info:
  title: Wandelbots NOVA Async API
  version: '2.0'
  license:
    name: Apache 2.0
    url: https://www.apache.org/licenses/LICENSE-2.0.html
  description: |
    Interact with robots in an easy and intuitive way.
  contact:
    name: Copyright (c) 2025 Wandelbots GmbH
    url: https://www.wandelbots.com
components:
  schemas:
    CellName:
      type: string
      description: |
        A unique name for the cell used as an identifier for addressing the cell in all API calls.
        It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
      pattern: ^[a-z][a-z0-9-]{0,30}[a-z0-9]$
      default: cell
    CellDescription:
      type: string
      maxLength: 200
      description: |
        A description of the cell.
    AbbController:
      title: AbbController
      description: |
        The configuration of a physical ABB robot controller has to contain IP address.
        Additionally an EGM server configuration has to be specified in order to control the robot.
        Deploying the server is a functionality of this API.
      type: object
      required:
        - kind
        - controller_ip
        - controller_port
        - egm_server
      properties:
        kind:
          type: string
          enum:
            - AbbController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
        controller_port:
          description: |
            Default values: 80, 443. If custom value is set, field is required.
          type: integer
          default: 80
        egm_server:
          description: The EGM server runs inside of the cell, thus its IP must be in the same network as the 'controller_ip'
          type: object
          required:
            - ip
            - port
          properties:
            ip:
              type: string
            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.
      type: object
      required:
        - kind
        - controller_ip
      properties:
        kind:
          type: string
          enum:
            - FanucController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
        network_interface:
          $ref: '#/components/schemas/ControllerNetworkInterface'
    KukaController:
      title: KukaController
      description: |
        The configuration of a physical KUKA robot controller has to contain an IP address.
        Additionally an RSI 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
        - rsi_server
      properties:
        kind:
          type: string
          enum:
            - KukaController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
        controller_port:
          type: integer
          default: 54600
        rsi_server:
          description: The RSI server runs inside of the cell.
          type: object
          required:
            - ip
            - port
          properties:
            ip:
              type: string
              default: 0.0.0.0
            port:
              type: integer
              default: 30152
        slow_cycle_rate:
          type: boolean
          default: false
          description: |
            If true, uses slower cycle time of 12ms instead of 4ms.
    UniversalrobotsController:
      title: UniversalrobotsController
      description: The configuration of a physical Universal Robots controller has to contain IP address of the controller.
      type: object
      required:
        - kind
        - controller_ip
      properties:
        kind:
          type: string
          enum:
            - UniversalrobotsController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
    Manufacturer:
      type: string
      enum:
        - abb
        - fanuc
        - kuka
        - staubli
        - universalrobots
        - yaskawa
    MotionGroupModel:
      title: MotionGroupModel
      type: string
      description: |
        Identifies a single motion group model.
        See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
    MotionGroupFromType:
      title: Motion Group from Model
      type: object
      required:
        - motion_group_model
        - motion_group
      properties:
        motion_group:
          type: string
          description: Unique identifier for the motion group to be added.
        motion_group_model:
          $ref: '#/components/schemas/MotionGroupModel'
        initial_joint_position:
          type: string
          description: |
            Initial joint position of the added motion group.
            Provides the joint position as a JSON array of float values in radians. The array length
            must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
            If the provided array length does not match the robot's DOF, the array will be adjusted; if it is longer, extra values will be truncated;
            if it is shorter, missing values will be filled with zeros.
    MotionGroupFromJson:
      title: Motion Group from JSON
      type: object
      required:
        - json_data
        - extracted_motion_group_id
        - motion_group
      properties:
        motion_group:
          type: string
          description: Unique identifier for the motion group to be added.
        json_data:
          type: string
          description: |
            JSON configuration of the virtual robot controller, can be obtained from the physical controller's configuration
            via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
        extracted_motion_group_id:
          type: string
          description: |
            The identifier of the motion group that needs to be extracted from the provided JSON configuration.
        initial_joint_position:
          type: string
          description: |
            Initial joint position of the added motion group.
            Provides the joint position as a JSON array of float values in radians. The array length
            must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
            If the provided array length does not match the robot's DOF, the array will be adjusted: if it is longer, extra values will be truncated;
            if it is shorter, missing values will be filled with zeros.
    AddVirtualControllerMotionGroupRequest:
      title: AddVirtualControllerMotionGroupRequest
      description: |
        Request body wrapper for `addVirtualControllerMotionGroup`.
        Allow either referencing a predefined motion group model or
        uploading a JSON configuration that the backend converts into a
        motion group description.
      oneOf:
        - $ref: '#/components/schemas/MotionGroupFromType'
        - $ref: '#/components/schemas/MotionGroupFromJson'
    VirtualController:
      title: VirtualController
      description: |
        The configuration of a virtual robot controller has to contain the manufacturer string,
        an optional joint position string array, and either a preset `type` **or** the complete JSON configuration.
      type: object
      required:
        - kind
        - manufacturer
      properties:
        kind:
          type: string
          enum:
            - VirtualController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        manufacturer:
          $ref: '#/components/schemas/Manufacturer'
        type:
          type: string
          description: |
            Preset type of the virtual robot controller.
            See [getRobotConfigurations](#/operations/getRobotConfigurations) for supported types.
        json:
          type: string
          description: |
            Complete JSON configuration of the virtual robot controller.
            Can be obtained from the physical controller's configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
            If provided, the `type` field should not be used.
        initial_joint_position:
          type: string
          description: |
            Initial joint position of the first motion group from the virtual robot controller.
            Provides the joint position as a JSON array of float values in radians. The array length
            must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
            If the provided array length does not match the robot's DOF, the array will be adjusted: if it is longer, extra values will be truncated;
            if it is shorter, missing values will be filled with zeros.
        motion_groups:
          type: array
          maxItems: 10
          description: |
            Adds a motion group configuration for the virtual robot controller.

            > **NOTE**
            >
            > Set only one of the two options, **motion_group_model**, or **json_data**

            - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types
            - **json_data**: JSON configuration of the virtual robot controller, can be obtained from the physical controller's configuration
                via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration)
            - **extracted_motion_group_id**: Motion group identifier to extract from the provided JSON configuration,  required when using json_data
            - **motion_group**: Unique identifier for the motion group
            - **initial_joint_position**: Specifies the initial joint position for the added motion group
          items:
            $ref: '#/components/schemas/AddVirtualControllerMotionGroupRequest'
    YaskawaController:
      title: YaskawaController
      description: The configuration of a physical Yaskawa robot controller has to contain IP address of the controller.
      type: object
      required:
        - kind
        - controller_ip
      properties:
        kind:
          type: string
          enum:
            - YaskawaController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
    RobotController:
      type: object
      description: The configuration of a physical or virtual robot controller.
      required:
        - name
        - configuration
      properties:
        name:
          description: |
            Unique name of controller within the cell.
            It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
          type: string
          pattern: ^[a-z][a-z0-9-]{0,61}[a-z0-9]$
        configuration:
          oneOf:
            - $ref: '#/components/schemas/AbbController'
            - $ref: '#/components/schemas/FanucController'
            - $ref: '#/components/schemas/KukaController'
            - $ref: '#/components/schemas/UniversalrobotsController'
            - $ref: '#/components/schemas/VirtualController'
            - $ref: '#/components/schemas/YaskawaController'
          discriminator: kind
          x-go-type-name: ControllerConfig
    ImageCredentials:
      type: object
      description: |
        User provided credentials for creating a secret to pull an image from a registry.
      required:
        - registry
        - user
        - password
      properties:
        registry:
          type: string
        user:
          type: string
        password:
          type: string
    ContainerImage:
      type: object
      description: |
        A user provided, custom container image and the required credentials to pull it from a registry.
      required:
        - image
      properties:
        image:
          description: The location of a container image in the form of `<registry>/<image>:<tag>`.
          type: string
          minLength: 1
        credentials:
          $ref: '#/components/schemas/ImageCredentials'
        secrets:
          type: array
          description: Known secrets for authentication with the container registry.
          items:
            type: object
            required:
              - name
            properties:
              name:
                type: string
    ContainerEnvironment:
      type: array
      description: |
        A list of environment variables with name and their value.
        These can be used to configure the containerized application, and turn features on or off.
      items:
        type: object
        required:
          - name
          - value
        properties:
          name:
            type: string
          value:
            type: string
    Capacity:
      type: string
      description: The amount of requested storage capacity.
      pattern: ^[0-9]+(\\.[0-9]+)?(Ki|Mi|Gi|Ti|Pi|Ei|B)?$
      example: 100Mi
    ContainerStorage:
      type: object
      description: |
        The path and capacity of a volume that retains data across application restarts.
        The maximal requestable capacity is 300Mi.
        If you need more capacity consider using [storeObject](#/operations/storeObject).
      required:
        - mount_path
        - capacity
      properties:
        mount_path:
          type: string
          format: path
          example: /data
        capacity:
          $ref: '#/components/schemas/Capacity'
          description: |
            The amount of local storage available for the application.

            **NOTE:** The capacity can NEVER be reduced!
    ContainerResources:
      type: object
      description: Additional resources that the application requires.
      properties:
        intel_gpu:
          type: integer
          description: Number of GPUs the application requires.
          minimum: 0
          maximum: 1
        memory_limit:
          type: string
          description: The maximum memory allocated to this application.
          example: 1000Mi
    App:
      type: object
      description: |
        An App is defined by a webserver, packed inside a container, serving a web-application.
      required:
        - name
        - app_icon
        - container_image
      properties:
        name:
          description: |
            The name of the provided application.
            The name must be unique within the cell and is used as an identifier for addressing the application in all API calls
            , e.g., when updating the application.

            It also defines where the application is reachable (/$cell/$name).

            It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
          type: string
          pattern: ^[a-z][a-z0-9-]{0,61}[a-z0-9]$
          minLength: 1
        app_icon:
          description: The path of the icon for the App (/$cell/$name/$app_icon).
          type: string
          minLength: 1
        container_image:
          $ref: '#/components/schemas/ContainerImage'
        port:
          description: The port the containerized webserver is listening on.
          type: integer
          default: 8080
        environment:
          $ref: '#/components/schemas/ContainerEnvironment'
        storage:
          $ref: '#/components/schemas/ContainerStorage'
        resources:
          $ref: '#/components/schemas/ContainerResources'
        health_path:
          description: |
            Defines the URL path suffix used to check the application's health status. The complete health check URL
            is constructed as `/$cell/$name/$health_path`. When the application is working as expected,
            the endpoint returns an HTTP 200 status code.

            If not specified, the system will default to using the application icon path suffix
            (the value of `app_icon`) as the health check endpoint, resulting in `/$cell/$name/$app_icon`.

            If the health check fails (no response or non-200 status code), the system will
            automatically restart the application container to restore service.
          type: string
        diagnosis_path:
          description: |
            Defines the URL path suffix used to provide an endpoint for diagnosis data collection.
            The complete diagnosis check URL is constructed as `/$cell/$name/$diagnosis_path`.

            The endpoint is called when a diagnosis package is requested via the diagnosis API.
            The endpoint needs to return the data within a zip file `application/zip` response.
          type: string
    Cell:
      type: object
      description: |
        To create a robot cell, only a valid name is required.
        Once created, a robot cell provides access to the Wandelbots NOVA foundation services.
        The configuration can be customized, e.g., robot controllers, also within apps.
      required:
        - name
      additionalProperties: {}
      properties:
        name:
          $ref: '#/components/schemas/CellName'
          default: cell
        version:
          description: |
            Wandelbots NOVA version of the cell.
            This version must not exceed the current system version.
          type: string
        description:
          $ref: '#/components/schemas/CellDescription'
        controllers:
          type: array
          items:
            $ref: '#/components/schemas/RobotController'
        apps:
          type: array
          items:
            $ref: '#/components/schemas/App'
    ProgramRunState:
      title: ProgramRunState
      description: The state of a program run.
      type: string
      format: enum
      enum:
        - PREPARING
        - RUNNING
        - COMPLETED
        - FAILED
        - STOPPED
    ProgramStatus:
      title: ProgramStatus
      type: object
      required:
        - app
        - program
        - run
        - state
        - timestamp
      properties:
        app:
          type: string
          description: The app name where the program is hosted.
        program:
          type: string
          description: Unique identifier of the program.
        run:
          type: string
          description: Unique identifier of the program run.
        state:
          $ref: '#/components/schemas/ProgramRunState'
          description: State of the program run.
        error:
          type: string
          description: Error message if the program run failed.
        start_time:
          type: string
          format: date-time
          description: RFC3339 timestamp when the program run started.
        end_time:
          type: string
          format: date-time
          description: RFC3339 timestamp when the program run ended.
        timestamp:
          type: string
          format: date-time
          description: RFC3339 timestamp when the program run ended.
    ServiceGroup:
      type: string
      enum:
        - SystemService
        - CellService
        - RobotController
        - App
    ServiceStatusSeverity:
      type: string
      enum:
        - INFO
        - WARNING
        - ERROR
    ServiceStatusPhase:
      type: string
      enum:
        - Terminating
        - Initialized
        - Running
        - NoReady
        - Completed
        - ContainerCreating
        - PodInitializing
        - Unknown
        - CrashLoopBackOff
        - Error
        - ImagePullBackOff
        - OOMKilled
        - Pending
        - Evicted
    ServiceStatus:
      type: object
      required:
        - service
        - group
        - status
      properties:
        service:
          type: string
        group:
          $ref: '#/components/schemas/ServiceGroup'
        status:
          type: object
          required:
            - severity
            - code
          properties:
            severity:
              $ref: '#/components/schemas/ServiceStatusSeverity'
            code:
              $ref: '#/components/schemas/ServiceStatusPhase'
            reason:
              type: string
    ServiceStatusList:
      type: array
      items:
        $ref: '#/components/schemas/ServiceStatus'
    CellCycleEvent:
      title: CellCycleEvent
      description: |
        Lifecycle event for a cell cycle.
      type: object
      required:
        - event_type
        - id
        - cycle_id
        - timestamp
        - cell
      properties:
        event_type:
          type: string
          description: Type of the cycle event.
          enum:
            - cycle_started
            - cycle_finished
            - cycle_failed
        id:
          type: string
          description: Unique identifier of this cycle event.
        cycle_id:
          type: string
          description: Unique identifier of the cycle this event belongs to.
        timestamp:
          type: string
          description: Timestamp when the cycle event occurred, in ISO 8601 format.
        cell:
          type: string
          description: Unique identifier of the cell the event belongs to.
        extra:
          type: object
          description: Additional event-specific data. May be empty.
          additionalProperties: true
        duration_ms:
          type: integer
          description: Duration of the cycle in milliseconds.
        reason:
          type: string
          description: Reason for cycle failure.
    Sphere:
      title: Sphere
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - sphere
        radius:
          type: number
          format: double
          description: The radius of the sphere in [mm].
      required:
        - shape_type
        - radius
      description: Defines a spherical shape centred around the origin.
    Box:
      title: Box
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - box
        size_x:
          type: number
          format: double
          description: The dimension in x-direction in [mm].
        size_y:
          type: number
          format: double
          description: The dimension in y-direction in [mm].
        size_z:
          type: number
          format: double
          description: The dimension in z-direction in [mm].
        box_type:
          type: string
          enum:
            - HOLLOW
            - FULL
          default: FULL
          description: The box type defines if the box is hollow or full.
      required:
        - shape_type
        - size_x
        - size_y
        - size_z
        - box_type
      description: |
        Defines a cuboid shape centred around an origin.

        If a margin is applied to the box type full, it is added to all size values. The shape will keep its edges.
        The hollow box type consists of thin boxes that make up its walls.
        If a margin is applied to the box type hollow, its size values are reduced by the margin.
    Rectangle:
      title: Rectangle
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - rectangle
        size_x:
          type: number
          format: double
          description: The dimension in x-direction in [mm].
        size_y:
          type: number
          format: double
          description: The dimension in y-direction in [mm].
      required:
        - shape_type
        - size_x
        - size_y
      description: Defines an x/y-plane with finite size. Centred around the z-axis.
    Plane:
      title: Plane
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - plane
      required:
        - shape_type
      description: Defines an x/y-plane with infinite size.
    Cylinder:
      title: Cylinder
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - cylinder
        radius:
          type: number
          format: double
          description: The radius of the cylinder in [mm].
        height:
          type: number
          format: double
          description: The height of the cylinder in [mm].
      required:
        - shape_type
        - radius
        - height
      description: |
        Defines a cylindrical shape.
        Centred around origin, symmetric around z-axis.

        If a margin is applied, it is added to radius and height. The shape will keep its edges.
    Capsule:
      title: Capsule
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - capsule
        radius:
          type: number
          format: double
          description: The radius of the cylinder and semi-spheres in [mm].
        cylinder_height:
          type: number
          format: double
          description: The height of the inner cylinder in [mm].
      required:
        - shape_type
        - radius
        - cylinder_height
      description: |
        Defines a cylindrical shape with 2 semi-spheres on the top and bottom.
        Centred around origin, symmetric around z-axis.
    RectangularCapsule:
      title: RectangularCapsule
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - rectangular_capsule
        radius:
          type: number
          format: double
          description: The radius of the inner spheres in [mm].
        sphere_center_distance_x:
          type: number
          format: double
          description: The distance of the sphere center in x-direction in [mm].
        sphere_center_distance_y:
          type: number
          format: double
          description: The distance of the sphere center in y-direction in [mm].
      required:
        - shape_type
        - radius
        - sphere_center_distance_x
        - sphere_center_distance_y
      description: |
        Convex hull around four spheres. Sphere center points in x/y-plane, offset by either combination "+/- sizeX" or "+/- sizeY".

        Alternative description: Rectangle in x/y-plane with a 3D padding.
    Vector3d:
      title: Vector3d
      type: array
      maxItems: 3
      minItems: 3
      items:
        type: number
        format: double
      description: |
        A three-dimensional vector [x, y, z] with double precision.
    ConvexHull:
      title: ConvexHull
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - convex_hull
        vertices:
          type: array
          items:
            $ref: '#/components/schemas/Vector3d'
          description: The list of encapsulated points.
      required:
        - shape_type
        - vertices
      description: Defines a convex hull encapsulating a set of vertices.
    RotationVector:
      title: RotationVector
      type: array
      maxItems: 3
      minItems: 3
      items:
        type: number
        format: double
      description: |
        Defines a rotation in 3D space.
        A three-dimensional Vector [rx, ry, rz] with double precision.
        Rotation is applied around the vector.
        The angle of rotation equals the length of the vector.
    Pose:
      title: Pose
      type: object
      properties:
        position:
          $ref: '#/components/schemas/Vector3d'
        orientation:
          $ref: '#/components/schemas/RotationVector'
      default:
        position:
          - 0
          - 0
          - 0
        orientation:
          - 0
          - 0
          - 0
      description: |
        Defines a pose in 3D space.
        A pose is a combination of a position and an orientation.
        The position is applied before the orientation.
    Collider:
      title: Collider
      type: object
      description: |
        Defines a collider with a single shape.

        A collider is an object that is used for collision detection.
        It defines the `shape` that is attached with the offset of `pose` to a reference frame.

        Use colliders to:
        - Define the shape of a workpiece. The reference frame is the scene origin.
        - Define the shape of a link in a motion group. The reference frame is the link coordinate system.
        - Define the shape of a tool. The reference frame is the flange coordinate system.
      properties:
        shape:
          oneOf:
            - $ref: '#/components/schemas/Sphere'
            - $ref: '#/components/schemas/Box'
            - $ref: '#/components/schemas/Rectangle'
            - $ref: '#/components/schemas/Plane'
            - $ref: '#/components/schemas/Cylinder'
            - $ref: '#/components/schemas/Capsule'
            - $ref: '#/components/schemas/RectangularCapsule'
            - $ref: '#/components/schemas/ConvexHull'
          discriminator: shape_type
        pose:
          $ref: '#/components/schemas/Pose'
        margin:
          type: number
          description: Increases the shape's size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.
          format: float
          default: 0
      required:
        - shape
    ColliderDictionary:
      type: object
      title: ColliderDictionary
      description: A collection of identifiable colliders.
      additionalProperties:
        $ref: '#/components/schemas/Collider'
    Link:
      type: object
      title: Collision Motion Group Link
      additionalProperties:
        $ref: '#/components/schemas/Collider'
    LinkChain:
      title: Link Chain
      type: array
      description: |
        A link chain is a kinematic chain of links that is connected via joints.
        A motion group can be used to control the motion of the joints in a link chain.

        A link is a group of colliders that is attached to the link reference frame.

        The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.

        This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain.
        Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like:
        - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP

        Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
      items:
        $ref: '#/components/schemas/Link'
    Tool:
      type: object
      title: Collision Motion Group Tool
      description: |
        Defines the shape of a tool.

        A tool is a dictionary of colliders.

        All colliders that make up a tool are attached to the flange frame of the motion group.
      additionalProperties:
        $ref: '#/components/schemas/Collider'
    CollisionSetup:
      title: CollisionSetup
      type: object
      properties:
        colliders:
          $ref: '#/components/schemas/ColliderDictionary'
          description: |
            Colliders are checked against links and tool.
        link_chain:
          $ref: '#/components/schemas/LinkChain'
          description: |
            The shape of the motion groups links to validate against colliders.
            Indexed along the kinematic chain, starting with a static base shape before first joint.
            The base of the motion group is not checked for collision against the environment.
        tool:
          $ref: '#/components/schemas/Tool'
          description: |
            Shape of the tool to validate against colliders.
        self_collision_detection:
          type: boolean
          description: |
            If true, self-collision detection is enabled for the motion group.

            Self-collision detection checks if links in the kinematic chain of the motion group collide with each other.
            Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
            The tool is treated like a link at the end of the kinematic chain. It is checked against all links except the last one.

            Default is true.
          default: true
    BusIOsStateEnum:
      enum:
        - BUS_IOS_STATE_UNKNOWN
        - BUS_IOS_STATE_INITIALIZING
        - BUS_IOS_STATE_CONNECTED
        - BUS_IOS_STATE_DISCONNECTED
      type: string
      format: enum
      description: |
        Current state of the BUS input/output service.
    BusIOsState:
      type: object
      required:
        - state
      properties:
        state:
          $ref: '#/components/schemas/BusIOsStateEnum'
        message:
          type: string
          description: |
            A message providing additional information on the input/output service, e.g., BUS service status, encountered errors.
            May be empty if no additional information is available.
    IOBooleanValue:
      title: IOBooleanValue
      required:
        - io
        - value
        - value_type
      type: object
      properties:
        io:
          type: string
          description: Unique identifier of the input/output.
        value:
          type: boolean
          description: |
            Value of a digital input/output.
        value_type:
          type: string
          enum:
            - boolean
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
      description: Input/Output boolean value representation.
    IOIntegerValue:
      required:
        - value_type
        - io
        - value
      type: object
      properties:
        io:
          type: string
          description: Unique identifier of the input/output.
        value:
          type: string
          description: |
            Value of an input/output with integer representation.

            > The integral value is transmitted as a string to avoid precision loss during conversion to JSON.
            > Recommended: Use int64 in your implementation. If you want to interact with int64 in numbers,
            > JS bigint libraries can help you to parse the string into an integral value.
        value_type:
          type: string
          enum:
            - integer
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
      title: IOIntegerValue
    IOFloatValue:
      required:
        - value_type
        - io
        - value
      type: object
      properties:
        io:
          type: string
          description: Unique identifier of the input/output.
        value:
          type: number
          description: |
            Value of an analog input/output in floating number representation.
          format: double
        value_type:
          type: string
          enum:
            - float
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
      title: IOFloatValue
    IOValue:
      oneOf:
        - $ref: '#/components/schemas/IOBooleanValue'
        - $ref: '#/components/schemas/IOIntegerValue'
        - $ref: '#/components/schemas/IOFloatValue'
      discriminator: value_type
    ListIOValuesResponse:
      type: array
      items:
        $ref: '#/components/schemas/IOValue'
      description: Array of input/output values.
      example:
        - io: io1
          value: true
          value_type: boolean
        - io: io2
          value: '42'
          value_type: integer
        - io: io3
          value: 3.14
          value_type: float
    Error:
      type: object
      required:
        - message
      properties:
        code:
          type: string
        message:
          type: string
    SelectIOs:
      type: object
      required:
        - ios
      properties:
        ios:
          type: array
          description: Array of input/output identifiers to retrieve the values for.
          items:
            type: string
        update_type:
          type: string
          description: |
            Type of update.
                - changes: Only send updates when the value changes.
                - full: Send the full list of values at the update rate.
          default: full
          enum:
            - changes
            - full
    StreamIOValuesResponse:
      required:
        - io_values
        - timestamp
        - sequence_number
      type: object
      properties:
        io_values:
          type: array
          items:
            $ref: '#/components/schemas/IOValue'
        timestamp:
          type: string
          format: date-time
          description: Timestamp indicating when the represented information was received from the robot controller.
        sequence_number:
          type: integer
          format: int64
          minimum: 0
          maximum: 4294967295
          description: |
            Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller.
            The sequence number is reset when the connection to the physical controller is closed and re-established.
      description: Array of input/output values.
      example:
        io_values:
          - io: io1
            value: true
            value_type: boolean
          - io: io2
            value: '42'
            value_type: integer
          - io: io3
            value: 3.14
            value_type: float
    RobotSystemMode:
      enum:
        - MODE_CONTROLLER_NOT_CONFIGURED
        - MODE_INITIALIZING
        - MODE_MONITOR
        - MODE_CONTROL
        - MODE_FREE_DRIVE
      type: string
      description: |
        Defines the current system mode of the robot system, including NOVA communicating with the robot controller.

        ### MODE_CONTROLLER_NOT_CONFIGURED

        No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.

        ### MODE_INITIALIZING

        Indicates that a connection to the robot controller is established or reestablished in case of a disconnect.
        On success, the controller is set to MODE_MONITOR.
        On failure, the initialization process is retried until successful or cancelled by the user.

        ### MODE_MONITOR

        Read-only mode with an active controller connection.
        - Receives robot state and I/O signals
        - Move requests are rejected
        - No commands are sent to the controller

        ### MODE_CONTROL

        Active control mode.

        **Movement is possible in this mode**

        The robot is cyclically commanded to hold its current position.
        The robot state is received in sync with the controller cycle.
        Motion and jogging requests are accepted and executed.
        Input/Output interaction is enabled.

        ### MODE_FREE_DRIVE

        Read-only mode with servo motors enabled for manual movement (Free Drive).

        Move requests are rejected.

        Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
      format: enum
    OperationMode:
      enum:
        - OPERATION_MODE_UNKNOWN
        - OPERATION_MODE_NO_CONTROLLER
        - OPERATION_MODE_DISCONNECTED
        - OPERATION_MODE_POWER_ON
        - OPERATION_MODE_PENDING
        - OPERATION_MODE_MANUAL
        - OPERATION_MODE_MANUAL_T1
        - OPERATION_MODE_MANUAL_T2
        - OPERATION_MODE_AUTO
        - OPERATION_MODE_RECOVERY
      type: string
      format: enum
      description: |
        Current operation mode of the configured robot controller.
        Operation modes in which the attached motion groups can be moved are:
        - OPERATION_MODE_MANUAL (if enabling switch is pressed)
        - OPERATION_MODE_MANUAL_T1 (if enabling switch is pressed)
        - OPERATION_MODE_MANUAL_T2 (if enabling switch is pressed)
        - OPERATION_MODE_AUTO (without needing to press enabling switch)
        All other modes are considered as non-operational.
    SafetyStateType:
      enum:
        - SAFETY_STATE_UNKNOWN
        - SAFETY_STATE_FAULT
        - SAFETY_STATE_NORMAL
        - SAFETY_STATE_MASTERING
        - SAFETY_STATE_CONFIRM_SAFETY
        - SAFETY_STATE_OPERATOR_SAFETY
        - SAFETY_STATE_PROTECTIVE_STOP
        - SAFETY_STATE_REDUCED
        - SAFETY_STATE_STOP
        - SAFETY_STATE_STOP_0
        - SAFETY_STATE_STOP_1
        - SAFETY_STATE_STOP_2
        - SAFETY_STATE_RECOVERY
        - SAFETY_STATE_DEVICE_EMERGENCY_STOP
        - SAFETY_STATE_ROBOT_EMERGENCY_STOP
        - SAFETY_STATE_VIOLATION
      type: string
      format: enum
      description: |
        Current safety state of the configured robot controller.
        Operation modes in which the attached motion groups can be moved are:
        - SAFETY_STATE_NORMAL
        - SAFETY_STATE_REDUCED
        All other modes are considered as non-operational.
    Joints:
      type: array
      items:
        type: number
        format: double
      description: |
        This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.

        Float precision is the default.
    MotionGroupState_JointLimitReached:
      type: object
      required:
        - limit_reached
      properties:
        limit_reached:
          type: array
          items:
            type: boolean
          description: If true, operational (soft) jointLimit is reached for specific joint.
      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.
    JoggingRunning:
      title: JoggingRunning
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - RUNNING
      description: |
        Jogging is active.
    JoggingPausedByUser:
      title: JoggingPausedByUser
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_BY_USER
      description: |
        User has paused jogging.
    JoggingPausedOnIO:
      title: JoggingPausedOnIO
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_ON_IO
      description: |
        Jogging was paused because of an I/O event.
    JoggingPausedNearJointLimit:
      title: JoggingPausedNearJointLimit
      type: object
      required:
        - kind
        - joint_indices
      properties:
        kind:
          type: string
          enum:
            - PAUSED_NEAR_JOINT_LIMIT
        joint_indices:
          type: array
          items:
            type: integer
            format: int32
            minimum: 0
            maximum: 2147483647
      description: |
        Jogging was paused because a joint is near its limit.
    JoggingPausedNearCollision:
      title: JoggingPausedNearCollision
      type: object
      required:
        - kind
        - description
      properties:
        kind:
          type: string
          enum:
            - PAUSED_NEAR_COLLISION
        description:
          type: string
      description: |
        Jogging was paused because the motion group neared a collision.
    JoggingPausedNearSingularity:
      title: JoggingPausedNearSingularity
      type: object
      required:
        - kind
        - description
      properties:
        kind:
          type: string
          enum:
            - PAUSED_NEAR_SINGULARITY
        description:
          type: string
      description: |
        Jogging was paused because the motion group neared a singularity or the workspace boundary.
    JoggingDetails:
      title: JoggingDetails
      type: object
      required:
        - state
        - kind
      properties:
        state:
          oneOf:
            - $ref: '#/components/schemas/JoggingRunning'
            - $ref: '#/components/schemas/JoggingPausedByUser'
            - $ref: '#/components/schemas/JoggingPausedOnIO'
            - $ref: '#/components/schemas/JoggingPausedNearJointLimit'
            - $ref: '#/components/schemas/JoggingPausedNearCollision'
            - $ref: '#/components/schemas/JoggingPausedNearSingularity'
          discriminator: kind
        jogger_session_timestamp_ms:
          type: integer
          format: int64
          minimum: 0
          maximum: 9223372036854776000
          description: |
            Timestamp of the current jogger session in milliseconds.
            Only waypoint sessions are supported. Other sessions return 0.

            > **NOTE**
            >
            > This field is experimental and its behavior may change in future releases.
        kind:
          type: string
          enum:
            - JOGGING
      description: |
        State of jogging execution.
        This state is sent during jogging movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate.
        The jogging state can be one of the following:
        - RUNNING: Jogging is active.
        - PAUSED_BY_USER: User has paused jogging.
        - PAUSED_NEAR_JOINT_LIMIT: Jogging was paused because a joint is near its limit.
        - PAUSED_NEAR_COLLISION: Jogging was paused because the motion group neared a collision.
        - PAUSED_NEAR_SINGULARITY: Jogging was paused because the motion group neared a singularity or the workspace boundary.
        - PAUSED_ON_IO: Jogging was paused because of an I/O event.
    Location:
      type: number
      format: double
      description: |
        - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,
          where `n` denotes the number of motion commands
        - Each integer value of the location corresponds to a specific motion command,
          while non-integer values interpolate positions within the segments.
        - The location is calculated from the joint path
    TrajectoryRunning:
      title: TrajectoryRunning
      type: object
      required:
        - kind
        - time_to_end
      properties:
        kind:
          type: string
          enum:
            - RUNNING
        time_to_end:
          type: integer
          description: Remaining time in milliseconds (ms) to reach the end of the motion.
          format: int64
          minimum: 0
          maximum: 4294967295
      description: |
        Trajectory is being executed.
    TrajectoryPausedByUser:
      title: TrajectoryPausedByUser
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_BY_USER
      description: |
        User has paused execution.
    TrajectoryEnded:
      title: TrajectoryEnded
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - END_OF_TRAJECTORY
      description: |
        First or last sample (depending on direction) of trajectory has been sent.
    TrajectoryWaitForIO:
      title: TrajectoryWaitForIO
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - WAIT_FOR_IO
      description: |
        Waiting for an I/O event to start execution.
    TrajectoryPausedOnIO:
      title: TrajectoryPausedOnIO
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_ON_IO
      description: |
        Execution was paused because of an I/O event.
    TrajectoryDetails:
      title: TrajectoryDetails
      type: object
      required:
        - trajectory
        - location
        - state
        - kind
      properties:
        trajectory:
          type: string
          description: |
            Unique identifier of the trajectory being executed.
        location:
          $ref: '#/components/schemas/Location'
          description: |
            Location of current joint position commmand on the trajectory being executed.
        state:
          oneOf:
            - $ref: '#/components/schemas/TrajectoryRunning'
            - $ref: '#/components/schemas/TrajectoryPausedByUser'
            - $ref: '#/components/schemas/TrajectoryEnded'
            - $ref: '#/components/schemas/TrajectoryWaitForIO'
            - $ref: '#/components/schemas/TrajectoryPausedOnIO'
          discriminator: kind
        kind:
          type: string
          enum:
            - TRAJECTORY
          description: |
            Discriminator for OpenApi generators, which is always "TRAJECTORY" for this schema.
      description: |
        State of trajectory execution.
        This state is sent during trajectory movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate.
        The trajectory state can be one of the following:
        - RUNNING: Trajectory is being executed.
        - PAUSED_BY_USER: User has paused execution.
        - END_OF_TRAJECTORY: First or last sample (depending on direction) of trajectory has been sent.
        - WAIT_FOR_IO: Waiting for an I/O event to start execution.
        - PAUSED_ON_IO: Execution was paused because of an I/O event.
    Execute:
      title: Execute
      type: object
      required:
        - joint_position
      properties:
        joint_position:
          type: array
          items:
            type: number
            format: double
          description: |
            Commanded joint position of each joint. This command was sent in the time step the corresponding state was received.
            The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
        details:
          oneOf:
            - $ref: '#/components/schemas/JoggingDetails'
            - $ref: '#/components/schemas/TrajectoryDetails'
          discriminator: kind
      description: |
        Details about the state of the motion execution.
        The details are either for a jogging or a trajectory.
        If NOVA is not controlling this motion group at the moment, this field is omitted.
    MotionGroupState:
      required:
        - timestamp
        - sequence_number
        - motion_group
        - controller
        - joint_position
        - joint_limit_reached
        - standstill
        - description_revision
      type: object
      properties:
        timestamp:
          type: string
          format: date-time
          description: Timestamp for when data was received from the robot controller.
        sequence_number:
          type: integer
          format: int64
          minimum: 0
          maximum: 4294967295
          description: |
            Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller.
            The sequence number is reset when the connection to the physical controller is closed and re-established.
        motion_group:
          type: string
          description: Identifier of the motion group.
        controller:
          type: string
          description: 'Convenience: Identifier of the robot controller the motion group is attached to.'
        joint_position:
          $ref: '#/components/schemas/Joints'
          description: |
            Current joint position of each joint.
            The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
        joint_limit_reached:
          $ref: '#/components/schemas/MotionGroupState_JointLimitReached'
          description: |
            Indicates whether the joint is in a limit for all joints of the motion group.
        joint_torque:
          $ref: '#/components/schemas/Joints'
          description: |
            Current joint torque of each joint in [Nm].
            Is only available if the robot controller supports it, e.g., available for UR controllers.
        joint_current:
          $ref: '#/components/schemas/Joints'
          description: |
            Current at TCP in [A].
            Is only available if the robot controller supports it, e.g., available for UR controllers.
        flange_pose:
          $ref: '#/components/schemas/Pose'
          description: |
            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.
            For robot arms, a flange pose is always returned. For positioners, the flange might not be available, depending on the model.
        tcp:
          type: string
          description: |
            Unique identifier addressing the active TCP.
            Might not be returned for positioners as some do not support TCPs, depending on the model.
        tcp_pose:
          $ref: '#/components/schemas/Pose'
          description: |
            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.
            Might not be returned for positioners as some do not support TCPs, depending on the model.
        coordinate_system:
          type: string
          description: |
            Unique identifier addressing the reference coordinate system of the cartesian data.
            Might not be returned for positioners as some do not support TCPs, depending on the model.
            Default: world coordinate system of corresponding controller.
        payload:
          type: string
          description: |
            Unique identifier addressing the active payload.
            Only fetchable via GET endpoint, not available in WebSocket.
        standstill:
          type: boolean
          description: |
            Indicates whether the motion group is in standstill.
            Convenience: Signals that NOVA treats measured joint velocities as 0.
        execute:
          $ref: '#/components/schemas/Execute'
          description: |
            Data that was commanded to the motion group. Includes additional data on NOVA's execution components for executing trajectories and jogging.
            This is a convenience field to indicate the last command sent to the motion group.
            It is not available in all cases, e.g., if the motion group is not moved by NOVA.
        description_revision:
          type: integer
          format: int32
          minimum: 0
          maximum: 2147483647
          description: |
            Revision number of the motion group description.
            The revision is incremented whenever the motion group description changes due to a modification of the tools or the payloads in the robot configuration.
            The robot controller is polled every 10 s during Monitoring Mode to detect those changes.
            Use to trigger fetching based on robot configuration changes.
      description: Presents the current state of the motion group.
    RobotControllerState:
      required:
        - mode
        - timestamp
        - sequence_number
        - controller
        - operation_mode
        - safety_state
        - motion_groups
      type: object
      properties:
        mode:
          $ref: '#/components/schemas/RobotSystemMode'
          description: Mode of communication and control between NOVA and the robot controller.
        last_error:
          type: array
          items:
            type: string
          description: |
            Last error stack encountered during initialization process or after a controller disconnect.
            At this stage, it's unclear whether the error is fatal.

            Evaluate `last_error` to decide whether to remove the controller using `deleteController`.
            Examples:
            - Delete required: Host resolution fails repeatedly due to an incorrect IP.
            - Delete not required: Temporary network delay caused a disconnect; the system will auto-reconnect.
        timestamp:
          type: string
          format: date-time
          description: Timestamp indicating when the represented information was received from the robot controller.
        sequence_number:
          type: integer
          format: int64
          minimum: 0
          maximum: 4294967295
          description: |
            Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller.
            The sequence number is reset when the connection to the physical controller is closed and re-established.
        controller:
          type: string
          default: controller
          description: Identifier of the configured robot controller.
        operation_mode:
          $ref: '#/components/schemas/OperationMode'
        safety_state:
          $ref: '#/components/schemas/SafetyStateType'
        velocity_override:
          type: integer
          description: |
            If made available by the robot controller, returns the current velocity override in
            [percentage] for movements adjusted on robot control panel.
            Valid value range: 1 - 100.
          format: int32
          minimum: 1
          maximum: 100
        motion_groups:
          title: MotionGroupState[]
          type: array
          items:
            $ref: '#/components/schemas/MotionGroupState'
          description: |
            State of indicated motion groups.
            In case of state request via controller all configured motion groups are returned.
            In case of executing a motion only the affected motion groups are returned.
      description: Returns the whole current state of robot controller.
    TcpOffset:
      title: TcpOffset
      required:
        - name
        - pose
      type: object
      properties:
        name:
          type: string
          description: A readable and changeable name for frontend visualization.
        pose:
          $ref: '#/components/schemas/Pose'
    LimitRange:
      type: object
      properties:
        lower_limit:
          type: number
          format: double
        upper_limit:
          type: number
          format: double
      description: The upper_limit must be greater then the lower_limit.
    JointLimits:
      title: JointLimits
      type: object
      properties:
        position:
          $ref: '#/components/schemas/LimitRange'
        velocity:
          type: number
          format: double
        acceleration:
          type: number
          format: double
        jerk:
          type: number
          format: double
          description: |
            > **NOTE**
            >
            > This limit type is experimental and its behavior may change in future releases.
        torque:
          type: number
          format: double
    CartesianLimits:
      title: CartesianLimits
      type: object
      properties:
        velocity:
          type: number
          format: double
        acceleration:
          type: number
          format: double
        jerk:
          type: number
          format: double
          description: |
            > **NOTE**
            >
            > This limit type is experimental and its behavior may change in future releases.
        orientation_velocity:
          type: number
          format: double
        orientation_acceleration:
          type: number
          format: double
        orientation_jerk:
          type: number
          format: double
          description: |
            > **NOTE**
            >
            > This limit type is experimental and its behavior may change in future releases.
    LimitSet:
      title: LimitSet
      type: object
      properties:
        joints:
          type: array
          items:
            $ref: '#/components/schemas/JointLimits'
        tcp:
          $ref: '#/components/schemas/CartesianLimits'
        elbow:
          $ref: '#/components/schemas/CartesianLimits'
        flange:
          $ref: '#/components/schemas/CartesianLimits'
        coupled_shoulder_elbow_joint:
          $ref: '#/components/schemas/JointLimits'
    OperationLimits:
      title: OperationLimits
      type: object
      properties:
        auto_limits:
          $ref: '#/components/schemas/LimitSet'
        manual_limits:
          $ref: '#/components/schemas/LimitSet'
        manual_t1_limits:
          $ref: '#/components/schemas/LimitSet'
        manual_t2_limits:
          $ref: '#/components/schemas/LimitSet'
        safety_limit_elbow_flange_velocity_in_auto:
          type: boolean
          default: false
          description: Flag to indicate whether the TCP velocity limit is also applied for the elbow and flange in auto mode.
    Payload:
      required:
        - name
        - payload
      type: object
      properties:
        name:
          type: string
        payload:
          type: number
          description: Mass of payload in [kg].
          format: double
        center_of_mass:
          $ref: '#/components/schemas/Vector3d'
          description: Center of mass of payload as a three-dimensional position vector [x, y, z] in [mm].
        moment_of_inertia:
          $ref: '#/components/schemas/Vector3d'
          description: Principal moments of inertia of payload as three-dimensional vector [I_xx, I_yy, I_zz] in [kg·m²].
    JointTypeEnum:
      type: string
      enum:
        - REVOLUTE_JOINT
        - PRISMATIC_JOINT
      default: REVOLUTE_JOINT
    DHParameter:
      type: object
      properties:
        alpha:
          type: number
          description: Angle about x-axis in [rad].
          format: double
        theta:
          type: number
          description: Angle about z-axis in [rad].
          format: double
        a:
          type: number
          description: Offset along x-axis in [mm].
          format: double
        d:
          type: number
          description: Offset along z-axis in [mm].
          format: double
        reverse_rotation_direction:
          type: boolean
          description: True, if rotation direction of joint is reversed.
        type:
          $ref: '#/components/schemas/JointTypeEnum'
      description: A single set of DH parameters.
    MotionGroupDescription:
      required:
        - motion_group_model
        - operation_limits
      type: object
      properties:
        motion_group_model:
          $ref: '#/components/schemas/MotionGroupModel'
        mounting:
          $ref: '#/components/schemas/Pose'
          description: The offset from the world frame to the motion group base.
        tcps:
          type: object
          title: TcpOffsetDictionary
          description: |
            Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier.
            Values are TcpOffsets.
          additionalProperties:
            $ref: '#/components/schemas/TcpOffset'
        safety_zones:
          $ref: '#/components/schemas/ColliderDictionary'
          description: |
            SafetyZones are areas which cannot be entered or where certain limits apply.
            SafetyZones are defined in the world coordinate system.
        safety_link_colliders:
          type: array
          items:
            $ref: '#/components/schemas/ColliderDictionary'
          description: |
            The shape of the MotionGroups links to validate against safety zones.
            Indexed along the kinematic chain, starting with a static base shape before first joint.
        safety_tool_colliders:
          type: object
          title: SafetyToolColliders
          additionalProperties:
            $ref: '#/components/schemas/ColliderDictionary'
          description: |
            Maps a TCP name to its tool collider. Key must be a TCP identifier.
            Values are ColliderDictionaries that make up the shape of one tool to validate against safety zones.
        operation_limits:
          $ref: '#/components/schemas/OperationLimits'
        payloads:
          type: object
          title: PayloadDictionary
          description: |
            Maps a payload name to its configuration. Key must be a payload identifier.
            Values are payload objects.
          additionalProperties:
            $ref: '#/components/schemas/Payload'
        cycle_time:
          type: integer
          format: int32
          minimum: 0
          maximum: 2147483647
          description: '[ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.'
        dh_parameters:
          type: array
          items:
            $ref: '#/components/schemas/DHParameter'
          description: The Denavit-Hartenberg parameters describing the motion group kinematics.
        kinematic_chain_offset:
          description: |
            Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modelled by Denavit-Hartenberg parameters.
            Unlike the mounting, which is used to set the actual position and orientation of the motion group within a cell, this offset is fixed.
            It is part of the description of the kinematical structure of the motion group.
          $ref: '#/components/schemas/Pose'
        flange_offset:
          description: |
            Constant coordinate transformation between the end of the kinematic chain modelled by Denavit-Hartenberg parameters and the flange frame.
            This can be used, e.g., to ensure that the flange frame has a certain orientation.
          $ref: '#/components/schemas/Pose'
        serial_number:
          type: string
          description: |
            The serial number of the motion group, if available. If not available, the serial number of the robot controller. If not available, empty.
        description_revision:
          type: integer
          format: int32
          minimum: 0
          maximum: 2147483647
          description: |
            Revision number of the motion group description.
            The revision is incremented whenever the motion group description changes due to a modification of the tools or the payloads in the robot configuration.
            The robot controller is polled every 10 s in Monitoring Mode to detect those changes.
            Use to detect changes since the last retrieval.
      description: |
        The configuration of a motion-group used for motion planning.
        The parameters `mounting`, `kinematic_chain_offset`, `dh_parameters`, `flange_offset` and `tcp_offset` are used to model the kinematic structure of the motion group.
        They can be used to compute the coordinate transformations from world to tcp frame:
        [world frame] -> mounting -> [base frame] -> kinematic chain offset + motion group kinematics (Denavit-Hartenberg parameters) -> [end of kinematic chain frame]
        -> flange_offset -> [flange frame] -> tcp_offset -> [tcp frame].
    CloudEvent:
      type: object
      description: |
        CloudEvents specification v1.0.2 compliant event structure.
        This schema defines the standardized format for event data across all NOVA services.
      required:
        - specversion
        - type
        - source
        - id
      properties:
        specversion:
          type: string
          description: The version of the CloudEvents specification which the event uses
          enum:
            - '1.0'
          example: '1.0'
        type:
          type: string
          description: Type of the event related to the source occurrence
          pattern: ^[a-z0-9\-\.]+$
          example: com.wandelbots.nova.system.update.started
        source:
          type: string
          format: uri-reference
          description: Identifies the context in which an event happened
          example: /nova/service-manager
        id:
          type: string
          description: Unique identifier for the event
          pattern: ^[a-zA-Z0-9\-_]+$
          example: update-2025-01-27-001
        time:
          type: string
          format: date-time
          description: Timestamp of when the occurrence happened (RFC3339)
          example: '2025-01-27T10:00:00Z'
        datacontenttype:
          type: string
          description: Content type of the data value
          default: application/json
          example: application/json
        dataschema:
          type: string
          format: uri
          description: URI reference that identifies the schema that the data adheres to
          example: https://schemas.wandelbots.com/nova/system-update/v2
        subject:
          type: string
          description: Subject of the event in the context of the event producer
          example: system/update
        data:
          type: object
          description: The event payload specific to the event type
          additionalProperties: true
    SystemUpdateStartedEvent:
      allOf:
        - $ref: '#/components/schemas/CloudEvent'
        - type: object
          description: |
            Event published when a system update process is started.
            Uses CloudEvents default fields for ID and timestamp, minimal data payload.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.system.update.started
              example: nova.v2.events.system.update.started
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this update process
              pattern: ^update-[a-zA-Z0-9\-_]+$
              example: update-nova-20250127T100000Z
            time:
              description: Timestamp when the update process started (RFC3339)
            data:
              type: object
              description: System update started event payload
              required:
                - newVersion
              properties:
                newVersion:
                  type: string
                  description: New system version being installed
                  example: 2.1.0
                oldVersion:
                  type: string
                  description: Previous system version, if available
                  example: 2.0.5
              additionalProperties: false
    SystemUpdateCompletedEvent:
      allOf:
        - $ref: '#/components/schemas/CloudEvent'
        - type: object
          description: |
            Event published once a system update process is completed.
            Uses CloudEvents default fields for ID and timestamp, minimal data payload.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.system.update.completed
              example: nova.v2.events.system.update.completed
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Same unique identifier from the started event for correlation
              pattern: ^update-[a-zA-Z0-9\-_]+$
              example: update-nova-20250127T100000Z
            time:
              description: Timestamp when the update process completed (RFC3339)
            data:
              type: object
              description: System update completed event payload
              required:
                - newVersion
              properties:
                newVersion:
                  type: string
                  description: New system version that was installed
                  example: 2.1.0
                error:
                  type: string
                  description: Error message if update failed
                  example: 'Helm upgrade failed: context deadline exceeded'
              additionalProperties: false
    NetworkState:
      type: object
      required:
        - internet_connected
      properties:
        internet_connected:
          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
          description: |
            Round-trip latency to the probe endpoint measured in milliseconds.
        bandwidth_mbps:
          type: number
          format: float
          description: |
            Estimated downstream bandwidth in megabits per second based on the probe.
    NetworkStatusChangedEvent:
      type: object
      description: |
        CloudEvents v1.0 compliant event published when system network status changes.
        This event wraps the NetworkState payload in a standard CloudEvents envelope.
      required:
        - specversion
        - type
        - source
        - id
        - time
        - data
      properties:
        specversion:
          type: string
          description: The version of the CloudEvents specification which the event uses
          enum:
            - '1.0'
          example: '1.0'
        type:
          type: string
          description: Type of the event related to the source occurrence
          enum:
            - nova.v2.events.system.network.status.changed
          example: nova.v2.events.system.network.status.changed
        source:
          type: string
          description: Identifies the context in which an event happened
          enum:
            - /nova/system-info
          example: /nova/system-info
        id:
          type: string
          description: Unique identifier for this network status change event
          pattern: ^network-status-change-[a-zA-Z0-9\-]+$
          example: network-status-change-20240615T101500Z
        time:
          type: string
          format: date-time
          description: Timestamp when the network status changed (RFC3339)
          example: '2024-06-15T10:15:00Z'
        datacontenttype:
          type: string
          description: Content type of the data value
          default: application/json
          example: application/json
        data:
          $ref: '#/components/schemas/NetworkState'
    OperatingState:
      format: enum
      type: string
      enum:
        - ACTIVE
        - INACTIVE
      description: The operating state.
    CellEventData:
      type: object
      description: Payload for a cell lifecycle event.
      required:
        - version
        - operating_state
      properties:
        version:
          type: string
          description: Chart version of the cell foundation release.
          example: 2.1.0
        operating_state:
          $ref: '#/components/schemas/OperatingState'
      additionalProperties: false
    CellCreatedEvent:
      allOf:
        - type: object
          description: CloudEvent published when a cell foundation release is created.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.created
              example: nova.v2.events.cells.demo.created
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this cell created event.
              example: cells-demo-created-550e8400-e29b-41d4-a716-446655440000
            time:
              description: Timestamp when the cell foundation release was created.
            data:
              $ref: '#/components/schemas/CellEventData'
        - $ref: '#/components/schemas/CloudEvent'
    CellUpdatedEvent:
      allOf:
        - type: object
          description: CloudEvent published when a cell foundation release is updated.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.updated
              example: nova.v2.events.cells.demo.updated
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this cell updated event.
              example: cells-demo-updated-a3bb189e-8bf9-4c8b-a7b4-8e78f6e5e7b1
            time:
              description: Timestamp when the cell foundation release was updated.
            data:
              $ref: '#/components/schemas/CellEventData'
        - $ref: '#/components/schemas/CloudEvent'
    CellDeletedEvent:
      allOf:
        - type: object
          description: CloudEvent published when a cell foundation release is deleted.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.deleted
              example: nova.v2.events.cells.demo.deleted
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this cell deleted event.
              example: cells-demo-deleted-b5e2e4f3-7c1d-4f2b-8e5f-9a3c6b7d8e0f
            time:
              description: Timestamp when the cell foundation release was deleted.
            data:
              $ref: '#/components/schemas/CellEventData'
        - $ref: '#/components/schemas/CloudEvent'
    AppEventData:
      type: object
      description: Payload for an app lifecycle event.
      required:
        - image
        - operating_state
      properties:
        image:
          type: string
          description: OCI image reference of the app release.
          example: example.com/demo/portal:1.0.0
        operating_state:
          $ref: '#/components/schemas/OperatingState'
      additionalProperties: false
    AppCreatedEvent:
      allOf:
        - type: object
          description: CloudEvent published when an app release is created in a cell.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.apps.{app}.created
              example: nova.v2.events.cells.demo.apps.portal.created
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this app created event.
              example: apps-portal-created-c7f3a5b2-9d4e-4f6a-b8c1-2d3e4f5a6b7c
            time:
              description: Timestamp when the app release was created.
            data:
              $ref: '#/components/schemas/AppEventData'
        - $ref: '#/components/schemas/CloudEvent'
    AppUpdatedEvent:
      allOf:
        - type: object
          description: CloudEvent published when an app release is updated in a cell.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.apps.{app}.updated
              example: nova.v2.events.cells.demo.apps.portal.updated
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this app updated event.
              example: apps-portal-updated-d8e4b6c3-ae5f-4a7b-9d2e-3e4f5a6b7c8d
            time:
              description: Timestamp when the app release was updated.
            data:
              $ref: '#/components/schemas/AppEventData'
        - $ref: '#/components/schemas/CloudEvent'
    AppDeletedEvent:
      allOf:
        - type: object
          description: CloudEvent published when an app release is deleted from a cell.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.apps.{app}.deleted
              example: nova.v2.events.cells.demo.apps.portal.deleted
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this app deleted event.
              example: apps-portal-deleted-e9f5c7d4-bf6a-4b8c-8a3e-4f5a6b7c8d9e
            time:
              description: Timestamp when the app release was deleted.
            data:
              $ref: '#/components/schemas/AppEventData'
        - $ref: '#/components/schemas/CloudEvent'
    RobotControllerEventData:
      type: object
      description: Payload for a robot controller lifecycle event.
      required:
        - manufacturer
        - virtual
        - operating_state
      properties:
        manufacturer:
          $ref: '#/components/schemas/Manufacturer'
        virtual:
          type: boolean
          description: Indicates whether the controller is virtual.
        operating_state:
          $ref: '#/components/schemas/OperatingState'
      additionalProperties: false
    RobotControllerCreatedEvent:
      allOf:
        - type: object
          description: CloudEvent published when a robot controller release is created in a cell.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.controllers.{controller}.created
              example: nova.v2.events.cells.demo.controllers.ur10e.created
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this robot controller created event.
              example: controllers-ur10e-created-f0a6d8e5-ca7b-4c9d-ab4f-5a6b7c8d9e0f
            time:
              description: Timestamp when the robot controller release was created.
            data:
              $ref: '#/components/schemas/RobotControllerEventData'
        - $ref: '#/components/schemas/CloudEvent'
    RobotControllerUpdatedEvent:
      allOf:
        - type: object
          description: CloudEvent published when a robot controller release is updated in a cell.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.controllers.{controller}.updated
              example: nova.v2.events.cells.demo.controllers.ur10e.updated
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this robot controller updated event.
              example: controllers-ur10e-updated-1b7e9f06-db8c-4dae-9c50-6b7c8d9e0f1a
            time:
              description: Timestamp when the robot controller release was updated.
            data:
              $ref: '#/components/schemas/RobotControllerEventData'
        - $ref: '#/components/schemas/CloudEvent'
    RobotControllerDeletedEvent:
      allOf:
        - type: object
          description: CloudEvent published when a robot controller release is deleted from a cell.
          required:
            - id
            - time
            - data
          properties:
            type:
              enum:
                - nova.v2.events.cells.{cell}.controllers.{controller}.deleted
              example: nova.v2.events.cells.demo.controllers.ur10e.deleted
            source:
              enum:
                - /nova/service-manager
              example: /nova/service-manager
            id:
              description: Unique identifier for this robot controller deleted event.
              example: controllers-ur10e-deleted-2c8f0a17-ec9d-4ebf-8d61-7c8d9e0f1a2b
            time:
              description: Timestamp when the robot controller release was deleted.
            data:
              $ref: '#/components/schemas/RobotControllerEventData'
        - $ref: '#/components/schemas/CloudEvent'
asyncapi: 3.0.0
operations:
  publishCell:
    action: send
    title: Cell Configuration
    description: |
      Publishes the configuration for a cell.

      The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
    tags:
      - name: Cell
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}'
  publishApp:
    action: send
    title: App Configuration
    description: |
      Publishes the configuration for a GUI application in the cell.

      The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
    tags:
      - name: Cell
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.apps.{app}'
  publishProgramStatus:
    action: send
    title: Program Status
    description: |
      Publishes status messages for programs running in an app within a cell.
      The status messages provide information about the current state of a program run.
    tags:
      - name: Program
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.programs'
  publishRobotController:
    action: send
    title: Robot Controller Configuration
    description: Publishes the configuration of a robot controller.
    tags:
      - name: Cell
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}'
  publishCellStatus:
    action: send
    title: Service Status
    description: |
      Publishes the status of all cell resources.

      The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
    tags:
      - name: Cell
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.status'
  publishCellCycle:
    action: send
    title: Cell Cycle Event
    description: |
      Publishes the cycle events for a cell.
    tags:
      - name: Cell
        description: Cell-scoped messaging operations.
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.cycle'
  publishSystemStatus:
    action: send
    title: Wandelbots NOVA status
    description: |
      Publishes the status of all system services.

      The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
    tags:
      - name: System
    channel:
      $ref: '#/channels/{instance}.v2.system.status'
  publishCollisionSetup:
    action: send
    title: Collision Setup
    description: |
      Publishes the stored collision setup.

      The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
    tags:
      - name: Store Collision Setups
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.collision.setups.{setup}'
  publishBUSIOStatus:
    action: send
    title: BUS Inputs/Outputs Service Status
    description: |
      Publishes the status of BUS inputs/outputs service.

      The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`.
    tags:
      - name: BUS Inputs/Outputs
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.bus-ios.status'
  publishBUSIOsIOs:
    action: send
    title: BUS Input/Output Values
    description: Publishes updates of BUS input/output values.
    tags:
      - name: BUS Inputs/Outputs
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.bus-ios.ios'
  setBUSIOsIOs:
    action: receive
    title: Set Output Values
    description: |
      Set output values published with the BUS inputs/outputs service.
      If you're using a virtual service, you can set inputs as well.
    tags:
      - name: BUS Inputs/Outputs
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.bus-ios.ios.set'
    reply:
      channel:
        $ref: '#/channels/{instance}.v2.cells.{cell}.bus-ios.ios.set.reply'
      address:
        location: $message.header#/replyTo
  selectRobotControllerIOs:
    action: receive
    title: Select Input/Output Values
    description: Select input/output values published by the controller.
    tags:
      - name: Controller
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.select'
    reply:
      channel:
        $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios.select.reply'
      address:
        location: $message.header#/replyTo
  publishRobotControllerIOs:
    action: send
    title: Input/Output Values
    description: Publishes updates of input/output values.
    tags:
      - name: Controller
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.ios'
  publishRobotControllersState:
    action: send
    title: State of Robot Controller
    description: Publishes the current state of a robot controller.
    tags:
      - name: Controller
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.state'
  publishMotionGroupDescription:
    action: send
    title: Description of Motion Group
    description: Publishes the description of a motion group, including TCPs, mounting, safety zones, limits, etc.
    tags:
      - name: Controller
    channel:
      $ref: '#/channels/{instance}.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description'
  eventSystemUpdateStarted:
    action: send
    title: System Update Started
    description: |
      Publishes an event when a system update process is initiated.

      This event is triggered once the service-manager begins a system update process,
      providing details about the update metadata, trigger information, and pre-update checks.

      The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
      for reliable delivery and event replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.system.update.started'
  eventSystemUpdateCompleted:
    action: send
    title: System Update Completed
    description: |
      Publishes an event when a system update process is completed.

      This event is triggered once the service-manager completes a system update process,
      providing comprehensive results including success status, component outcomes,
      error details, and post-update validation results.

      The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
      for reliable delivery and event replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.system.update.completed'
  eventSystemNetworkStatusChanged:
    action: send
    title: System Network Status Changed
    description: |
      Publishes an event when a system network status changes.

      This event is triggered once system-info service detects a change in the system network status,
      providing details about the new network state and related information.

      The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
      for reliable delivery and event replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.system.network.status.changed'
  eventCellCreated:
    action: send
    title: Cell Created
    description: |
      Publishes an event when a cell foundation release is created.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.created'
  eventCellUpdated:
    action: send
    title: Cell Updated
    description: |
      Publishes an event when a cell foundation release is updated.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.updated'
  eventCellDeleted:
    action: send
    title: Cell Deleted
    description: |
      Publishes an event when a cell foundation release is deleted.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.deleted'
  eventAppCreated:
    action: send
    title: App Created
    description: |
      Publishes an event when an app release is created in a cell.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.apps.{app}.created'
  eventAppUpdated:
    action: send
    title: App Updated
    description: |
      Publishes an event when an app release is updated in a cell.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.apps.{app}.updated'
  eventAppDeleted:
    action: send
    title: App Deleted
    description: |
      Publishes an event when an app release is deleted from a cell.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.apps.{app}.deleted'
  eventRobotControllerCreated:
    action: send
    title: Robot Controller Created
    description: |
      Publishes an event when a robot controller release is created in a cell.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.controllers.{controller}.created'
  eventRobotControllerUpdated:
    action: send
    title: Robot Controller Updated
    description: |
      Publishes an event when a robot controller release is updated in a cell.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.controllers.{controller}.updated'
  eventRobotControllerDeleted:
    action: send
    title: Robot Controller Deleted
    description: |
      Publishes an event when a robot controller release is deleted from a cell.

      The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
    tags:
      - name: Events
    channel:
      $ref: '#/channels/{instance}.v2.events.cells.{cell}.controllers.{controller}.deleted'
channels:
  '{instance}.v2.cells.{cell}':
    address: '{instance}.v2.cells.{cell}'
    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.
    messages:
      Cell:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/Cell'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.apps.{app}':
    address: '{instance}.v2.cells.{cell}.apps.{app}'
    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.
      app:
        description: |
          Name of the provided application.
          Must be unique within the cell and is used as an identifier for addressing the application in all API calls, e.g., when updating the application.
    messages:
      App:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/App'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.programs':
    address: '{instance}.v2.cells.{cell}.programs'
    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.
    messages:
      ProgramStatus:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/ProgramStatus'
  '{instance}.v2.cells.{cell}.controllers.{controller}':
    address: '{instance}.v2.cells.{cell}.controllers.{controller}'
    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.
    messages:
      RobotController:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/RobotController'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.status':
    address: '{instance}.v2.cells.{cell}.status'
    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.
    messages:
      StatusList:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/ServiceStatusList'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.cycle':
    address: '{instance}.v2.cells.{cell}.cycle'
    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.
    messages:
      CellCycleEvent:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/CellCycleEvent'
  '{instance}.v2.system.status':
    address: '{instance}.v2.system.status'
    parameters:
      instance:
        description: Unique identifier addressing an instance in all API calls.
        default: nova
    messages:
      StatusList:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/ServiceStatusList'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.collision.setups.{setup}':
    address: '{instance}.v2.cells.{cell}.collision.setups.{setup}'
    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.
      setup:
        description: Unique identifier addressing a collision setup.
    messages:
      StatusList:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/CollisionSetup'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.bus-ios.status':
    address: '{instance}.v2.cells.{cell}.bus-ios.status'
    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.
    messages:
      Status:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/BusIOsState'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.cells.{cell}.bus-ios.ios':
    address: '{instance}.v2.cells.{cell}.bus-ios.ios'
    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.
    messages:
      IOValues:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/ListIOValuesResponse'
  '{instance}.v2.cells.{cell}.bus-ios.ios.set':
    address: '{instance}.v2.cells.{cell}.bus-ios.ios.set'
    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.
    messages:
      BUSIOValues:
        contentType: application/json
        headers:
          type: object
          properties:
            replyTo:
              type: string
              description: Address to send the response to.
        payload:
          $ref: '#/components/schemas/ListIOValuesResponse'
  '{instance}.v2.cells.{cell}.bus-ios.ios.set.reply':
    address: null
    messages:
      Response:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/Error'
  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.select':
    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios.select'
    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:
      IOValues:
        contentType: application/json
        headers:
          type: object
          properties:
            replyTo:
              type: string
              description: Address to send the response to.
        payload:
          $ref: '#/components/schemas/SelectIOs'
  '{instance}.v2.cells.{cell}.controllers.{controller}.ios.select.reply':
    address: null
    messages:
      Response:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/Error'
  '{instance}.v2.cells.{cell}.controllers.{controller}.ios':
    address: '{instance}.v2.cells.{cell}.controllers.{controller}.ios'
    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.
    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:
      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.
    messages:
      RobotControllerState:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/RobotControllerState'
  '{instance}.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description':
    address: '{instance}.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description'
    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 addressing a controller in the cell.
      motion-group:
        description: Motion group identifier.
    messages:
      MotionGroupDescription:
        contentType: application/json
        payload:
          $ref: '#/components/schemas/MotionGroupDescription'
    x-nats-jetstream-stream:
      name: system-state
      description: Stream for system state messages, only the latest message per subject is kept.
      retention: limits
      discard: old
      storage: file
      max_msgs_per_subject: 1
  '{instance}.v2.events.system.update.started':
    address: '{instance}.v2.events.system.update.started'
    parameters:
      instance:
        description: Unique identifier addressing an instance in all API calls.
        default: nova
    messages:
      SystemUpdateStarted:
        name: SystemUpdateStarted
        title: System Update Started Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a system update is initiated.
          Contains comprehensive metadata about the update process and pre-update checks.
        payload:
          $ref: '#/components/schemas/SystemUpdateStartedEvent'
        examples:
          - name: successful_update
            summary: Update successfully initiated
            payload:
              specversion: '1.0'
              type: nova.v2.events.system.update.started
              source: /nova/service-manager
              id: update-nova-20250127T100000Z
              time: '2025-01-27T10:00:00Z'
              datacontenttype: application/json
              data:
                newVersion: 2.1.0
                oldVersion: 2.0.5
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.system.update.completed':
    address: '{instance}.v2.events.system.update.completed'
    parameters:
      instance:
        description: Unique identifier addressing an instance in all API calls.
        default: nova
    messages:
      SystemUpdateCompleted:
        name: SystemUpdateCompleted
        title: System Update Completed Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a system update is completed.
          Success is indicated by absence of error field.
        payload:
          $ref: '#/components/schemas/SystemUpdateCompletedEvent'
        examples:
          - name: successful_update
            summary: Successful system update
            payload:
              specversion: '1.0'
              type: nova.v2.events.system.update.completed
              source: /nova/service-manager
              id: update-nova-20250127T100000Z
              time: '2025-01-27T10:05:00Z'
              datacontenttype: application/json
              data:
                newVersion: 2.1.0
          - name: failed_update
            summary: Failed system update with error
            payload:
              specversion: '1.0'
              type: nova.v2.events.system.update.completed
              source: /nova/service-manager
              id: update-nova-20250127T120000Z
              time: '2025-01-27T12:30:00Z'
              datacontenttype: application/json
              data:
                newVersion: 2.1.0
                error: 'Helm upgrade failed: context deadline exceeded'
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.system.network.status.changed':
    address: '{instance}.v2.events.system.network.status.changed'
    parameters:
      instance:
        description: Unique identifier addressing an instance in all API calls.
        default: nova
    messages:
      NetworkStatusChanged:
        name: NetworkStatusChanged
        title: System Network Status Changed Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a system network status changes.
        payload:
          $ref: '#/components/schemas/NetworkStatusChangedEvent'
        examples:
          - name: network_status_disconnected
            summary: System network disconnected event
            payload:
              specversion: '1.0'
              type: nova.v2.events.system.network.status.changed
              source: /nova/system-info
              id: network-status-change-20240615T101500Z
              time: '2024-06-15T10:15:00Z'
              datacontenttype: application/json
              data:
                internet_connected: false
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.created':
    address: '{instance}.v2.events.cells.{cell}.created'
    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.
    messages:
      CellCreated:
        name: CellCreated
        title: Cell Created Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a cell foundation release is created.
        payload:
          $ref: '#/components/schemas/CellCreatedEvent'
        examples:
          - name: cell_created
            summary: Cell foundation release created.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.created
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.created.1737972000
              time: '2025-01-27T10:00:00Z'
              datacontenttype: application/json
              data:
                version: 2.1.0
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.updated':
    address: '{instance}.v2.events.cells.{cell}.updated'
    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.
    messages:
      CellUpdated:
        name: CellUpdated
        title: Cell Updated Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a cell foundation release is updated.
        payload:
          $ref: '#/components/schemas/CellUpdatedEvent'
        examples:
          - name: cell_updated
            summary: Cell foundation release updated.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.updated
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.updated.1737972600
              time: '2025-01-27T10:10:00Z'
              datacontenttype: application/json
              data:
                version: 2.1.1
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.deleted':
    address: '{instance}.v2.events.cells.{cell}.deleted'
    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.
    messages:
      CellDeleted:
        name: CellDeleted
        title: Cell Deleted Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a cell foundation release is deleted.
        payload:
          $ref: '#/components/schemas/CellDeletedEvent'
        examples:
          - name: cell_deleted
            summary: Cell foundation release deleted.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.deleted
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.deleted.1737973200
              time: '2025-01-27T10:20:00Z'
              datacontenttype: application/json
              data:
                version: 2.1.1
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.apps.{app}.created':
    address: '{instance}.v2.events.cells.{cell}.apps.{app}.created'
    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.
      app:
        description: Unique identifier addressing an app in the cell.
    messages:
      AppCreated:
        name: AppCreated
        title: App Created Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when an app release is created in a cell.
        payload:
          $ref: '#/components/schemas/AppCreatedEvent'
        examples:
          - name: app_created
            summary: App release created.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.apps.portal.created
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.apps.portal.created.1737972000
              time: '2025-01-27T10:00:00Z'
              datacontenttype: application/json
              data:
                image: example.com/demo/portal:1.0.0
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.apps.{app}.updated':
    address: '{instance}.v2.events.cells.{cell}.apps.{app}.updated'
    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.
      app:
        description: Unique identifier addressing an app in the cell.
    messages:
      AppUpdated:
        name: AppUpdated
        title: App Updated Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when an app release is updated in a cell.
        payload:
          $ref: '#/components/schemas/AppUpdatedEvent'
        examples:
          - name: app_updated
            summary: App release updated.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.apps.portal.updated
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.apps.portal.updated.1737972600
              time: '2025-01-27T10:10:00Z'
              datacontenttype: application/json
              data:
                image: example.com/demo/portal:1.1.0
                operating_state: INACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.apps.{app}.deleted':
    address: '{instance}.v2.events.cells.{cell}.apps.{app}.deleted'
    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.
      app:
        description: Unique identifier addressing an app in the cell.
    messages:
      AppDeleted:
        name: AppDeleted
        title: App Deleted Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when an app release is deleted from a cell.
        payload:
          $ref: '#/components/schemas/AppDeletedEvent'
        examples:
          - name: app_deleted
            summary: App release deleted.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.apps.portal.deleted
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.apps.portal.deleted.1737973200
              time: '2025-01-27T10:20:00Z'
              datacontenttype: application/json
              data:
                image: example.com/demo/portal:1.1.0
                operating_state: INACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.controllers.{controller}.created':
    address: '{instance}.v2.events.cells.{cell}.controllers.{controller}.created'
    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.
    messages:
      RobotControllerCreated:
        name: RobotControllerCreated
        title: Robot Controller Created Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a robot controller release is created in a cell.
        payload:
          $ref: '#/components/schemas/RobotControllerCreatedEvent'
        examples:
          - name: robot_controller_created
            summary: Robot controller release created.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.controllers.ur10e.created
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.controllers.ur10e.created.1737972000
              time: '2025-01-27T10:00:00Z'
              datacontenttype: application/json
              data:
                manufacturer: universalrobots
                virtual: false
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.controllers.{controller}.updated':
    address: '{instance}.v2.events.cells.{cell}.controllers.{controller}.updated'
    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.
    messages:
      RobotControllerUpdated:
        name: RobotControllerUpdated
        title: Robot Controller Updated Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a robot controller release is updated in a cell.
        payload:
          $ref: '#/components/schemas/RobotControllerUpdatedEvent'
        examples:
          - name: robot_controller_updated
            summary: Robot controller release updated.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.controllers.ur10e.updated
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.controllers.ur10e.updated.1737972600
              time: '2025-01-27T10:10:00Z'
              datacontenttype: application/json
              data:
                manufacturer: universalrobots
                virtual: false
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>
  '{instance}.v2.events.cells.{cell}.controllers.{controller}.deleted':
    address: '{instance}.v2.events.cells.{cell}.controllers.{controller}.deleted'
    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.
    messages:
      RobotControllerDeleted:
        name: RobotControllerDeleted
        title: Robot Controller Deleted Event
        contentType: application/json
        description: |
          CloudEvents v1.0 compliant event published when a robot controller release is deleted from a cell.
        payload:
          $ref: '#/components/schemas/RobotControllerDeletedEvent'
        examples:
          - name: robot_controller_deleted
            summary: Robot controller release deleted.
            payload:
              specversion: '1.0'
              type: nova.v2.events.cells.demo.controllers.ur10e.deleted
              source: /nova/service-manager
              id: nova.v2.events.cells.demo.controllers.ur10e.deleted.1737973200
              time: '2025-01-27T10:20:00Z'
              datacontenttype: application/json
              data:
                manufacturer: universalrobots
                virtual: false
                operating_state: ACTIVE
    x-nats-jetstream-stream:
      name: system-events
      description: '|'
      retention: limits
      discard: old
      storage: file
      max_msgs: 10000
      max_bytes: '104857600  # 100MiB'
      max_age: '2592000  # 30 days in seconds'
      max_msg_size: '10240  # 10KiB'
      duplicate_window: '300  # 5 minutes for duplicate detection'
      subjects:
        - nova.v2.events.>