spatialdds 0.7.1__tar.gz → 0.7.3__tar.gz

{spatialdds-0.7.1 → spatialdds-0.7.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: spatialdds
-Version: 0.7.1
+Version: 0.7.3
 Summary: SpatialDDS for programs: a client for the web binding (Appendix N), a native DDS participant, and the reference registry behind one command.
 Author: Open AR Cloud
 License: Apache-2.0
@@ -139,19 +139,27 @@ scene:
   tick, a framework's timer, or a request handler.
 - **`topic=`** on `writer()` and `reader()` gives the whole name, for another
   scene's lane or one the spec names only by example. It is held to §3.3.1's
-  grammar, and a templated type to its template. `history=` sets a reader's
-  own cache, for a reply reader that must keep every reply.
+  grammar, a templated type to its template, and a name that fills §2's
+  template for its type is admitted though it is longer
+  (`spatialdds/<scene>/plan/<agent_id>/trajectory/v1`). `history=` sets a
+  reader's own cache, for a reply reader that must keep every reply.
 - **`ignore_local=True`** on a reader drops the participant's own writes, for
   a bridge that writes and reads one lane. **`matched()`** and
   **`wait_matched()`** on writers and readers count the other side.
 - **`p.announce(transforms=...)`** carries the service's frame placement.
   `service_id=` and `topics=` announce several services from one
-  participant.
+  participant. `topics=` may list readers as well as writers, for a service
+  that announces where requests go, and `auth_hint=` and
+  `coverage_frame_ref=` pass through.
 - **`p.relay()`** re-publishes other services' announces. It uses a writer of
   its own and marks each with a `relayed_by` hint naming the relay, so it
   never speaks as the asserter.
 - **`sd.dds.class_for(name)`** is the generated class for a registered type
   name, a well-known message or a dotted identity.
+- **`sd.dds.extend(name, cls, idl)`** registers a deployment's own type, with
+  the IDL it was generated from. After that it converts, keys, records and
+  opens by name like a pinned type, and validation checks N.1
+  representability, since it has no published schema.
 
 `Sample.data` is the typed sample (`sd.dds.types` carries every type in the
 pinned IDL). `sd.dds.to_json(sample)` is its N.1 form, produced by the gateway's
@@ -594,6 +602,28 @@ explicitly was tried first and is what missed two paths.
 
 If your clients are not browsers, nothing here changes anything for you.
 
+## New in 0.7.3: what the first migration found
+
+Mostly additive; one fix changes bytes. Every frame this package builds now
+carries the uuid its name derives to, because Appendix G makes the uuid a
+frame's identity. Until 0.7.3 the earth-fixed frame's uuid was empty in
+announces, built manifests and the gateway's manifest, and a conforming
+consumer could match it to nothing. If you compare such documents by digest,
+expect the uuid, and the ETags over it, to change.
+
+- `check_topic` and `topic=` admit §2's lane templates, so the six-segment
+  plan lane opens.
+- `p.announce(topics=)` takes readers, plus `auth_hint=` and
+  `coverage_frame_ref=`.
+- `sd.dds.from_json(..., strict=True)` refuses unknown members by name.
+- `sd.dds.WireError` is exported and is a `ValueError`.
+
+## New in 0.7.2: a deployment's own types
+
+`sd.dds.extend(name, cls, idl)` brings a deployment's own documented type
+into the native layer: N.1 conversion, its key, `class_for`, the recording
+tap, and opening it by name. Additive, as 0.7.1 was.
+
 ## New in 0.7.1: for programs that own their loop
 
 Everything SpatialDDS-demo's adoption found missing, and nothing removed:
@@ -649,7 +679,7 @@ Two changes may need a line of yours:
 The security fixes, the limits table and the details are in the
 [changelog](https://github.com/OpenArCloud/spatialdds-py/blob/main/lib/spatialdds/CHANGELOG.md).
 
-## Not in 0.7.1
+## Not in 0.7.3
 
 Stated so nobody waits for them:
 

{spatialdds-0.7.1 → spatialdds-0.7.3}/README.md

@@ -111,19 +111,27 @@ scene:
   tick, a framework's timer, or a request handler.
 - **`topic=`** on `writer()` and `reader()` gives the whole name, for another
   scene's lane or one the spec names only by example. It is held to §3.3.1's
-  grammar, and a templated type to its template. `history=` sets a reader's
-  own cache, for a reply reader that must keep every reply.
+  grammar, a templated type to its template, and a name that fills §2's
+  template for its type is admitted though it is longer
+  (`spatialdds/<scene>/plan/<agent_id>/trajectory/v1`). `history=` sets a
+  reader's own cache, for a reply reader that must keep every reply.
 - **`ignore_local=True`** on a reader drops the participant's own writes, for
   a bridge that writes and reads one lane. **`matched()`** and
   **`wait_matched()`** on writers and readers count the other side.
 - **`p.announce(transforms=...)`** carries the service's frame placement.
   `service_id=` and `topics=` announce several services from one
-  participant.
+  participant. `topics=` may list readers as well as writers, for a service
+  that announces where requests go, and `auth_hint=` and
+  `coverage_frame_ref=` pass through.
 - **`p.relay()`** re-publishes other services' announces. It uses a writer of
   its own and marks each with a `relayed_by` hint naming the relay, so it
   never speaks as the asserter.
 - **`sd.dds.class_for(name)`** is the generated class for a registered type
   name, a well-known message or a dotted identity.
+- **`sd.dds.extend(name, cls, idl)`** registers a deployment's own type, with
+  the IDL it was generated from. After that it converts, keys, records and
+  opens by name like a pinned type, and validation checks N.1
+  representability, since it has no published schema.
 
 `Sample.data` is the typed sample (`sd.dds.types` carries every type in the
 pinned IDL). `sd.dds.to_json(sample)` is its N.1 form, produced by the gateway's
@@ -566,6 +574,28 @@ explicitly was tried first and is what missed two paths.
 
 If your clients are not browsers, nothing here changes anything for you.
 
+## New in 0.7.3: what the first migration found
+
+Mostly additive; one fix changes bytes. Every frame this package builds now
+carries the uuid its name derives to, because Appendix G makes the uuid a
+frame's identity. Until 0.7.3 the earth-fixed frame's uuid was empty in
+announces, built manifests and the gateway's manifest, and a conforming
+consumer could match it to nothing. If you compare such documents by digest,
+expect the uuid, and the ETags over it, to change.
+
+- `check_topic` and `topic=` admit §2's lane templates, so the six-segment
+  plan lane opens.
+- `p.announce(topics=)` takes readers, plus `auth_hint=` and
+  `coverage_frame_ref=`.
+- `sd.dds.from_json(..., strict=True)` refuses unknown members by name.
+- `sd.dds.WireError` is exported and is a `ValueError`.
+
+## New in 0.7.2: a deployment's own types
+
+`sd.dds.extend(name, cls, idl)` brings a deployment's own documented type
+into the native layer: N.1 conversion, its key, `class_for`, the recording
+tap, and opening it by name. Additive, as 0.7.1 was.
+
 ## New in 0.7.1: for programs that own their loop
 
 Everything SpatialDDS-demo's adoption found missing, and nothing removed:
@@ -621,7 +651,7 @@ Two changes may need a line of yours:
 The security fixes, the limits table and the details are in the
 [changelog](https://github.com/OpenArCloud/spatialdds-py/blob/main/lib/spatialdds/CHANGELOG.md).
 
-## Not in 0.7.1
+## Not in 0.7.3
 
 Stated so nobody waits for them:
 

{spatialdds-0.7.1 → spatialdds-0.7.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "spatialdds"
-version = "0.7.1"
+version = "0.7.3"
 description = "SpatialDDS for programs: a client for the web binding (Appendix N), a native DDS participant, and the reference registry behind one command."
 readme = "README.md"
 requires-python = ">=3.9"

{spatialdds-0.7.1 → spatialdds-0.7.3}/spatialdds/__init__.py

@@ -41,7 +41,7 @@ __all__ = [
     "participant", "MissingExtra", "dds", "events", "frames", "Recency",
 ]
 
-__version__ = "0.7.1"
+__version__ = "0.7.3"
 #: The SpatialDDS-spec commit whose Appendix N and generated artifacts this
 #: package implements. Package versions and specification versions move
 #: independently; this is the one that says what the wire looks like.

{spatialdds-0.7.1 → spatialdds-0.7.3}/spatialdds/artifacts/openapi.html

@@ -14,4 +14,4 @@ border-bottom:1px solid var(--line)}p{margin:.35rem 0}.mut,.sum .auth{color:
 var(--mut)}.auth{font-size:.85rem;margin-left:.4rem}.v{display:inline-block;
 min-width:4.2rem;font:600 12px ui-monospace,monospace;letter-spacing:.04em;
 color:var(--acc)}.codes{font:12px ui-monospace,monospace;color:var(--mut)}
-.s{margin-right:.5rem}.s4,.s5{color:#b5482c}a{color:var(--acc)}</style></head><body><main><h1>SpatialDDS web binding (spatialdds-py)</h1><p class=mut>Version 0.7.1 · OpenAPI 3.1.0 · generated, never hand-written · <a href='openapi'>openapi.yaml</a></p><p>Generated by <code>tools/gen_openapi.py</code> from the gateway&#x27;s own tables and the published JSON Schemas; never edited by hand. Reads are open; writes take a bearer token scoped to scenes. The WebSocket streams (N.5) are described on each collection path, not modelled.</p><h2>Operations</h2><section id="search"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">Services near a geohash (§8.2.3 manifests) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="searchPost"><h3><span class="v post">POST</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">The same search, as a POST body <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="listSchemas"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas</code></h3><p class="sum">The published JSON Schemas, by type <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="getSchema"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas/{type}</code></h3><p class="sum"> <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="bootstrap"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/bootstrap</code></h3><p class="sum">DDS-join material (N.2); optional <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="resolverMetadata"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/resolver</code></h3><p class="sum">§7.5.2 resolver metadata <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="openapi"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi</code></h3><p class="sum">This document <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="openapiPage"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi.html</code></h3><p class="sum">This document as a static reference page <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="resolve"><h3><span class="v get">GET</span> <code>/spatialdds/resolve</code></h3><p class="sum">Resolve a URI to its manifest (§7.5.2) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">400</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putManifest"><h3><span class="v put">PUT</span> <code>/spatialdds/resolve</code></h3><p class="sum">Publish a manifest, keyed by its own <code>id</code> <span class="auth">token</span></p><p>The <code>uri</code> parameter is not used; the body&#x27;s <code>id</code> is the key. Its scene segment is the lane. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawManifest"><h3><span class="v delete">DELETE</span> <code>/spatialdds/resolve</code></h3><p class="sum">Withdraw a manifest; <code>resolve</code> then answers 404 <span class="auth">token</span></p><p>Owner-checked by the URI&#x27;s scene segment. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getAsset"><h3><span class="v get">GET</span> <code>/assets/{name}</code></h3><p class="sum">Asset bytes this endpoint hosts (implementation-defined) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="listAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">Every spatial.disco.Announce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">An N.6 command addressed through the announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">One spatial.disco.Announce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">Every spatial.disco.ContentAnnounce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandContentAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">An N.6 command addressed through the content_announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">One spatial.disco.ContentAnnounce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putContentAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawContentAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">Every spatial.core.GeoAnchor instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandGeoAnchor"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">An N.6 command addressed through the geo_anchor lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">One spatial.core.GeoAnchor instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putGeoAnchor"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawGeoAnchor"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listInstances"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/{type}/{version}</code></h3><p class="sum">Any other served topic, read-only <span class="auth">token for operator-scoped</span></p><p>Latched types answer with the latched set; streamed types with the replayed window. Public or operator-scoped per the type: <code>spatial.core.FrameTransform</code> latched public, <code>spatial.events.CrossingLine</code> latched public, <code>spatial.events.SpatialEvent</code> stream bearer, <code>spatial.events.SpatialZone</code> latched public, <code>spatial.owm.Entity</code> latched bearer, <code>spatial.owm.ModelPose</code> stream bearer, <code>spatial.semantics.Detection2DSet</code> stream bearer, <code>spatial.semantics.Detection3DSet</code> stream bearer, <code>spatial.semantics.FusedTrackSet</code> stream bearer. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listWellKnownInstances"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}</code></h3><p class="sum">A four-segment topic&#x27;s collection <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getWellKnownInstance"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}/{key}</code></h3><p class="sum">One instance of a four-segment topic <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. </p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><h2>Schemas</h2><p class=mut>115 components, from the published JSON Schemas at <code>/.well-known/spatialdds/schemas</code>.</p></main></body></html>
+.s{margin-right:.5rem}.s4,.s5{color:#b5482c}a{color:var(--acc)}</style></head><body><main><h1>SpatialDDS web binding (spatialdds-py)</h1><p class=mut>Version 0.7.3 · OpenAPI 3.1.0 · generated, never hand-written · <a href='openapi'>openapi.yaml</a></p><p>Generated by <code>tools/gen_openapi.py</code> from the gateway&#x27;s own tables and the published JSON Schemas; never edited by hand. Reads are open; writes take a bearer token scoped to scenes. The WebSocket streams (N.5) are described on each collection path, not modelled.</p><h2>Operations</h2><section id="search"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">Services near a geohash (§8.2.3 manifests) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="searchPost"><h3><span class="v post">POST</span> <code>/.well-known/spatialdds/search</code></h3><p class="sum">The same search, as a POST body <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="listSchemas"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas</code></h3><p class="sum">The published JSON Schemas, by type <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="getSchema"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/schemas/{type}</code></h3><p class="sum"> <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="bootstrap"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/bootstrap</code></h3><p class="sum">DDS-join material (N.2); optional <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="resolverMetadata"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/resolver</code></h3><p class="sum">§7.5.2 resolver metadata <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="openapi"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi</code></h3><p class="sum">This document <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="openapiPage"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/openapi.html</code></h3><p class="sum">This document as a static reference page <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">429</span></p></section><section id="resolve"><h3><span class="v get">GET</span> <code>/spatialdds/resolve</code></h3><p class="sum">Resolve a URI to its manifest (§7.5.2) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">400</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putManifest"><h3><span class="v put">PUT</span> <code>/spatialdds/resolve</code></h3><p class="sum">Publish a manifest, keyed by its own <code>id</code> <span class="auth">token</span></p><p>The <code>uri</code> parameter is not used; the body&#x27;s <code>id</code> is the key. Its scene segment is the lane. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawManifest"><h3><span class="v delete">DELETE</span> <code>/spatialdds/resolve</code></h3><p class="sum">Withdraw a manifest; <code>resolve</code> then answers 404 <span class="auth">token</span></p><p>Owner-checked by the URI&#x27;s scene segment. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>).</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getAsset"><h3><span class="v get">GET</span> <code>/assets/{name}</code></h3><p class="sum">Asset bytes this endpoint hosts (implementation-defined) <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="listAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">Every spatial.disco.Announce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/announce/v1</code></h3><p class="sum">An N.6 command addressed through the announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">One spatial.disco.Announce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.Announce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">Every spatial.disco.ContentAnnounce instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandContentAnnounce"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/content_announce/v1</code></h3><p class="sum">An N.6 command addressed through the content_announce lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getContentAnnounce"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">One spatial.disco.ContentAnnounce instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putContentAnnounce"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawContentAnnounce"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/content_announce/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.disco.ContentAnnounce <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">Every spatial.core.GeoAnchor instance in the latched set <span class="auth">open</span></p><p>**The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="commandGeoAnchor"><h3><span class="v post">POST</span> <code>/{scene}/{stream}/geo_anchor/v1</code></h3><p class="sum">An N.6 command addressed through the geo_anchor lane <span class="auth">token</span></p><p>Accepted only on a lane whose topic advertises <code>accepts_commands</code>; otherwise <code>405</code>. **Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch.</p><p class="codes"><span class="s s2">202</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">409</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span></p></section><section id="getGeoAnchor"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">One spatial.core.GeoAnchor instance <span class="auth">open</span></p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">404</span> <span class="s s4">429</span></p></section><section id="putGeoAnchor"><h3><span class="v put">PUT</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Publish or replace a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). Every member of the record is required: a body is a whole record, never a patch. The body&#x27;s key must equal the URL&#x27;s. <code>If-Match</code> is honoured when present.</p><p class="codes"><span class="s s2">200</span> <span class="s s2">201</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">405</span> <span class="s s4">412</span> <span class="s s4">429</span> <span class="s s4">413</span> <span class="s s4">415</span> <span class="s s5">503</span></p></section><section id="withdrawGeoAnchor"><h3><span class="v delete">DELETE</span> <code>/{scene}/{stream}/geo_anchor/v1/{key}</code></h3><p class="sum">Withdraw (dispose) a spatial.core.GeoAnchor <span class="auth">token</span></p><p>**Writes are per lane.** The path&#x27;s first segment is the scene; the bearer token must be granted it (<code>tenancy.WRITE_REFUSALS</code>). The dispose streams on the collection&#x27;s WebSocket with its <code>reason</code>.</p><p class="codes"><span class="s s2">204</span> <span class="s s4">400</span> <span class="s s4">401</span> <span class="s s4">403</span> <span class="s s4">404</span> <span class="s s4">405</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listInstances"><h3><span class="v get">GET</span> <code>/{scene}/{stream}/{type}/{version}</code></h3><p class="sum">Any other served topic, read-only <span class="auth">token for operator-scoped</span></p><p>Latched types answer with the latched set; streamed types with the replayed window. Public or operator-scoped per the type: <code>spatial.core.FrameTransform</code> latched public, <code>spatial.events.CrossingLine</code> latched public, <code>spatial.events.SpatialEvent</code> stream bearer, <code>spatial.events.SpatialZone</code> latched public, <code>spatial.owm.Entity</code> latched bearer, <code>spatial.owm.ModelPose</code> stream bearer, <code>spatial.semantics.Detection2DSet</code> stream bearer, <code>spatial.semantics.Detection3DSet</code> stream bearer, <code>spatial.semantics.FusedTrackSet</code> stream bearer. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="listWellKnownInstances"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}</code></h3><p class="sum">A four-segment topic&#x27;s collection <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. **The same URL is also a WebSocket** (N.5): connect with <code>wss://</code> and receive the latched set as <code>sample</code> events, exactly one <code>end_of_replay</code> carrying the replay count, then live <code>sample</code> and <code>dispose</code> events (<code>{event, topic, key, data | reason}</code>). Not modelled here; see [Appendix N.5](https://spatialdds.org/v1.8/appendix-n/).</p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><section id="getWellKnownInstance"><h3><span class="v get">GET</span> <code>/.well-known/spatialdds/{stream}/{type}/{version}/{key}</code></h3><p class="sum">One instance of a four-segment topic <span class="auth">token for operator-scoped</span></p><p>A four-segment topic (<code>spatialdds/&lt;stream&gt;/&lt;type&gt;/&lt;version&gt;</code>, no scene), such as the discovery announce lane, served exactly as a scene-scoped collection is: latched set, <code>ETag</code>, <code>304</code>, the same access classes, and the N.5 stream by upgrading the same path. Read-only: a topic with no scene is in no lane. </p><p class="codes"><span class="s s2">200</span> <span class="s s3">304</span> <span class="s s4">401</span> <span class="s s4">404</span> <span class="s s4">429</span> <span class="s s5">503</span></p></section><h2>Schemas</h2><p class=mut>115 components, from the published JSON Schemas at <code>/.well-known/spatialdds/schemas</code>.</p></main></body></html>

{spatialdds-0.7.1 → spatialdds-0.7.3}/spatialdds/artifacts/openapi.yaml

@@ -2,7 +2,7 @@
 openapi: 3.1.0
 info:
   title: SpatialDDS web binding (spatialdds-py)
-  version: 0.7.1
+  version: 0.7.3
   summary: SpatialDDS 1.8 Appendix N over HTTPS, plus this endpoint's write surface.
   description: Generated by `tools/gen_openapi.py` from the gateway's own tables and the published JSON Schemas; never edited by hand. Reads are open; writes take a bearer token scoped to scenes. The WebSocket streams (N.5) are described on each collection path, not modelled.
 servers:

{spatialdds-0.7.1 → spatialdds-0.7.3}/spatialdds/artifacts/registry.json

@@ -216,6 +216,7 @@
   "anchor_delta": {
    "idl": "spatial::anchors::AnchorDelta",
    "profile": "ANCHOR_DELTA",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -223,6 +224,7 @@
   "crossing_line": {
    "idl": "spatial::events::CrossingLine",
    "profile": "ZONE_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -230,6 +232,7 @@
   "desc_array": {
    "idl": "spatial::slam_frontend::KeyframeFeatures",
    "profile": "DESC_BATCH",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -237,6 +240,7 @@
   "detection2d": {
    "idl": "spatial::semantics::Detection2DSet",
    "profile": "DET_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -244,6 +248,7 @@
   "detection3d": {
    "idl": "spatial::semantics::Detection3DSet",
    "profile": "DET_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -251,6 +256,10 @@
   "entity_binding": {
    "idl": "spatial::core::EntityBinding",
    "profile": null,
+   "profile_template": {
+    "level": "SHOULD",
+    "topic": "spatialdds/<scene>/entity/binding/v1"
+   },
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -258,6 +267,7 @@
   "framed_pose": {
    "idl": "spatial::core::FramedPose",
    "profile": "POSE_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -265,6 +275,7 @@
   "fused_track": {
    "idl": "spatial::semantics::FusedTrackSet",
    "profile": "DET_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -272,6 +283,7 @@
   "geometry_tile": {
    "idl": "spatial::core::TileMeta",
    "profile": "GEOM_TILE",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -279,6 +291,7 @@
   "geopose": {
    "idl": "spatial::core::GeoPose",
    "profile": "POSE_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -286,6 +299,7 @@
   "imu_sample": {
    "idl": "spatial::vio::ImuSample",
    "profile": "IMU_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -293,6 +307,7 @@
   "lidar_frame": {
    "idl": "spatial::sensing::lidar::LidarFrame",
    "profile": "LIDAR_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -300,6 +315,7 @@
   "lidar_meta": {
    "idl": "spatial::sensing::lidar::LidarMeta",
    "profile": "SENSOR_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -307,6 +323,7 @@
   "map_alignment": {
    "idl": "spatial::mapping::MapAlignment",
    "profile": "MAP_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -314,6 +331,7 @@
   "map_event": {
    "idl": "spatial::mapping::MapEvent",
    "profile": "MAP_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -321,6 +339,7 @@
   "map_meta": {
    "idl": "spatial::mapping::MapMeta",
    "profile": "MAP_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -328,6 +347,7 @@
   "model_command": {
    "idl": "spatial::owm::ModelCommand",
    "profile": null,
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {
     "durability": "VOLATILE",
@@ -341,6 +361,7 @@
   "model_entity": {
    "idl": "spatial::owm::Entity",
    "profile": null,
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {
     "durability": "TRANSIENT_LOCAL",
@@ -355,6 +376,7 @@
   "model_pose": {
    "idl": "spatial::owm::ModelPose",
    "profile": null,
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {
     "durability": "VOLATILE",
@@ -368,6 +390,7 @@
   "navsat_status": {
    "idl": "spatial::core::NavSatStatus",
    "profile": null,
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -375,6 +398,10 @@
   "planned_trajectory": {
    "idl": "spatial::core::PlannedTrajectory",
    "profile": "EVENT_RT",
+   "profile_template": {
+    "level": "SHOULD",
+    "topic": "spatialdds/<scene>/plan/<agent_id>/trajectory/v1"
+   },
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -382,6 +409,7 @@
   "rad_sensor_meta": {
    "idl": "spatial::sensing::rad::RadSensorMeta",
    "profile": "SENSOR_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -389,6 +417,7 @@
   "radar_detection": {
    "idl": "spatial::sensing::rad::RadDetectionSet",
    "profile": "RADAR_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -396,6 +425,7 @@
   "radar_tensor": {
    "idl": "spatial::sensing::rad::RadTensorFrame",
    "profile": "RADAR_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -403,6 +433,7 @@
   "radar_tensor_meta": {
    "idl": "spatial::sensing::rad::RadTensorMeta",
    "profile": "SENSOR_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -410,6 +441,7 @@
   "radio_scan": {
    "idl": "spatial::sensing::radio::RadioScan",
    "profile": "RADIO_SCAN_RT",
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {},
    "topic_template": null
@@ -417,6 +449,7 @@
   "radio_sensor_meta": {
    "idl": "spatial::sensing::radio::RadioSensorMeta",
    "profile": "SENSOR_META",
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {},
    "topic_template": null
@@ -424,6 +457,7 @@
   "rf_beam": {
    "idl": "spatial::sensing::rf_beam::RfBeamFrame",
    "profile": "RF_BEAM_RT",
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {},
    "topic_template": null
@@ -431,6 +465,7 @@
   "rf_beam_meta": {
    "idl": "spatial::sensing::rf_beam::RfBeamMeta",
    "profile": "SENSOR_META",
+   "profile_template": null,
    "provisional": true,
    "spelled_qos": {},
    "topic_template": null
@@ -438,6 +473,7 @@
   "seg_mask": {
    "idl": "spatial::sensing::vision::VisionFrame",
    "profile": "SEG_MASK_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -445,6 +481,7 @@
   "spatial_event": {
    "idl": "spatial::events::SpatialEvent",
    "profile": "EVENT_RT",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -452,6 +489,7 @@
   "spatial_zone": {
    "idl": "spatial::events::SpatialZone",
    "profile": "ZONE_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -459,6 +497,7 @@
   "video_frame": {
    "idl": "spatial::sensing::vision::VisionFrame",
    "profile": "VIDEO_LIVE",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -466,6 +505,7 @@
   "video_meta": {
    "idl": "spatial::sensing::vision::VisionMeta",
    "profile": "SENSOR_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -473,6 +513,7 @@
   "vps_query": {
    "idl": "spatial::argeo::VpsRequest",
    "profile": "VPS_REQ",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -480,6 +521,7 @@
   "vps_response": {
    "idl": "spatial::argeo::VpsResponse",
    "profile": "VPS_RESP",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null
@@ -487,6 +529,7 @@
   "zone_state": {
    "idl": "spatial::events::ZoneState",
    "profile": "ZONE_META",
+   "profile_template": null,
    "provisional": false,
    "spelled_qos": {},
    "topic_template": null

{spatialdds-0.7.1 → spatialdds-0.7.3}/spatialdds/dds/__init__.py

@@ -28,8 +28,9 @@ __all__ = [
     "participant", "Participant", "Writer", "Reader", "ParticipantRefused",
     "AnnounceRelay", "RELAYED_BY",
     "ON_EXIT", "DOMAIN_ENV",
-    "to_json", "from_json", "validate", "SchemaInvalid", "fqn_of", "key_of",
-    "class_for",
+    "to_json", "from_json", "validate", "SchemaInvalid", "WireError",
+    "fqn_of", "key_of",
+    "class_for", "extend", "Extension",
     "registry", "Profile", "RegistryError", "topic_name",
     "ANNOUNCE", "DEPART", "CONTENT", "QUERY", "COVERAGE_HINT",
     "Recorder", "chunk", "Reassembler", "CorruptChunk", "blob_ref",
@@ -50,8 +51,8 @@ _FROM = {
     "AnnounceRelay": "_participant", "RELAYED_BY": "_participant",
     "DOMAIN_ENV": "_participant",
     "to_json": "codec", "from_json": "codec", "validate": "codec",
-    "SchemaInvalid": "codec", "fqn_of": "codec", "key_of": "codec",
-    "class_for": "codec",
+    "SchemaInvalid": "codec", "WireError": "codec", "fqn_of": "codec", "key_of": "codec",
+    "class_for": "codec", "extend": "codec", "Extension": "codec",
     "Profile": "registry", "RegistryError": "registry",
     "topic_name": "registry",
     "Recorder": "record",