nexus_network_schema.json

{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://raw.githubusercontent.com/osrf/nexus/main/nexus_network_configuration/schemas/nexus_network_schema.json",
  "title": "NEXUS Network Configuration",
  "description": "A network configuration of the NEXUS Orchestrators",
  "type": "object",
  "required": [
    "mode",
    "enable_rest_api",
    "system_orchestrators",
    "workcell_orchestrators"
  ],
  "properties": {
    "mode":{
      "description": "Mode of Zenoh bridge, specified as either 'client' or 'peer'. Use 'client' when there is an available Zenoh router, otherwise use 'peer' for a distributed system.",
      "type": "string",
      "enum": ["peer", "client"]
    },
    "enable_rest_api":{
      "description": "When true, activates a REST API used to administer Zenoh Bridge configurations",
      "type": "boolean"
    },
    "system_orchestrators": {
      "type": "array",
      "items": { "$ref": "#/$defs/system_orchestrator_unit"}
    },
    "workcell_orchestrators": {
      "type": "array",
      "items": { "$ref": "#/$defs/workcell_orchestrator_unit"}
    }
  },

  "$defs": {
    "queries_timeout": {
      "description": "Timeout parameters for Zenoh queries",
      "type": "object",
      "properties": {
        "default": {
          "type": "number"
        }
      }
    },
    "allow": {
      "description": "Additional endpoints to allow, these could be endpoints not defined in REDF but are necessary for lifecycle transitions",
      "type": "object",
      "properties": {
        "subscribers": {
          "type": "array"
        },
        "publishers": {
          "type": "array"
        },
        "service_servers": {
          "type": "array"
        },
        "service_clients": {
          "type": "array"
        },
        "action_servers": {
          "type": "array"
        },
        "action_clients": {
          "type": "array"
        }
      }
    },
    "system_orchestrator_unit": {
      "type": "object",
      "required": ["namespace", "domain_id", "tcp_listen"],
      "properties": {
        "namespace":{
          "$ref": "#/$defs/namespace"
        },
        "domain_id":{
          "$ref": "#/$defs/domain_id"
        },
        "tcp_listen":{
          "$ref": "#/$defs/tcp_listen"
        },
        "rest_api_http_port":{
          "$ref": "#/$defs/rest_api_http_port"
        },
        "allow":{
          "$ref": "#/$defs/allow"
        },
        "queries_timeout":{
          "$ref": "#/$defs/queries_timeout"
        }
      }
    },
    "workcell_orchestrator_unit": {
      "type": "object",
      "required": ["namespace", "domain_id", "tcp_connect"],
      "properties": {
        "namespace":{
          "$ref": "#/$defs/namespace"
        },
        "domain_id":{
          "$ref": "#/$defs/domain_id"
        },
        "tcp_connect":{
          "$ref": "#/$defs/tcp_connect"
        },
        "rest_api_http_port":{
          "$ref": "#/$defs/rest_api_http_port"
        },
        "allow":{
          "$ref": "#/$defs/allow"
        },
        "queries_timeout":{
          "$ref": "#/$defs/queries_timeout"
        }
      }
    },
    "namespace":{
      "description": "ROS Namespace of the endpoints",
      "type": "string"
    },
    "domain_id":{
      "description": "ROS Domain ID",
      "type": "integer",
      "minimum": 0,
      "maximum": 232
    },
    "tcp_connect":{
      "description": "TCP Address of system orchestrator Zenoh bridge",
      "type": "array"
    },
    "tcp_listen":{
      "description": "TCP Address of system orchestrator Zenoh bridge",
      "type": "array"
    },
    "rest_api_http_port":{
      "description": "HTTP Port for the REST API",
      "type": "integer",
      "minimum": 0,
      "maximum": 65535
    }
  }
}