@wandelbots/nova-js 4.9.1 → 4.10.0

package/src/asyncapi.yaml

@@ -23,6 +23,37 @@ components:
       maxLength: 200
       description: |
         A description of the cell.
+    ControllerNetworkInterface:
+      title: ControllerNetworkInterface
+      description: |
+        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.
+      type: object
+      required:
+        - addresses
+        - interface
+      properties:
+        interface:
+          description: |
+            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.
+          type: string
+          pattern: ^[A-Za-z0-9]([A-Za-z0-9._-]*[A-Za-z0-9])?$
+          example: wandelbox-abc123-enp3s0
+        addresses:
+          description: IPv4 addresses to assign to the interface, in address/prefix format, e.g., `192.168.1.10/24`.
+          type: array
+          minItems: 1
+          items:
+            type: string
+            pattern: ^(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])(\.(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])){3}/([0-9]|[12][0-9]|3[0-2])$
+          example:
+            - 192.168.1.10/24
     AbbController:
       title: AbbController
       description: |
@@ -44,6 +75,8 @@ components:
           x-is-discriminator: true
         controller_ip:
           type: string
+        network_interface:
+          $ref: '#/components/schemas/ControllerNetworkInterface'
         controller_port:
           description: |
             Default values: 80, 443. If custom value is set, field is required.
@@ -61,35 +94,6 @@ components:
             port:
               type: integer
               default: 32112
-    ControllerNetworkInterface:
-      title: ControllerNetworkInterface
-      description: |
-        Optional dedicated network interface for a physical robot controller.
-
-        When set, the controller is given its own network interface on the selected
-        physical network port (`pf`) with the given `address`, so it can reach the
-        robot network directly.
-      type: object
-      required:
-        - address
-        - pf
-      properties:
-        address:
-          description: |
-            IPv4 address in CIDR notation to assign to the controller's network
-            interface, for example `192.168.1.10/24`. The value must be a valid IPv4
-            address followed by a prefix length between 0 and 32.
-          type: string
-          pattern: ^(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])(\.(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])){3}/([0-9]|[12][0-9]|3[0-2])$
-          example: 192.168.1.10/24
-        pf:
-          description: |
-            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.
-          type: string
-          pattern: ^[A-Za-z0-9][A-Za-z0-9._-]{0,14}$
-          example: enp10s0f0
     FanucController:
       title: FanucController
       description: The configuration of a physical FANUC robot controller has to contain IP address of the controller.
@@ -108,6 +112,12 @@ components:
           type: string
         network_interface:
           $ref: '#/components/schemas/ControllerNetworkInterface'
+        stream_motion:
+          type: boolean
+          default: false
+          description: |
+            Enable the FANUC Stream Motion interface. When enabled, the GCI server
+            communicates with the controller via the Stream Motion interface.
     KukaController:
       title: KukaController
       description: |
@@ -129,6 +139,10 @@ components:
           x-is-discriminator: true
         controller_ip:
           type: string
+        network_interface:
+          description: |
+            The addresses must be ordered as KLI first and RSI second.
+          $ref: '#/components/schemas/ControllerNetworkInterface'
         controller_port:
           type: integer
           default: 54600
@@ -150,6 +164,93 @@ components:
           default: false
           description: |
             If true, uses slower cycle time of 12ms instead of 4ms.
+    StaubliController:
+      title: StaubliController
+      description: |
+        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.
+      type: object
+      required:
+        - kind
+        - controller_ip
+        - controller_port
+        - command_port
+        - rti_server
+      properties:
+        kind:
+          type: string
+          enum:
+            - StaubliController
+          x-go-type-skip-optional-pointer: true
+          x-is-discriminator: true
+        controller_ip:
+          type: string
+        network_interface:
+          $ref: '#/components/schemas/ControllerNetworkInterface'
+        controller_port:
+          type: integer
+          default: 4021
+        command_port:
+          type: integer
+          default: 30150
+        rti_server:
+          description: The RTI server runs inside of the cell.
+          type: object
+          required:
+            - ip
+            - port
+          properties:
+            ip:
+              type: string
+            port:
+              type: integer
+              default: 30152
+    TechmanController:
+      title: TechmanController
+      description: |
+        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.
+      type: object
+      required:
+        - kind
+        - controller_ip
+        - rtrs
+      properties:
+        kind:
+          type: string
+          enum:
+            - TechmanController
+          x-go-type-skip-optional-pointer: true
+          x-is-discriminator: true
+        controller_ip:
+          type: string
+        network_interface:
+          $ref: '#/components/schemas/ControllerNetworkInterface'
+        tmsvr_port:
+          type: integer
+          default: 5891
+          description: TCP port for the TMSVR channel on the robot controller.
+        tmsct_port:
+          type: integer
+          default: 5890
+          description: TCP port for the TMSCT channel on the robot controller.
+        rtrs:
+          description: RTRS server configuration for real-time communication.
+          type: object
+          required:
+            - ip
+          properties:
+            ip:
+              type: string
+            tmrts_port:
+              type: integer
+              default: 5895
+              description: TCP port for the TMRTS state reporting channel.
+            tmrtc_port:
+              type: integer
+              default: 5896
+              description: TCP port for the TMRTC real-time control channel.
     UniversalrobotsController:
       title: UniversalrobotsController
       description: The configuration of a physical Universal Robots controller has to contain IP address of the controller.
@@ -166,13 +267,18 @@ components:
           x-is-discriminator: true
         controller_ip:
           type: string
+        network_interface:
+          $ref: '#/components/schemas/ControllerNetworkInterface'
     Manufacturer:
       type: string
       enum:
         - abb
+        - bostondynamics
         - fanuc
         - kuka
         - staubli
+        - techman
+        - unitree
         - universalrobots
         - yaskawa
     MotionGroupModel:
@@ -310,6 +416,94 @@ components:
           x-is-discriminator: true
         controller_ip:
           type: string
+        network_interface:
+          $ref: '#/components/schemas/ControllerNetworkInterface'
+    BostondynamicsController:
+      title: BostondynamicsController
+      description: |
+        The configuration of a Boston Dynamics robot controller.
+        Requires the hostname or IP address of the robot and authentication credentials.
+      type: object
+      required:
+        - kind
+        - controller_ip
+        - password
+      properties:
+        kind:
+          type: string
+          enum:
+            - BostondynamicsController
+          x-go-type-skip-optional-pointer: true
+          x-is-discriminator: true
+        controller_ip:
+          type: string
+          description: The hostname or IP address of the robot.
+        robot_type:
+          type: string
+          enum:
+            - spot
+          default: spot
+          description: The Boston Dynamics robot model type.
+        password:
+          type: string
+          description: The authentication password for the robot.
+        username:
+          type: string
+          default: admin
+          description: The authentication username for the robot.
+        network_interface:
+          type: string
+          default: eth0
+          description: The network interface used to communicate with the robot.
+        stream_quality:
+          type: integer
+          default: 75
+          description: JPEG quality for camera streams (1-100).
+        stream_fps:
+          type: number
+          default: 10
+          description: Frames per second for camera streams.
+    UnitreeController:
+      title: UnitreeController
+      description: |
+        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.
+      type: object
+      required:
+        - kind
+        - controller_ip
+        - robot_type
+      properties:
+        kind:
+          type: string
+          enum:
+            - UnitreeController
+          x-go-type-skip-optional-pointer: true
+          x-is-discriminator: true
+        controller_ip:
+          type: string
+          description: The IP address of the Unitree robot.
+        robot_type:
+          type: string
+          enum:
+            - go2
+            - g1
+            - b2
+            - h1
+          description: The Unitree robot model type.
+        network_interface:
+          type: string
+          default: enp1s0f1
+          description: The network interface used for DDS discovery.
+        dds_unicast_mode:
+          type: boolean
+          default: false
+          description: Enable DDS unicast mode for environments where multicast is unavailable.
+        enable_lease:
+          type: boolean
+          default: false
+          description: Enable exclusive lease-based control of the robot.
     RobotController:
       type: object
       description: The configuration of a physical or virtual robot controller.
@@ -328,11 +522,16 @@ components:
             - $ref: '#/components/schemas/AbbController'
             - $ref: '#/components/schemas/FanucController'
             - $ref: '#/components/schemas/KukaController'
+            - $ref: '#/components/schemas/StaubliController'
+            - $ref: '#/components/schemas/TechmanController'
             - $ref: '#/components/schemas/UniversalrobotsController'
             - $ref: '#/components/schemas/VirtualController'
             - $ref: '#/components/schemas/YaskawaController'
+            - $ref: '#/components/schemas/BostondynamicsController'
+            - $ref: '#/components/schemas/UnitreeController'
           discriminator: kind
           x-go-type-name: ControllerConfig
+          x-go-raw-message: true
     ImageCredentials:
       type: object
       description: |
@@ -489,7 +688,7 @@ components:
         The configuration can be customized, e.g., robot controllers, also within apps.
       required:
         - name
-      additionalProperties: {}
+      additionalProperties: true
       properties:
         name:
           $ref: '#/components/schemas/CellName'
@@ -1114,6 +1313,7 @@ components:
           description: Array of input/output identifiers to retrieve the values for.
           items:
             type: string
+            minLength: 1
         update_type:
           type: string
           description: |
@@ -1159,6 +1359,114 @@ components:
           - io: io3
             value: 3.14
             value_type: float
+    AsyncRequestHeaders:
+      type: object
+      required:
+        - replyTo
+      properties:
+        replyTo:
+          type: string
+          description: |
+            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.*.
+    IOUpdateType:
+      type: string
+      description: |
+        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.
+      enum:
+        - changes
+        - full
+    SubscribeIOs:
+      type: object
+      required:
+        - ios
+      properties:
+        ios:
+          type: array
+          description: Array of input/output identifiers to stream the values for.
+          minItems: 1
+          items:
+            type: string
+            minLength: 1
+        update_type:
+          $ref: '#/components/schemas/IOUpdateType'
+          default: full
+        ttl_seconds:
+          type: number
+          description: |
+            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.
+          default: 30
+          minimum: 0
+    IOSubscriptionCreated:
+      type: object
+      required:
+        - subscription_id
+        - expires_at
+      properties:
+        subscription_id:
+          type: string
+          description: |
+            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.
+        expires_at:
+          type: string
+          format: date-time
+          description: Timestamp at which the subscription expires, unless it is renewed.
+    UpdateIOSubscription:
+      type: object
+      required:
+        - subscription_id
+      properties:
+        subscription_id:
+          type: string
+          description: Server-issued identifier of the subscription to update.
+        ios:
+          type: array
+          description: |
+            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
+          items:
+            type: string
+            minLength: 1
+        update_type:
+          $ref: '#/components/schemas/IOUpdateType'
+        ttl_seconds:
+          type: number
+          description: |
+            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.
+          minimum: 0
+    IOSubscriptionLease:
+      type: object
+      required:
+        - expires_at
+      properties:
+        expires_at:
+          type: string
+          format: date-time
+          description: Timestamp at which the subscription expires, unless it is renewed again.
+    RenewIOSubscription:
+      type: object
+      required:
+        - subscription_id
+      properties:
+        subscription_id:
+          type: string
+          description: Server-issued identifier of the subscription to renew.
+    CancelIOSubscription:
+      type: object
+      required:
+        - subscription_id
+      properties:
+        subscription_id:
+          type: string
+          description: Server-issued identifier of the subscription to cancel.
     RobotSystemMode:
       enum:
         - MODE_CONTROLLER_NOT_CONFIGURED
@@ -1276,6 +1584,20 @@ components:
       description: |
         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.
+    CartesianVelocity:
+      title: CartesianVelocity
+      type: object
+      required:
+        - translation
+        - rotation
+      properties:
+        translation:
+          $ref: '#/components/schemas/Vector3d'
+        rotation:
+          $ref: '#/components/schemas/Vector3d'
+      description: |
+        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.
     JoggingRunning:
       title: JoggingRunning
       type: object
@@ -1541,7 +1863,7 @@ components:
           discriminator: kind
       description: |
         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.
     MotionGroupState:
       required:
@@ -1598,8 +1920,13 @@ components:
             Pose of the flange.
             Positions are in [mm].
             Orientations are in [rad].
-            The pose is relative to the response_coordinate_system specified in the request.
+            The pose is relative to the response coordinate system specified in the request.
             For robot arms, a flange pose is always returned. For positioners, the flange might not be available, depending on the model.
+        flange_velocity:
+          $ref: '#/components/schemas/CartesianVelocity'
+          description: |
+            Cartesian velocity of the flange.
+            The velocity is relative to the response coordinate system specified in the request.
         tcp:
           type: string
           description: |
@@ -1611,8 +1938,13 @@ components:
             Pose of the TCP selected on the robot control panel.
             Positions are in [mm].
             Orientations are in [rad].
-            The pose is relative to the response_coordinate_system specified in the request.
+            The pose is relative to the response coordinate system specified in the request.
             Might not be returned for positioners as some do not support TCPs, depending on the model.
+        tcp_velocity:
+          $ref: '#/components/schemas/CartesianVelocity'
+          description: |
+            Cartesian velocity of the TCP selected on the robot control panel.
+            The velocity is relative to the response coordinate system specified in the request.
         coordinate_system:
           type: string
           description: |
@@ -1729,9 +2061,11 @@ components:
         lower_limit:
           type: number
           format: double
+          description: Lower position limit in rad.
         upper_limit:
           type: number
           format: double
+          description: Upper position limit in rad.
       description: The upper_limit must be greater then the lower_limit.
     JointLimits:
       title: JointLimits
@@ -1739,22 +2073,28 @@ components:
       properties:
         position:
           $ref: '#/components/schemas/LimitRange'
+          description: Joint position limits in rad.
         velocity:
           type: number
           format: double
+          description: Joint velocity limit in rad/s.
         acceleration:
           type: number
           format: double
+          description: Joint acceleration limit in rad/s².
         jerk:
           type: number
           format: double
           description: |
+            Joint jerk limit in rad/s³.
+
             > **NOTE**
             >
             > This limit type is experimental and its behavior may change in future releases.
         torque:
           type: number
           format: double
+          description: Joint torque limit in Nm.
     CartesianLimits:
       title: CartesianLimits
       type: object
@@ -1762,26 +2102,34 @@ components:
         velocity:
           type: number
           format: double
+          description: Cartesian velocity limit in mm/s.
         acceleration:
           type: number
           format: double
+          description: Cartesian acceleration limit in mm/s².
         jerk:
           type: number
           format: double
           description: |
+            Cartesian jerk limit in mm/s³.
+
             > **NOTE**
             >
             > This limit type is experimental and its behavior may change in future releases.
         orientation_velocity:
           type: number
           format: double
+          description: Orientation velocity limit in rad/s.
         orientation_acceleration:
           type: number
           format: double
+          description: Orientation acceleration limit in rad/s².
         orientation_jerk:
           type: number
           format: double
           description: |
+            Orientation jerk limit in rad/s³.
+
             > **NOTE**
             >
             > This limit type is experimental and its behavior may change in future releases.
@@ -2103,28 +2451,6 @@ components:
           type: boolean
           description: |
             Indicates whether the system is connected to the internet.
-        connection_type:
-          type: string
-          description: |
-            Type of the active network link (e.g., ethernet, wifi, cellular, vpn, unknown).
-          enum:
-            - ethernet
-            - wifi
-            - cellular
-            - vpn
-            - unknown
-        signal_strength:
-          type: integer
-          format: int32
-          description: |
-            Received signal strength in dBm for wireless interfaces; negative values indicate weaker signals.
-        link_quality:
-          type: number
-          format: float
-          minimum: 0
-          maximum: 1
-          description: |
-            Normalized link quality metric from 0 (poor) to 1 (excellent) when provided by the interface.
         latency_ms:
           type: number
           format: float
@@ -2183,6 +2509,100 @@ components:
           example: application/json
         data:
           $ref: '#/components/schemas/NetworkState'
+    AsyncReplyHeaders:
+      type: object
+      required:
+        - Status
+      properties:
+        Status:
+          type: string
+          description: |
+            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.
+        Description:
+          type: string
+          description: Human-readable error message. Only present when Status is not 2xx.
+    NetworkBackend:
+      type: string
+      description: Network attachment method used to expose the interface to workloads.
+      enum:
+        - macvlan
+        - sriov
+    NetworkLinkState:
+      type: string
+      description: Link state of the physical interface.
+      enum:
+        - up
+        - down
+    NetworkInterface:
+      type: object
+      required:
+        - name
+        - interface
+        - node
+        - backend
+        - link
+      properties:
+        name:
+          type: string
+          description: Host network interface name, e.g., enp0s31f6.
+        interface:
+          type: string
+          description: Stable identifier for this interface. Pass it as the `interface` field in ARP scan request, e.g., wandelbox-abc123-enp3s0.
+        node:
+          type: string
+          description: Hostname that exposes this interface.
+        backend:
+          $ref: '#/components/schemas/NetworkBackend'
+        link:
+          $ref: '#/components/schemas/NetworkLinkState'
+        addresses:
+          type: array
+          description: IP/CIDR addresses currently assigned to the interface. Omitted when not available.
+          items:
+            type: string
+    NetworkInterfacesRequest:
+      type: object
+      description: Empty request. No parameters needed.
+    NetworkInterfacesReply:
+      type: array
+      items:
+        $ref: '#/components/schemas/NetworkInterface'
+    ArpScanRequest:
+      type: object
+      required:
+        - interface
+        - cidr
+      properties:
+        interface:
+          type: string
+          description: Interface to scan. Use the `interface` value from the network interfaces list, e.g., wandelbox-abc123-enp3s0.
+        cidr:
+          type: string
+          description: IP range to scan in CIDR notation, e.g., 192.168.1.0/24.
+        timeout:
+          type: integer
+          format: int64
+          minimum: 100
+          description: Scan timeout in milliseconds. Defaults to 5000 if omitted or zero.
+    ArpScanReply:
+      type: array
+      items:
+        $ref: '#/components/schemas/Device'
+    Device:
+      type: object
+      required:
+        - ip
+        - mac
+      properties:
+        ip:
+          type: string
+          description: IPv4 address of the discovered device.
+        mac:
+          type: string
+          description: MAC address of the discovered device.
+        vendor:
+          type: string
+          description: Hardware manufacturer name derived from the MAC address, omitted when unknown.
     OperatingState:
       format: enum
       type: string
@@ -2581,7 +3001,13 @@ operations:
   selectRobotControllerIOs:
     action: receive
     title: Select Input/Output Values
-    description: Select input/output values published by the controller.
+    description: |
+      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.
     tags:
       - name: Controller
     channel:
@@ -2599,6 +3025,88 @@ operations:
       - name: Controller
     channel:
       $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios'
+  subscribeRobotControllerIOs:
+    action: receive
+    title: Subscribe to Input/Output Values
+    description: |
+      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.
+    tags:
+      - name: Controller
+    channel:
+      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe'
+    reply:
+      channel:
+        $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.reply'
+      address:
+        location: $message.header#/replyTo
+  updateRobotControllerIOSubscription:
+    action: receive
+    title: Update an Input/Output Subscription
+    description: |
+      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.
+    tags:
+      - name: Controller
+    channel:
+      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update'
+    reply:
+      channel:
+        $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update.reply'
+      address:
+        location: $message.header#/replyTo
+  renewRobotControllerIOSubscription:
+    action: receive
+    title: Renew an Input/Output Subscription
+    description: |
+      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.
+    tags:
+      - name: Controller
+    channel:
+      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew'
+    reply:
+      channel:
+        $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew.reply'
+      address:
+        location: $message.header#/replyTo
+  cancelRobotControllerIOSubscription:
+    action: receive
+    title: Cancel an Input/Output Subscription
+    description: |
+      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.
+    tags:
+      - name: Controller
+    channel:
+      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel'
+    reply:
+      channel:
+        $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel.reply'
+      address:
+        location: $message.header#/replyTo
+  publishRobotControllerIOSubscription:
+    action: send
+    title: Subscription Input/Output Values
+    description: |
+      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.
+    tags:
+      - name: Controller
+    channel:
+      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}'
   publishRobotControllersState:
     action: send
     title: State of Robot Controller
@@ -2661,6 +3169,34 @@ operations:
       - name: Events
     channel:
       $ref: '#/channels/{instance}.v2.events.system.network.status.changed'
+  getNetworkInterfaces:
+    action: receive
+    title: List Network Interfaces
+    description: |
+      Lists all managed network interfaces available for controller connections and ARP scanning.
+    tags:
+      - name: Network
+    channel:
+      $ref: '#/channels/{instance}.v2.system.network.interfaces'
+    reply:
+      channel:
+        $ref: '#/channels/{instance}.v2.system.network.interfaces.reply'
+      address:
+        location: $message.header#/replyTo
+  arpScan:
+    action: receive
+    title: Run ARP Scan
+    description: |
+      Runs an ARP scan on the target interface and returns all discovered devices.
+    tags:
+      - name: Network
+    channel:
+      $ref: '#/channels/{instance}.v2.system.network.arpscan'
+    reply:
+      channel:
+        $ref: '#/channels/{instance}.v2.system.network.arpscan.reply'
+      address:
+        location: $message.header#/replyTo
   eventCellCreated:
     action: send
     title: Cell Created
@@ -3015,6 +3551,131 @@ channels:
         contentType: application/json
         payload:
           $ref: '#/components/schemas/StreamIOValuesResponse'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe':
+    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+      cell:
+        description: Unique identifier addressing a cell in all API calls.
+      controller:
+        description: Unique identifier to address a controller in a cell.
+    messages:
+      SubscribeIOs:
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncRequestHeaders'
+        payload:
+          $ref: '#/components/schemas/SubscribeIOs'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.reply':
+    address: null
+    messages:
+      Response:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/IOSubscriptionCreated'
+      Error:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/Error'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update':
+    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+      cell:
+        description: Unique identifier addressing a cell in all API calls.
+      controller:
+        description: Unique identifier to address a controller in a cell.
+    messages:
+      UpdateIOSubscription:
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncRequestHeaders'
+        payload:
+          $ref: '#/components/schemas/UpdateIOSubscription'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.update.reply':
+    address: null
+    messages:
+      Response:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/IOSubscriptionLease'
+      Error:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/Error'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew':
+    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+      cell:
+        description: Unique identifier addressing a cell in all API calls.
+      controller:
+        description: Unique identifier to address a controller in a cell.
+    messages:
+      RenewIOSubscription:
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncRequestHeaders'
+        payload:
+          $ref: '#/components/schemas/RenewIOSubscription'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.renew.reply':
+    address: null
+    messages:
+      Response:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/IOSubscriptionLease'
+      Error:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/Error'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel':
+    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+      cell:
+        description: Unique identifier addressing a cell in all API calls.
+      controller:
+        description: Unique identifier to address a controller in a cell.
+    messages:
+      CancelIOSubscription:
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncRequestHeaders'
+        payload:
+          $ref: '#/components/schemas/CancelIOSubscription'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.subscribe.cancel.reply':
+    address: null
+    messages:
+      Response:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/Error'
+  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}':
+    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios.{subscription_id}'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+      cell:
+        description: Unique identifier addressing a cell in all API calls.
+      controller:
+        description: Unique identifier to address a controller in the cell.
+      subscription_id:
+        description: Server-issued identifier of the subscription this stream belongs to.
+    messages:
+      IOValues:
+        contentType: application/json
+        payload:
+          $ref: '#/components/schemas/StreamIOValuesResponse'
   '{instance}.v2.cells.{cell}.controllers.{controller}.state':
     address: '{instance}.v2.cells.{cell}.controllers.{controller}.state'
     parameters:
@@ -3189,6 +3850,54 @@ channels:
       duplicate_window: '300  # 5 minutes for duplicate detection'
       subjects:
         - nova.v2.events.>
+  '{instance}.v2.system.network.interfaces':
+    address: '{instance}.v2.system.network.interfaces'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+    messages:
+      NetworkInterfacesRequest:
+        name: NetworkInterfacesRequest
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncRequestHeaders'
+        payload:
+          $ref: '#/components/schemas/NetworkInterfacesRequest'
+  '{instance}.v2.system.network.interfaces.reply':
+    address: null
+    messages:
+      NetworkInterfacesReply:
+        name: NetworkInterfacesReply
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncReplyHeaders'
+        payload:
+          $ref: '#/components/schemas/NetworkInterfacesReply'
+  '{instance}.v2.system.network.arpscan':
+    address: '{instance}.v2.system.network.arpscan'
+    parameters:
+      instance:
+        description: Unique identifier addressing an instance in all API calls.
+        default: nova
+    messages:
+      ArpScanRequest:
+        name: ArpScanRequest
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncRequestHeaders'
+        payload:
+          $ref: '#/components/schemas/ArpScanRequest'
+  '{instance}.v2.system.network.arpscan.reply':
+    address: null
+    messages:
+      ArpScanReply:
+        name: ArpScanReply
+        contentType: application/json
+        headers:
+          $ref: '#/components/schemas/AsyncReplyHeaders'
+        payload:
+          $ref: '#/components/schemas/ArpScanReply'
   '{instance}.v2.events.cells.{cell}.created':
     address: '{instance}.v2.events.cells.{cell}.created'
     parameters: