentication password for the robot.
+   */
+  password: string;
+  /**
+   * The authentication username for the robot.
+   */
+  username?: string;
+  /**
+   * The network interface used to communicate with the robot.
+   */
+  network_interface?: string;
+  /**
+   * JPEG quality for camera streams (1-100).
+   */
+  stream_quality?: number;
+  /**
+   * Frames per second for camera streams.
+   */
+  stream_fps?: number;
+}
+/**
+ * The configuration of a Unitree robot controller.
+ * Supports Go2, G1, B2, and H1 robot models.
+ * Requires the IP address of the robot and the robot model type.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "UnitreeController".
+ */
+interface UnitreeController {
+  kind: "UnitreeController";
+  /**
+   * The IP address of the Unitree robot.
+   */
+  controller_ip: string;
+  /**
+   * The Unitree robot model type.
+   */
+  robot_type: "go2" | "g1" | "b2" | "h1";
+  /**
+   * The network interface used for DDS discovery.
+   */
+  network_interface?: string;
+  /**
+   * Enable DDS unicast mode for environments where multicast is unavailable.
+   */
+  dds_unicast_mode?: boolean;
+  /**
+   * Enable exclusive lease-based control of the robot.
+   */
+  enable_lease?: boolean;
 }
 /**
  * The configuration of a physical or virtual robot controller.
@@ -795,7 +992,7 @@ interface RobotController {
    *
    */
   name: string;
-  configuration: AbbController | FanucController | KukaController | UniversalrobotsController | VirtualController | YaskawaController;
+  configuration: AbbController | FanucController | KukaController | StaubliController | TechmanController | UniversalrobotsController | VirtualController | YaskawaController | BostondynamicsController | UnitreeController;
 }
 /**
  * User provided credentials for creating a secret to pull an image from a registry.
@@ -1385,6 +1582,116 @@ interface StreamIOValuesResponse {
    */
   sequence_number: number;
 }
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "AsyncRequestHeaders".
+ */
+interface AsyncRequestHeaders {
+  /**
+   * Unique inbox subject the caller is subscribed to. The server publishes the response to this address. Use a per-request unique subject, e.g., NATS inbox _INBOX.*.
+   *
+   */
+  replyTo: string;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "SubscribeIOs".
+ */
+interface SubscribeIOs {
+  /**
+   * Array of input/output identifiers to stream the values for.
+   *
+   * @minItems 1
+   */
+  ios: [string, ...string[]];
+  /**
+   * Type of update for a stream of input/output values.
+   *   - changes: Only send updates when the value changes.
+   *   - full: Send the full list of values at the update rate.
+   *
+   */
+  update_type?: "changes" | "full";
+  /**
+   * The subscription's time to live (TTL), in seconds: once it elapses the subscription expires and
+   * streaming stops. Fractional values are allowed. Any non-negative value is accepted and clamped server-side to
+   * the range 5..300 seconds. Clients should renew the subscription at roughly a third of this interval.
+   *
+   */
+  ttl_seconds?: number;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "IOSubscriptionCreated".
+ */
+interface IOSubscriptionCreated {
+  /**
+   * Server-issued, subject-safe identifier of the created subscription.
+   * Values for this subscription are published on the
+   * `{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}` subject.
+   *
+   */
+  subscription_id: string;
+  /**
+   * Timestamp at which the subscription expires, unless it is renewed.
+   */
+  expires_at: string;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "UpdateIOSubscription".
+ */
+interface UpdateIOSubscription {
+  /**
+   * Server-issued identifier of the subscription to update.
+   */
+  subscription_id: string;
+  /**
+   * Array of input/output identifiers to stream the values for.
+   * When omitted the current selection is kept unchanged. An empty array is rejected.
+   *
+   *
+   * @minItems 1
+   */
+  ios?: [string, ...string[]];
+  update_type?: IOUpdateType;
+  /**
+   * The subscription's time to live (TTL), in seconds. When omitted the current value is kept unchanged.
+   * Fractional values are allowed. Any non-negative value is accepted and clamped server-side to
+   * the range 5..300 seconds.
+   *
+   */
+  ttl_seconds?: number;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "IOSubscriptionLease".
+ */
+interface IOSubscriptionLease {
+  /**
+   * Timestamp at which the subscription expires, unless it is renewed again.
+   */
+  expires_at: string;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "RenewIOSubscription".
+ */
+interface RenewIOSubscription {
+  /**
+   * Server-issued identifier of the subscription to renew.
+   */
+  subscription_id: string;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "CancelIOSubscription".
+ */
+interface CancelIOSubscription {
+  /**
+   * Server-issued identifier of the subscription to cancel.
+   */
+  subscription_id: string;
+}
 /**
  * Indicates which joint of the motion group is in a limit.
  * If a joint is in its limit, only this joint can be moved. Movements that affect any other joints are not executed.
@@ -1399,6 +1706,18 @@ interface MotionGroupState_JointLimitReached {
    */
   limit_reached: boolean[];
 }
+/**
+ * Defines a cartesian velocity in 3D space.
+ * The unit of the translation velocity is mm/s and the unit of the rotation velocity is rad/s.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "CartesianVelocity".
+ */
+interface CartesianVelocity {
+  translation: Vector3D;
+  rotation: Vector3D;
+}
 /**
  * Jogging is active.
  *
@@ -1579,7 +1898,7 @@ interface TrajectoryDetails {
 }
 /**
  * Details about the state of the motion execution.
- * The details are either for a jogging or a trajectory.
+ * The details are either for a jogging, a trajectory, or an action chunk.
  * If NOVA is not controlling this motion group at the moment, this field is omitted.
  *
  *
@@ -1625,6 +1944,7 @@ interface MotionGroupState {
   joint_torque?: Joints2;
   joint_current?: Joints3;
   flange_pose?: Pose1;
+  flange_velocity?: CartesianVelocity1;
   /**
    * Unique identifier addressing the active TCP.
    * Might not be returned for positioners as some do not support TCPs, depending on the model.
@@ -1632,6 +1952,7 @@ interface MotionGroupState {
    */
   tcp?: string;
   tcp_pose?: Pose2;
+  tcp_velocity?: CartesianVelocity2;
   /**
    * Unique identifier addressing the reference coordinate system of the cartesian data.
    * Might not be returned for positioners as some do not support TCPs, depending on the model.
@@ -1681,6 +2002,15 @@ interface Pose1 {
   position?: Vector3D;
   orientation?: RotationVector;
 }
+/**
+ * Cartesian velocity of the flange.
+ * The velocity is relative to the response coordinate system specified in the request.
+ *
+ */
+interface CartesianVelocity1 {
+  translation: Vector3D;
+  rotation: Vector3D;
+}
 /**
  * Defines a pose in 3D space.
  * A pose is a combination of a position and an orientation.
@@ -1691,6 +2021,15 @@ interface Pose2 {
   position?: Vector3D;
   orientation?: RotationVector;
 }
+/**
+ * Cartesian velocity of the TCP selected on the robot control panel.
+ * The velocity is relative to the response coordinate system specified in the request.
+ *
+ */
+interface CartesianVelocity2 {
+  translation: Vector3D;
+  rotation: Vector3D;
+}
 /**
  * Data that was commanded to the motion group. Includes additional data on NOVA's execution components for executing trajectories and jogging.
  * This is a convenience field to indicate the last command sent to the motion group.
@@ -1771,7 +2110,13 @@ interface TcpOffset {
  * via the `definition` "LimitRange".
  */
 interface LimitRange {
+  /**
+   * Lower position limit in rad.
+   */
   lower_limit?: number;
+  /**
+   * Upper position limit in rad.
+   */
   upper_limit?: number;
 }
 /**
@@ -1779,35 +2124,75 @@ interface LimitRange {
  * via the `definition` "JointLimits".
  */
 interface JointLimits {
-  position?: LimitRange;
+  position?: LimitRange1;
+  /**
+   * Joint velocity limit in rad/s.
+   */
   velocity?: number;
+  /**
+   * Joint acceleration limit in rad/s².
+   */
   acceleration?: number;
   /**
+   * Joint jerk limit in rad/s³.
+   *
    * > **NOTE**
    * >
    * > This limit type is experimental and its behavior may change in future releases.
    *
    */
   jerk?: number;
+  /**
+   * Joint torque limit in Nm.
+   */
   torque?: number;
 }
+/**
+ * Joint position limits in rad.
+ */
+interface LimitRange1 {
+  /**
+   * Lower position limit in rad.
+   */
+  lower_limit?: number;
+  /**
+   * Upper position limit in rad.
+   */
+  upper_limit?: number;
+}
 /**
  * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
  * via the `definition` "CartesianLimits".
  */
 interface CartesianLimits {
+  /**
+   * Cartesian velocity limit in mm/s.
+   */
   velocity?: number;
+  /**
+   * Cartesian acceleration limit in mm/s².
+   */
   acceleration?: number;
   /**
+   * Cartesian jerk limit in mm/s³.
+   *
    * > **NOTE**
    * >
    * > This limit type is experimental and its behavior may change in future releases.
    *
    */
   jerk?: number;
+  /**
+   * Orientation velocity limit in rad/s.
+   */
   orientation_velocity?: number;
+  /**
+   * Orientation acceleration limit in rad/s².
+   */
   orientation_acceleration?: number;
   /**
+   * Orientation jerk limit in rad/s³.
+   *
    * > **NOTE**
    * >
    * > This limit type is experimental and its behavior may change in future releases.
@@ -2051,21 +2436,6 @@ interface NetworkState {
    *
    */
   internet_connected: boolean;
-  /**
-   * Type of the active network link (e.g., ethernet, wifi, cellular, vpn, unknown).
-   *
-   */
-  connection_type?: "ethernet" | "wifi" | "cellular" | "vpn" | "unknown";
-  /**
-   * Received signal strength in dBm for wireless interfaces; negative values indicate weaker signals.
-   *
-   */
-  signal_strength?: number;
-  /**
-   * Normalized link quality metric from 0 (poor) to 1 (excellent) when provided by the interface.
-   *
-   */
-  link_quality?: number;
   /**
    * Round-trip latency to the probe endpoint measured in milliseconds.
    *
@@ -2112,6 +2482,88 @@ interface NetworkStatusChangedEvent {
   datacontenttype?: string;
   data: NetworkState;
 }
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "AsyncReplyHeaders".
+ */
+interface AsyncReplyHeaders {
+  /**
+   * HTTP status code indicating the result of the operation, e.g., "200" for success, "400" for bad request, "404" for not found, "500" for server error.
+   *
+   */
+  Status: string;
+  /**
+   * Human-readable error message. Only present when Status is not 2xx.
+   */
+  Description?: string;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "NetworkInterface".
+ */
+interface NetworkInterface {
+  /**
+   * Host network interface name, e.g., enp0s31f6.
+   */
+  name: string;
+  /**
+   * Stable identifier for this interface. Pass it as the `interface` field in ARP scan request, e.g., wandelbox-abc123-enp3s0.
+   */
+  interface: string;
+  /**
+   * Hostname that exposes this interface.
+   */
+  node: string;
+  backend: NetworkBackend;
+  link: NetworkLinkState;
+  /**
+   * IP/CIDR addresses currently assigned to the interface. Omitted when not available.
+   */
+  addresses?: string[];
+}
+/**
+ * Empty request. No parameters needed.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "NetworkInterfacesRequest".
+ */
+interface NetworkInterfacesRequest {}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "ArpScanRequest".
+ */
+interface ArpScanRequest {
+  /**
+   * Interface to scan. Use the `interface` value from the network interfaces list, e.g., wandelbox-abc123-enp3s0.
+   */
+  interface: string;
+  /**
+   * IP range to scan in CIDR notation, e.g., 192.168.1.0/24.
+   */
+  cidr: string;
+  /**
+   * Scan timeout in milliseconds. Defaults to 5000 if omitted or zero.
+   */
+  timeout?: number;
+}
+/**
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Device".
+ */
+interface Device {
+  /**
+   * IPv4 address of the discovered device.
+   */
+  ip: string;
+  /**
+   * MAC address of the discovered device.
+   */
+  mac: string;
+  /**
+   * Hardware manufacturer name derived from the MAC address, omitted when unknown.
+   */
+  vendor?: string;
+}
 /**
  * Payload for a cell lifecycle event.
  *
@@ -2332,7 +2784,12 @@ interface NatsOperationParams {
   /**
    * Select Input/Output Values
    *
-   * Select input/output values published by the controller.
+   * Select input/output values published by the controller on the shared `...ios` subject.
+   *
+   * This is the reserved, never-expiring default stream, shared by all clients that use it. For
+   * independent per-client streams with their own update type and time to live use the `ios.subscribe`
+   * operations instead. Malformed requests (non-string or empty entries in `ios`, an invalid
+   * `update_type`) are rejected and leave the current selection unchanged.
    *
    * @operationId selectRobotControllerIOs
    */
@@ -2363,6 +2820,112 @@ interface NatsOperationParams {
      */
     controller: string;
   };
+  /**
+   * Subscribe to Input/Output Values
+   *
+   * Create a per-client subscription that streams the selected input/output values on a dedicated,
+   * subscription-specific subject.
+   *
+   * The server generates a subject-safe `subscription_id` and returns it in the reply; values are then
+   * published on `{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}`. The
+   * subscription expires after `ttl_seconds` unless it is renewed. A subscription that would push the
+   * union of all subscriptions' ports beyond the controller's realtime input/output capacity is rejected.
+   *
+   * @operationId subscribeRobotControllerIOs
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
+    cell: string;
+    /**
+     * Unique identifier to address a controller in a cell.
+     */
+    controller: string;
+  };
+  /**
+   * Update an Input/Output Subscription
+   *
+   * Partially update an existing subscription by its server-issued `subscription_id`. Only the supplied
+   * fields (`ios`, `update_type`, `ttl_seconds`) are changed; omitted fields are kept unchanged, so the
+   * time to live or the update type can be changed without resending the port list. An update that would
+   * push the union of all subscriptions' ports beyond the controller's realtime input/output capacity is
+   * rejected and leaves the subscription unchanged.
+   *
+   * A successful update also renews the lease: `expires_at` is reset to the current time plus the
+   * subscription's time to live, even when `ttl_seconds` is omitted.
+   *
+   * @operationId updateRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
+    cell: string;
+    /**
+     * Unique identifier to address a controller in a cell.
+     */
+    controller: string;
+  };
+  /**
+   * Renew an Input/Output Subscription
+   *
+   * Extend the lease of an existing subscription identified by its server-issued `subscription_id`.
+   * Clients should renew at roughly a third of the subscription's time to live. A subscription that has
+   * already expired is not found and must be created again.
+   *
+   * @operationId renewRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
+    cell: string;
+    /**
+     * Unique identifier to address a controller in a cell.
+     */
+    controller: string;
+  };
+  /**
+   * Cancel an Input/Output Subscription
+   *
+   * Cancel an existing subscription identified by its server-issued `subscription_id`. Streaming on the
+   * subscription's subject stops and its ports are removed from the union read from the controller.
+   *
+   * @operationId cancelRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
+    cell: string;
+    /**
+     * Unique identifier to address a controller in a cell.
+     */
+    controller: string;
+  };
+  /**
+   * Subscription Input/Output Values
+   *
+   * Publishes updates of input/output values for a single subscription on its dedicated
+   * `...ios.{subscription_id}` subject. Each subscription receives its own `full` or `changes` view.
+   *
+   * @operationId publishRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
+    cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
+    controller: string;
+    /**
+     * Server-issued identifier of the subscription this stream belongs to.
+     */
+    subscription_id: string;
+  };
   /**
    * State of Robot Controller
    *
@@ -2444,6 +3007,22 @@ interface NatsOperationParams {
    * @operationId eventSystemNetworkStatusChanged
    */
   "nova.v2.events.system.network.status.changed": Record<never, never>;
+  /**
+   * List Network Interfaces
+   *
+   * Lists all managed network interfaces available for controller connections and ARP scanning.
+   *
+   * @operationId getNetworkInterfaces
+   */
+  "nova.v2.system.network.interfaces": Record<never, never>;
+  /**
+   * Run ARP Scan
+   *
+   * Runs an ARP scan on the target interface and returns all discovered devices.
+   *
+   * @operationId arpScan
+   */
+  "nova.v2.system.network.arpscan": Record<never, never>;
   /**
    * Cell Created
    *
@@ -2707,6 +3286,15 @@ interface NatsSubscribePayloads {
    * @operationId publishRobotControllerIOs
    */
   "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse;
+  /**
+   * Subscription Input/Output Values
+   *
+   * Publishes updates of input/output values for a single subscription on its dedicated
+   * `...ios.{subscription_id}` subject. Each subscription receives its own `full` or `changes` view.
+   *
+   * @operationId publishRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}": StreamIOValuesResponse;
   /**
    * State of Robot Controller
    *
@@ -2872,11 +3460,80 @@ interface NatsRequestPayloads {
   /**
    * Select Input/Output Values
    *
-   * Select input/output values published by the controller.
+   * Select input/output values published by the controller on the shared `...ios` subject.
+   *
+   * This is the reserved, never-expiring default stream, shared by all clients that use it. For
+   * independent per-client streams with their own update type and time to live use the `ios.subscribe`
+   * operations instead. Malformed requests (non-string or empty entries in `ios`, an invalid
+   * `update_type`) are rejected and leave the current selection unchanged.
    *
    * @operationId selectRobotControllerIOs
    */
   "nova.v2.cells.{cell}.controllers.{controller}.ios.select": SelectIOs;
+  /**
+   * Subscribe to Input/Output Values
+   *
+   * Create a per-client subscription that streams the selected input/output values on a dedicated,
+   * subscription-specific subject.
+   *
+   * The server generates a subject-safe `subscription_id` and returns it in the reply; values are then
+   * published on `{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}`. The
+   * subscription expires after `ttl_seconds` unless it is renewed. A subscription that would push the
+   * union of all subscriptions' ports beyond the controller's realtime input/output capacity is rejected.
+   *
+   * @operationId subscribeRobotControllerIOs
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe": SubscribeIOs;
+  /**
+   * Update an Input/Output Subscription
+   *
+   * Partially update an existing subscription by its server-issued `subscription_id`. Only the supplied
+   * fields (`ios`, `update_type`, `ttl_seconds`) are changed; omitted fields are kept unchanged, so the
+   * time to live or the update type can be changed without resending the port list. An update that would
+   * push the union of all subscriptions' ports beyond the controller's realtime input/output capacity is
+   * rejected and leaves the subscription unchanged.
+   *
+   * A successful update also renews the lease: `expires_at` is reset to the current time plus the
+   * subscription's time to live, even when `ttl_seconds` is omitted.
+   *
+   * @operationId updateRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update": UpdateIOSubscription;
+  /**
+   * Renew an Input/Output Subscription
+   *
+   * Extend the lease of an existing subscription identified by its server-issued `subscription_id`.
+   * Clients should renew at roughly a third of the subscription's time to live. A subscription that has
+   * already expired is not found and must be created again.
+   *
+   * @operationId renewRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew": RenewIOSubscription;
+  /**
+   * Cancel an Input/Output Subscription
+   *
+   * Cancel an existing subscription identified by its server-issued `subscription_id`. Streaming on the
+   * subscription's subject stops and its ports are removed from the union read from the controller.
+   *
+   * @operationId cancelRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel": CancelIOSubscription;
+  /**
+   * List Network Interfaces
+   *
+   * Lists all managed network interfaces available for controller connections and ARP scanning.
+   *
+   * @operationId getNetworkInterfaces
+   */
+  "nova.v2.system.network.interfaces": NetworkInterfacesRequest;
+  /**
+   * Run ARP Scan
+   *
+   * Runs an ARP scan on the target interface and returns all discovered devices.
+   *
+   * @operationId arpScan
+   */
+  "nova.v2.system.network.arpscan": ArpScanRequest;
 }
 /** Reply payload types for request/reply subjects. */
 interface NatsReplyPayloads {
@@ -2892,11 +3549,80 @@ interface NatsReplyPayloads {
   /**
    * Select Input/Output Values
    *
-   * Select input/output values published by the controller.
+   * Select input/output values published by the controller on the shared `...ios` subject.
+   *
+   * This is the reserved, never-expiring default stream, shared by all clients that use it. For
+   * independent per-client streams with their own update type and time to live use the `ios.subscribe`
+   * operations instead. Malformed requests (non-string or empty entries in `ios`, an invalid
+   * `update_type`) are rejected and leave the current selection unchanged.
    *
    * @operationId selectRobotControllerIOs
    */
   "nova.v2.cells.{cell}.controllers.{controller}.ios.select": NatsErrorPayload;
+  /**
+   * Subscribe to Input/Output Values
+   *
+   * Create a per-client subscription that streams the selected input/output values on a dedicated,
+   * subscription-specific subject.
+   *
+   * The server generates a subject-safe `subscription_id` and returns it in the reply; values are then
+   * published on `{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}`. The
+   * subscription expires after `ttl_seconds` unless it is renewed. A subscription that would push the
+   * union of all subscriptions' ports beyond the controller's realtime input/output capacity is rejected.
+   *
+   * @operationId subscribeRobotControllerIOs
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe": IOSubscriptionCreated;
+  /**
+   * Update an Input/Output Subscription
+   *
+   * Partially update an existing subscription by its server-issued `subscription_id`. Only the supplied
+   * fields (`ios`, `update_type`, `ttl_seconds`) are changed; omitted fields are kept unchanged, so the
+   * time to live or the update type can be changed without resending the port list. An update that would
+   * push the union of all subscriptions' ports beyond the controller's realtime input/output capacity is
+   * rejected and leaves the subscription unchanged.
+   *
+   * A successful update also renews the lease: `expires_at` is reset to the current time plus the
+   * subscription's time to live, even when `ttl_seconds` is omitted.
+   *
+   * @operationId updateRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update": IOSubscriptionLease;
+  /**
+   * Renew an Input/Output Subscription
+   *
+   * Extend the lease of an existing subscription identified by its server-issued `subscription_id`.
+   * Clients should renew at roughly a third of the subscription's time to live. A subscription that has
+   * already expired is not found and must be created again.
+   *
+   * @operationId renewRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew": IOSubscriptionLease;
+  /**
+   * Cancel an Input/Output Subscription
+   *
+   * Cancel an existing subscription identified by its server-issued `subscription_id`. Streaming on the
+   * subscription's subject stops and its ports are removed from the union read from the controller.
+   *
+   * @operationId cancelRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel": NatsErrorPayload;
+  /**
+   * List Network Interfaces
+   *
+   * Lists all managed network interfaces available for controller connections and ARP scanning.
+   *
+   * @operationId getNetworkInterfaces
+   */
+  "nova.v2.system.network.interfaces": NetworkInterfacesReply;
+  /**
+   * Run ARP Scan
+   *
+   * Runs an ARP scan on the target interface and returns all discovered devices.
+   *
+   * @operationId arpScan
+   */
+  "nova.v2.system.network.arpscan": ArpScanReply;
 }
 type NatsRequestSubject = keyof NatsRequestPayloads;
 /** Payload types for every subject defined in the spec, publishable via NovaNatsClient#publish. */
@@ -3006,7 +3732,12 @@ interface NatsPublishPayloads {
   /**
    * Select Input/Output Values
    *
-   * Select input/output values published by the controller.
+   * Select input/output values published by the controller on the shared `...ios` subject.
+   *
+   * This is the reserved, never-expiring default stream, shared by all clients that use it. For
+   * independent per-client streams with their own update type and time to live use the `ios.subscribe`
+   * operations instead. Malformed requests (non-string or empty entries in `ios`, an invalid
+   * `update_type`) are rejected and leave the current selection unchanged.
    *
    * @operationId selectRobotControllerIOs
    */
@@ -3019,6 +3750,63 @@ interface NatsPublishPayloads {
    * @operationId publishRobotControllerIOs
    */
   "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse;
+  /**
+   * Subscribe to Input/Output Values
+   *
+   * Create a per-client subscription that streams the selected input/output values on a dedicated,
+   * subscription-specific subject.
+   *
+   * The server generates a subject-safe `subscription_id` and returns it in the reply; values are then
+   * published on `{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}`. The
+   * subscription expires after `ttl_seconds` unless it is renewed. A subscription that would push the
+   * union of all subscriptions' ports beyond the controller's realtime input/output capacity is rejected.
+   *
+   * @operationId subscribeRobotControllerIOs
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe": SubscribeIOs;
+  /**
+   * Update an Input/Output Subscription
+   *
+   * Partially update an existing subscription by its server-issued `subscription_id`. Only the supplied
+   * fields (`ios`, `update_type`, `ttl_seconds`) are changed; omitted fields are kept unchanged, so the
+   * time to live or the update type can be changed without resending the port list. An update that would
+   * push the union of all subscriptions' ports beyond the controller's realtime input/output capacity is
+   * rejected and leaves the subscription unchanged.
+   *
+   * A successful update also renews the lease: `expires_at` is reset to the current time plus the
+   * subscription's time to live, even when `ttl_seconds` is omitted.
+   *
+   * @operationId updateRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update": UpdateIOSubscription;
+  /**
+   * Renew an Input/Output Subscription
+   *
+   * Extend the lease of an existing subscription identified by its server-issued `subscription_id`.
+   * Clients should renew at roughly a third of the subscription's time to live. A subscription that has
+   * already expired is not found and must be created again.
+   *
+   * @operationId renewRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew": RenewIOSubscription;
+  /**
+   * Cancel an Input/Output Subscription
+   *
+   * Cancel an existing subscription identified by its server-issued `subscription_id`. Streaming on the
+   * subscription's subject stops and its ports are removed from the union read from the controller.
+   *
+   * @operationId cancelRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel": CancelIOSubscription;
+  /**
+   * Subscription Input/Output Values
+   *
+   * Publishes updates of input/output values for a single subscription on its dedicated
+   * `...ios.{subscription_id}` subject. Each subscription receives its own `full` or `changes` view.
+   *
+   * @operationId publishRobotControllerIOSubscription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}": StreamIOValuesResponse;
   /**
    * State of Robot Controller
    *
@@ -3078,6 +3866,22 @@ interface NatsPublishPayloads {
    * @operationId eventSystemNetworkStatusChanged
    */
   "nova.v2.events.system.network.status.changed": NetworkStatusChangedEvent;
+  /**
+   * List Network Interfaces
+   *
+   * Lists all managed network interfaces available for controller connections and ARP scanning.
+   *
+   * @operationId getNetworkInterfaces
+   */
+  "nova.v2.system.network.interfaces": NetworkInterfacesRequest;
+  /**
+   * Run ARP Scan
+   *
+   * Runs an ARP scan on the target interface and returns all discovered devices.
+   *
+   * @operationId arpScan
+   */
+  "nova.v2.system.network.arpscan": ArpScanRequest;
   /**
    * Cell Created
    *
@@ -3279,5 +4083,5 @@ declare class NovaNatsClient {
   publish<K extends NatsPublishSubject>(subject: K, params: NatsOperationParams[K], payload: NatsPublishPayloads[K]): Promise<void>;
 }
 //#endregion
-export { type AbbController, type AddVirtualControllerMotionGroupRequest, type App, type AppCreatedEvent, type AppDeletedEvent, type AppEventData, type AppUpdatedEvent, type Box, type BusIOsState, type BusIOsStateEnum, type Capacity, type Capsule, type CartesianLimits, type Cell, type CellCreatedEvent, type CellCycleEvent, type CellDeletedEvent, type CellDescription, type CellEventData, type CellName, type CellUpdatedEvent, type CloudEvent, type Collider, type ColliderDictionary, type ColliderDictionary1, type ColliderDictionary2, type CollisionMotionGroupLink, type CollisionMotionGroupTool, type CollisionMotionGroupTool1, type CollisionSetup, type ContainerEnvironment, type ContainerImage, type ContainerResources, type ContainerStorage, type ControllerNetworkInterface, type ConvexHull, type Cylinder, type DHParameter, type Execute, type Execute1, type FanucController, type IOBooleanValue, type IOFloatValue, type IOIntegerValue, type IOValue, type ImageCredentials, type JoggingDetails, type JoggingPausedByUser, type JoggingPausedNearCollision, type JoggingPausedNearJointLimit, type JoggingPausedNearSingularity, type JoggingPausedOnIO, type JoggingRunning, type JointLimits, type JointTypeEnum, type Joints, type Joints1, type Joints2, type Joints3, type KukaController, type LimitRange, type LimitSet, type LinkChain, type LinkChain1, type ListIOValuesResponse, type Location, type Manufacturer, type MotionGroupDescription, type MotionGroupFromJSON, type MotionGroupFromModel, type MotionGroupModel, type MotionGroupState, type MotionGroupState1, type MotionGroupState_JointLimitReached, type MotionGroupState_JointLimitReached1, type NatsErrorPayload, type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReceivedMsg, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribeMsg, type NatsSubscribeOptions, type NatsSubscribePayloads, type NatsSubscribeSubject, type NetworkState, type NetworkStatusChangedEvent, NovaNatsClient, type NovaNatsClientConfig, type OperatingState, type OperationLimits, type OperationMode, type Payload, type PayloadDictionary, type Plane, type Pose, type Pose1, type Pose2, type Pose3, type Pose4, type Pose5, type ProgramRunState, type ProgramRunState1, type ProgramStatus, type Rectangle, type RectangularCapsule, type RobotController, type RobotControllerCreatedEvent, type RobotControllerDeletedEvent, type RobotControllerEventData, type RobotControllerState, type RobotControllerUpdatedEvent, type RobotSystemMode, type RotationVector, type SafetyStateType, type SafetyToolColliders, type SelectIOs, type ServiceGroup, type ServiceStatus, type ServiceStatusList, type ServiceStatusPhase, type ServiceStatusSeverity, type Sphere, type StreamIOValuesResponse, type SystemUpdateCompletedEvent, type SystemUpdateStartedEvent, type TcpOffset, type TcpOffsetDictionary, type TrajectoryDetails, type TrajectoryEnded, type TrajectoryPausedByUser, type TrajectoryPausedOnIO, type TrajectoryRunning, type TrajectoryWaitForIO, type UniversalrobotsController, type Vector3D, type Vector3D1, type Vector3D2, type VirtualController, type YaskawaController, buildNatsServerUrl };
+export { type AbbController, type AddVirtualControllerMotionGroupRequest, type App, type AppCreatedEvent, type AppDeletedEvent, type AppEventData, type AppUpdatedEvent, type ArpScanReply, type ArpScanRequest, type AsyncReplyHeaders, type AsyncRequestHeaders, type BostondynamicsController, type Box, type BusIOsState, type BusIOsStateEnum, type CancelIOSubscription, type Capacity, type Capsule, type CartesianLimits, type CartesianVelocity, type CartesianVelocity1, type CartesianVelocity2, type Cell, type CellCreatedEvent, type CellCycleEvent, type CellDeletedEvent, type CellDescription, type CellEventData, type CellName, type CellUpdatedEvent, type CloudEvent, type Collider, type ColliderDictionary, type ColliderDictionary1, type ColliderDictionary2, type CollisionMotionGroupLink, type CollisionMotionGroupTool, type CollisionMotionGroupTool1, type CollisionSetup, type ContainerEnvironment, type ContainerImage, type ContainerResources, type ContainerStorage, type ControllerNetworkInterface, type ControllerNetworkInterface1, type ConvexHull, type Cylinder, type DHParameter, type Device, type Execute, type Execute1, type FanucController, type IOBooleanValue, type IOFloatValue, type IOIntegerValue, type IOSubscriptionCreated, type IOSubscriptionLease, type IOUpdateType, type IOValue, type ImageCredentials, type JoggingDetails, type JoggingPausedByUser, type JoggingPausedNearCollision, type JoggingPausedNearJointLimit, type JoggingPausedNearSingularity, type JoggingPausedOnIO, type JoggingRunning, type JointLimits, type JointTypeEnum, type Joints, type Joints1, type Joints2, type Joints3, type KukaController, type LimitRange, type LimitRange1, type LimitSet, type LinkChain, type LinkChain1, type ListIOValuesResponse, type Location, type Manufacturer, type MotionGroupDescription, type MotionGroupFromJSON, type MotionGroupFromModel, type MotionGroupModel, type MotionGroupState, type MotionGroupState1, type MotionGroupState_JointLimitReached, type MotionGroupState_JointLimitReached1, type NatsErrorPayload, type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReceivedMsg, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribeMsg, type NatsSubscribeOptions, type NatsSubscribePayloads, type NatsSubscribeSubject, type NetworkBackend, type NetworkInterface, type NetworkInterfacesReply, type NetworkInterfacesRequest, type NetworkLinkState, type NetworkState, type NetworkStatusChangedEvent, NovaNatsClient, type NovaNatsClientConfig, type OperatingState, type OperationLimits, type OperationMode, type Payload, type PayloadDictionary, type Plane, type Pose, type Pose1, type Pose2, type Pose3, type Pose4, type Pose5, type ProgramRunState, type ProgramRunState1, type ProgramStatus, type Rectangle, type RectangularCapsule, type RenewIOSubscription, type RobotController, type RobotControllerCreatedEvent, type RobotControllerDeletedEvent, type RobotControllerEventData, type RobotControllerState, type RobotControllerUpdatedEvent, type RobotSystemMode, type RotationVector, type SafetyStateType, type SafetyToolColliders, type SelectIOs, type ServiceGroup, type ServiceStatus, type ServiceStatusList, type ServiceStatusPhase, type ServiceStatusSeverity, type Sphere, type StaubliController, type StreamIOValuesResponse, type SubscribeIOs, type SystemUpdateCompletedEvent, type SystemUpdateStartedEvent, type TcpOffset, type TcpOffsetDictionary, type TechmanController, type TrajectoryDetails, type TrajectoryEnded, type TrajectoryPausedByUser, type TrajectoryPausedOnIO, type TrajectoryRunning, type TrajectoryWaitForIO, type UnitreeController, type UniversalrobotsController, type UpdateIOSubscription, type Vector3D, type Vector3D1, type Vector3D2, type VirtualController, type YaskawaController, buildNatsServerUrl };
 //# sourceMappingURL=index.d.mts.map