# ADOS IPC contract + sidecar version registry — single source of truth.
#
# Every inter-process wire contract and every on-disk state sidecar carries a
# version integer. This file is the one place those versions live, so the Rust,
# Python, and TypeScript sides can never disagree on a contract's version.
#
# Codegen (`cargo run -p ados-capabilities-codegen`) emits, from this file:
# - Rust: crates/ados-protocol/src/contracts.rs
# - Rust: crates/ados-protocol/src/paths.rs (the runtime path registry)
# - Python: src/ados/core/_contracts_generated.py
# - Python: src/ados/core/_paths_generated.py (the runtime path registry)
# - TS: ADOSMissionControl/src/lib/plugins/contracts.generated.ts
#
# Three sections:
# [[contract]] — a versioned inter-process wire contract.
# [[sidecar]] — a versioned on-disk state sidecar (a JSON file one service
# writes and another reads).
# [[socket]] — a Unix socket under the run directory and the service that
# binds it.
#
# Fields:
# id — stable contract/sidecar/socket identifier.
# version — the version integer. For `status = "metadata"` contracts this
# is informational (0 = no registry-managed on-wire integer).
# wire — the on-wire encoding (msgpack | json | binary | ...).
# transport — how it travels (a socket kind, "shared-memory", ...).
# status — "active" (a live versioned contract), "sidecar" (a state
# file), or "metadata" (a primitive / external / legacy surface
# with no registry-managed on-wire integer).
# rust_const — the Rust source-of-truth constant, for provenance (optional).
# description — one line on what the contract carries.
# path — (sidecar, socket) the default absolute path. A path under
# /run/ados resolves under the `ADOS_RUN_DIR` override at
# runtime; a `<placeholder>` segment marks a per-instance name.
# max_age_ms — (sidecar, optional) the freshness window: a file whose mtime
# is older than this is stale. Omitted for a sidecar that is
# written on change or persists state, where mtime is not age.
# writer — (sidecar) the service that writes the file.
# owner — (socket) the service that binds the socket.
#
# The version integers here mirror the constants in crates/ados-protocol/src.
# When a contract's on-wire shape changes, bump both the constant and this file
# in the same change, and regenerate. Do not edit the generated files by hand.
#
# Every sidecar a crate names by literal (`run_dir().join("x.json")` or
# "/run/ados/x.json") must have a row here; the ados-protocol
# `sidecar_registry_scan` test enforces it.
# ===========================================================================
# PROFILES — the canonical agent profile list
# ===========================================================================
# Emitted as `PROFILES` into contracts.rs, _contracts_generated.py and the
# Mission Control contracts.generated.ts. Every profile union in Rust, Python
# and TypeScript derives from or is asserted against this list
# (tests/test_profile_parity.py). `auto` is a config input, not a profile.
[profiles]
values = ["drone", "ground_station", "workstation", "compute", "visor"]
# ===========================================================================
# CONTRACTS — versioned inter-process wire contracts
# ===========================================================================
[[contract]]
id = "plugin.rpc"
version = 1
wire = "msgpack"
transport = "unix-stream"
status = "active"
rust_const = "ados_protocol::plugin::PROTOCOL_VERSION"
description = "Plugin RPC envelope: msgpack short-key request/response plus a pipe-delimited HMAC-SHA256 capability token."
[[contract]]
id = "logd.ingest"
version = 1
wire = "msgpack"
transport = "unix-socket"
status = "active"
rust_const = "ados_protocol::logd::WIRE_VERSION"
description = "Black-box ingest frames: logs, telemetry, discrete events, and hardware snapshots."
[[contract]]
id = "logd.read"
version = 1
wire = "json"
transport = "http"
status = "active"
rust_const = "ados_protocol::logd::ENVELOPE_VERSION"
description = "Black-box read-API request and response envelope."
[[contract]]
id = "framebus.ring"
version = 1
wire = "binary"
transport = "shared-memory"
status = "active"
rust_const = "ados_protocol::framebus::RingLayout::VERSION"
description = "Shared-memory vision frame ring layout: a header plus seqlock-guarded slots."
[[contract]]
id = "framebus.descriptor"
version = 2
wire = "msgpack"
transport = "event-bus"
status = "active"
rust_const = "ados_protocol::framebus::FRAMEBUS_DESCRIPTOR_VERSION"
description = "The small vision.frame descriptor naming a ring slot and its frame geometry. v2 replaces ts_ms with ts_ns (host monotonic, exposure-mid when known) and adds ts_sensor_ns, exposure_ns, trigger_seq, timebase and the Gray8/Gray16/Bayer formats."
[[contract]]
id = "tap.frame"
version = 2
wire = "binary"
transport = "unix-stream"
status = "active"
rust_const = "ados_protocol::tap::TAP_CONTRACT_VERSION"
description = "Vision-tap frame header (ADVT magic) between the video pipeline and the vision engine. v2 adds ts_mono_ns, the host monotonic arrival time of the frame."
[[contract]]
id = "vision.detection"
version = 3
wire = "msgpack"
transport = "event-bus"
status = "active"
description = "Self-describing detection/percept batches published on the vision.detection topic (v2 adds optional mask, keypoints, depth, world position, and an optional 2D box; v3 stamps ts_ms from the frame's host monotonic clock, not wall-clock)."
[[contract]]
id = "state.v2"
version = 4
wire = "msgpack"
transport = "unix-stream"
status = "active"
# EXACT-MATCH / STRICT LOCKSTEP. Both readers compare `version != <this>` and
# skip the frame on ANY mismatch (Rust `state::decode_v2`, Python
# `ados.core.ipc._decode_state_v2_body`); neither tolerates an unknown key. So
# EVERY change to the body shape MUST bump this integer, including a purely
# additive one. Adding a field without bumping produces two different payload
# shapes wearing the same version number, which is worse than the restart-window
# flag day a bump costs: the flag day is loud and bounded, whereas a silent
# version is a permanent ambiguity no reader can detect, and a registry whose
# version does not move when the shape moves has stopped meaning anything.
#
# The id names the FRAMING generation (length-prefixed msgpack, superseding the
# newline-JSON state.v1); the integer is the registry version of the body shape
# and moves independently of it.
description = "Length-prefixed msgpack vehicle-state frame (the current state-socket format). v3 added position_age_ms (how long since the flight controller's last decoded POSITION, read by the swarm beacon's suppression gate). v4 publishes a not-reported reading (battery voltage/current/remaining/temperature, GPS eph/epv, RC rssi) as null instead of the MAVLink sentinel. The runtime extras carry `fc_system_id`/`fc_component_id` once the FC heartbeat is latched."
[[contract]]
id = "frame"
version = 0
wire = "binary"
transport = "unix-stream"
status = "metadata"
description = "The 4-byte big-endian length transport primitive shared by plugin.rpc, the MAVLink socket, and state.v2. No version of its own."
[[contract]]
id = "mavlink.socket"
version = 2
wire = "binary"
transport = "unix-stream"
status = "active"
rust_const = "ados_protocol::mavlink_socket::MAVLINK_SOCKET_VERSION"
description = "MAVLink frame broadcast socket. v2 prefixes every frame the router fans out with an 8-byte little-endian rx_mono_ns (host CLOCK_MONOTONIC when the router read it); frames written by clients carry no header. MAVLink framing itself defers to external MAVLink v1/v2."
[[contract]]
id = "mavlink.ingest"
version = 0
wire = "binary"
transport = "unix-stream"
status = "metadata"
description = "Off-board MAVLink frames into a node's republish fan-out; the opposite direction to mavlink.socket, and versioned by external MAVLink v1/v2 the same way."
[[contract]]
id = "aux.frame"
version = 1
wire = "binary"
transport = "udp"
status = "active"
rust_const = "ados_protocol::aux_mux::AUX_VERSION"
description = "Auxiliary radio lane multiplex header (magic, version, channel, length) letting MAVLink, status, and identity share one datagram pipe."
[[contract]]
id = "aux.node_status"
version = 2
wire = "msgpack"
transport = "udp"
status = "active"
rust_const = "ados_protocol::node_status::NODE_STATUS_VERSION"
description = "Compact node status and identity carried on the auxiliary lane's status and identity channels, so a ground station can describe the node it relays."
[[contract]]
id = "aux.link_feedback"
version = 1
wire = "binary"
transport = "udp"
status = "active"
rust_const = "ados_protocol::link_feedback::LINK_FEEDBACK_VERSION"
description = "Ground-measured video-link quality reported back to the transmitting drone, so its adaptive bitrate ladder steps on a real loss sample instead of the sentinel a transmit-only radio can never leave."
[[contract]]
id = "state.v1"
version = 1
wire = "newline-json"
transport = "unix-stream"
status = "metadata"
description = "Legacy newline-terminated JSON vehicle-state frame; superseded by state.v2. No on-wire version integer."
[[contract]]
id = "ws_ticket"
version = 1
wire = "string"
transport = "websocket-subprotocol"
status = "metadata"
rust_const = "ados_protocol::ws_ticket::TICKET_KEY_LABEL"
description = "String-tagged (v2) single-use HMAC-SHA256 WebSocket auth ticket; the version is a string tag, not a wire integer."
[[contract]]
id = "cloud-publish"
version = 1
wire = "msgpack"
transport = "unix-stream"
status = "active"
rust_const = "ados_protocol::cloud_publish::CLOUD_PUBLISH_VERSION"
description = "Plugin data leaving the node through the cloud relay: the plugin host forwards a gated stream message (QoS 0 broker publish) or keyed JSON record (cloud record upsert) to ados-cloud over a root-only socket, one length-prefixed msgpack request and reply per exchange."
[[contract]]
id = "sensor.v1"
version = 1
wire = "msgpack"
transport = "unix-stream"
status = "active"
rust_const = "ados_sensorbus::SENSOR_BUS_VERSION"
description = "The sensor bus (seam J): length-prefixed msgpack frames {v, kind, src, origin, payload} brokered by ados-clock on sensors.sock. clock/imu/gnss/trigger payloads are the capture contract ados.capture.v1 protobuf messages, with every t_ns on the host monotonic clock; baro, mag and sync are msgpack; rtcm is raw RTCM3 bytes toward the receivers."
# ===========================================================================
# SIDECARS — versioned on-disk state files
# ===========================================================================
[[sidecar]]
id = "cloud-link"
version = 1
path = "/run/ados/cloud-link.json"
writer = "ados-cloud"
rust_const = "ados_protocol::cloud_link::CLOUD_LINK_SIDECAR"
description = "Cloud relay link state: broker session confirmed up, and the outcome of the last agent status POST."
[[sidecar]]
id = "offload-link"
version = 1
path = "/run/ados/offload-link.json"
writer = "ados-plugin-host"
rust_const = "ados_protocol::offload_link::OFFLOAD_LINK_SIDECAR"
description = "Drone perception offload-link state: a paired reachable workstation the drone is offloading to, feeding the perception-tier decision."
[[sidecar]]
id = "wfb-stats"
version = 2
path = "/run/ados/wfb-stats.json"
max_age_ms = 10000
writer = "ados-radio, ados-groundlink"
rust_const = "ados_protocol::paths::WFB_STATS_JSON"
description = "WFB link statistics: RSSI, packet counters, derived link state, and per-adapter receive counters with the diversity block."
[[sidecar]]
id = "hop-supervisor"
version = 1
path = "/run/ados/hop-supervisor.json"
max_age_ms = 10000
writer = "ados-radio"
rust_const = "ados_radio::paths::HOP_SUPERVISOR_JSON"
description = "FHSS hop-supervisor state."
[[sidecar]]
id = "peer-presence"
version = 1
path = "/run/ados/peer-presence.json"
max_age_ms = 10000
writer = "ados-radio"
rust_const = "ados_radio::paths::PEER_PRESENCE_JSON"
description = "The drone's view of its one ground peer from the presence beacon: the peer's channel and when it was last heard."
[[sidecar]]
id = "mgmt-link"
version = 1
path = "/run/ados/mgmt-link.json"
max_age_ms = 90000
writer = "ados-supervisor"
description = "Management-link guardian state."
[[sidecar]]
id = "mgmt-failover"
version = 1
path = "/run/ados/mgmt-failover.json"
max_age_ms = 90000
writer = "ados-supervisor"
description = "Management-link reach-back mode: primary, wifi_heartbeat, or none, with the failover interface and reason."
[[sidecar]]
id = "usb-rehome"
version = 1
path = "/run/ados/usb-rehome.json"
max_age_ms = 600000
writer = "ados-supervisor"
description = "USB-rehome self-heal state for a WFB adapter on a slow USB port: the recovery state, attempt count, and last outcome."
[[sidecar]]
id = "wifi-powersave"
version = 1
path = "/run/ados/wifi-powersave.json"
max_age_ms = 120000
writer = "ados-supervisor"
description = "WiFi power-save runtime reconciler state per station interface."
[[sidecar]]
id = "wfb_failover"
version = 1
path = "/run/ados/wfb_failover.json"
max_age_ms = 10000
writer = "ados-supervisor"
description = "Local-bind to cloud-relay failover state."
[[sidecar]]
id = "wfb-pair-proof"
version = 1
path = "/var/lib/ados/wfb-pair-proof.json"
writer = "ados-radio, ados-groundlink"
rust_const = "ados_protocol::pair_proof::PAIR_PROOF_SIDECAR_VERSION"
description = "Per-key WFB pair proof: whether a radio key's fingerprint has ever been confirmed to carry a link, plus the bounded auto-pair re-arm budget. Persistent, so the budget survives a reboot."
[[sidecar]]
id = "bind-state"
version = 1
path = "/run/ados/bind-state.json"
writer = "ados-radio"
rust_const = "ados_radio::paths::BIND_STATE_SENTINEL"
description = "WFB bind-session sentinel and precheck result."
[[sidecar]]
id = "crsf-stats"
version = 2
path = "/run/ados/crsf-stats.json"
max_age_ms = 10000
writer = "ados-crsf"
rust_const = "ados_crsf::paths::CRSF_STATS_JSON"
description = "CRSF RC-lane state and link statistics: lane state, RSSI/LQ/SNR, frame rates, and the received-side liveness verdict. v2 adds modules[]: one entry per configured RC module with its role, port, link statistics and reported ELRS domain."
[[sidecar]]
id = "lora"
version = 1
path = "/run/ados/lora.json"
max_age_ms = 10000
writer = "ados-lora"
rust_const = "ados_lora_service::paths::LORA_JSON"
description = "LoRa lane state: transport, module band, resolved region and plan, channel and power, the governor's per-rule state (duty, dwell, listen-before-talk, power), TX/RX counters and the Meshtastic bridge."
[[sidecar]]
id = "lora-beacons"
version = 1
path = "/run/ados/lora-beacons.json"
max_age_ms = 10000
writer = "ados-lora"
rust_const = "ados_lora_service::paths::LORA_BEACONS_JSON"
description = "Beacons heard on the LoRa lane, newest first, capped at 100."
[[sidecar]]
id = "tunnel-config"
version = 1
path = "/run/ados/tunnel-config.json"
max_age_ms = 30000
writer = "ados-config-tunnel"
rust_const = "ados_config_tunnel::paths::TUNNEL_CONFIG_STATS_JSON"
description = "Config-over-radio channel state: role (terminator/injector), enable + write gates, local bearer ports, and received-side frame/request/response/reject/timeout counters."
[[sidecar]]
id = "relayed-status"
version = 1
path = "/run/ados/relayed-status.json"
max_age_ms = 20000
writer = "ados-groundlink"
rust_const = "ados_groundlink::aux_peers::AUX_PEERS_SIDECAR_VERSION"
description = "Nodes a ground station relays, as they describe themselves over the radio auxiliary lane: identity, a compact status snapshot, and the arrival time of each so a reader can tell fresh from stale."
[[sidecar]]
id = "linked-peers"
version = 1
path = "/run/ados/linked-peers.json"
writer = "ados-groundlink"
rust_const = "ados_groundlink::paths::LINKED_PEERS_JSON"
description = "The drones a ground station currently links, one entry per peer with its own last-seen time; each entry carries its own freshness, so the file has no single window."
[[sidecar]]
id = "mesh-state"
version = 1
path = "/run/ados/mesh-state.json"
max_age_ms = 10000
writer = "ados-groundlink"
rust_const = "ados_groundlink::paths::MESH_STATE_JSON"
description = "Mesh role and membership state."
[[sidecar]]
id = "wfb-relay"
version = 1
path = "/run/ados/wfb-relay.json"
max_age_ms = 10000
writer = "ados-groundlink"
rust_const = "ados_groundlink::paths::WFB_RELAY_JSON"
description = "Relay-role fragment counters a relay ground station forwards to its receiver."
[[sidecar]]
id = "wfb-receiver"
version = 1
path = "/run/ados/wfb-receiver.json"
max_age_ms = 10000
writer = "ados-groundlink"
rust_const = "ados_groundlink::paths::WFB_RECEIVER_JSON"
description = "Receiver-role per-relay counters and the combined FEC output statistics."
[[sidecar]]
id = "fleet-hero"
version = 1
path = "/run/ados/fleet-hero.json"
writer = "ados-control"
rust_const = "ados_groundlink::fleet_hero::FLEET_HERO_JSON"
description = "The fleet hero a ground station shows: the selected drone, stamped on every decision and read back by the video fan-out on a slow poll."
[[sidecar]]
id = "camera-state"
version = 2
path = "/run/ados/camera-state.json"
max_age_ms = 300000
writer = "ados-video"
rust_const = "ados_video::camera_state::CAMERA_STATE_JSON"
description = "Camera discovery readiness AND the streaming pipeline's outcome for that camera, so a detected camera can never read as a streaming one. Keys: version, state, primary_path, primary_name, total_cameras, pipeline_state (unknown|starting|streaming|error|stopped; streaming only once mediamtx holds the encoder's publisher on main, starting while the encoder is spawned but has not published), pipeline_reason (set only on error), encoder (rpicam-vid, or <ffmpeg|gstreamer>-<codec element> e.g. ffmpeg-h264_v4l2m2m / ffmpeg-libx264), encoder_hw, encoder_forced_software (the hardware encoder failed and the next start is pinned to the software encoder), updated_at_unix."
[[sidecar]]
id = "cameras-discovered"
version = 1
path = "/run/ados/cameras-discovered.json"
writer = "ados.hal.camera"
description = "Every camera the hardware layer discovered, with its device path and capabilities, for the camera-config route."
[[sidecar]]
id = "video-streams"
version = 2
path = "/run/ados/video-streams.json"
max_age_ms = 20000
writer = "ados-video"
rust_const = "ados_video::video_streams::VIDEO_STREAMS_JSON"
description = "Per-leg video stream list (id/role/codec/live) the node serves, for the GCS stream switcher."
[[sidecar]]
id = "video-profile"
version = 1
path = "/run/ados/video-profile.json"
writer = "ados-video"
description = "The active video encoder profile and its leases, stamped on every change and read by the radio and the fan-out."
[[sidecar]]
id = "camera-usb-recovery"
version = 1
path = "/run/ados/camera-usb-recovery.json"
max_age_ms = 60000
writer = "ados-supervisor"
description = "Camera USB-recovery reconciler state."
[[sidecar]]
id = "janitor"
version = 1
path = "/run/ados/janitor.json"
writer = "ados-supervisor"
description = "Disk-janitor state: the agent's footprint per category against its budget, the rung the last pass ran at, the bytes it reclaimed per category, what is still reclaimable, and the free space it left behind."
[[sidecar]]
id = "pic-state"
version = 1
path = "/run/ados/pic-state.json"
writer = "ados-hid"
rust_const = "ados_hid::paths::PIC_STATE_JSON"
description = "Pilot-in-command arbiter state."
[[sidecar]]
id = "ground-station-input"
version = 1
path = "/etc/ados/ground-station-input.json"
writer = "ados-hid"
rust_const = "ados_hid::sidecar::GS_INPUT_JSON"
description = "The ground station's persisted primary input device selection. Persistent, so it lives beside the agent config."
[[sidecar]]
id = "gpio-output"
version = 1
path = "/run/ados/gpio-output.json"
writer = "ados-gpio"
rust_const = "ados_gpio::sidecar::GPIO_OUTPUT_PATH"
description = "Driven GPIO output-line state."
[[sidecar]]
id = "board"
version = 1
path = "/run/ados/board.json"
writer = "ados-hal-probe"
description = "Detected board fingerprint."
[[sidecar]]
id = "config-status"
version = 1
path = "/run/ados/config-status-<service>.json"
writer = "ados-config"
description = "Per-service config-load status: a loud-fail record written when a service's config is malformed."
[[sidecar]]
id = "fc-identity"
version = 1
path = "/run/ados/fc-identity.json"
writer = "ados-control"
rust_const = "ados_control::routes::fc_identity::SIDECAR_VERSION"
description = "Flight-controller identity reconciler outcome: whether the write is enabled, the last tick's outcome, the wanted and current system id."
[[sidecar]]
id = "mavlink-router"
version = 1
path = "/run/ados/mavlink-router.json"
max_age_ms = 15000
writer = "ados-mavlink-router"
description = "The router's learned routes (sysid, compid, endpoint), per-endpoint rx/tx counters, and sensor_rates_hz (the flight-controller sensor streams currently requested, by sensor-bus stream id), rewritten on change and at least every 5 s."
[[sidecar]]
id = "link-feedback"
version = 1
path = "/run/ados/link-feedback.json"
writer = "ados-mavlink-router"
rust_const = "ados_protocol::link_feedback::LINK_FEEDBACK_SIDECAR"
description = "The latest ground-measured video-link quality report the drone received, for its adaptive bitrate ladder."
[[sidecar]]
id = "plugin-loopback-guard"
version = 1
path = "/run/ados/plugin-loopback-guard.json"
writer = "ados-plugin-host"
rust_const = "ados_protocol::plugin_loopback_guard::SIDECAR_NAME"
description = "The loopback ports plugins hold, so the plugin host can refuse a plugin binding a port another one owns."
[[sidecar]]
id = "plugin-state"
version = 1
path = "/run/ados/plugins/<plugin_id>-state.json"
max_age_ms = 10000
writer = "ados-plugin-host"
description = "A plugin's latest published state per topic, served back by the plugin state route."
[[sidecar]]
id = "ap-guard"
version = 1
path = "/run/ados/ap-guard.json"
writer = "ados-net"
description = "The setup access-point guard's last decision and the interface it resolved."
[[sidecar]]
id = "logd-push-request"
version = 1
path = "/run/ados/logd-push-request.json"
writer = "ados-control"
rust_const = "ados_cloud::log_push::PUSH_REQUEST_PATH"
description = "An operator's log-push request for the cloud service to consume: the window selector and a request id."
[[sidecar]]
id = "logd-push-result"
version = 1
path = "/run/ados/logd-push-result.json"
writer = "ados-cloud"
rust_const = "ados_cloud::log_push::PUSH_RESULT_PATH"
description = "The cloud service's outcome for the last log-push request, keyed by its request id."
[[sidecar]]
id = "lcd-latency"
version = 1
path = "/run/ados/lcd-latency.json"
max_age_ms = 10000
writer = "ados-video"
description = "SEI glass-to-glass latency snapshot the video tap writes at 1 Hz while the latency probe runs."
[[sidecar]]
id = "lcd-fb-stats"
version = 1
path = "/run/ados/lcd-fb-stats.json"
max_age_ms = 10000
writer = "ados-display"
rust_const = "ados_display::sidecar::LCD_FB_STATS_PATH"
description = "The LCD framebuffer writer's counters (writes, drops, skipped duplicates, last write time), written at 1 Hz."
[[sidecar]]
id = "lcd-state"
version = 1
path = "/run/ados/lcd-state.json"
writer = "ados-display"
rust_const = "ados_display::sidecar::LCD_STATE_PATH"
description = "The LCD's active page id, restored on a display restart."
[[sidecar]]
id = "lcd-page-request"
version = 1
path = "/run/ados/lcd-page-request.json"
writer = "ados-api"
rust_const = "ados_display::sidecar::LCD_PAGE_REQUEST_PATH"
description = "A pending remote LCD page switch; the display reads it then unlinks it."
[[sidecar]]
id = "lcd-plugin-page"
version = 1
path = "/run/ados/lcd-plugin-page.json"
writer = "ados-plugin-host"
rust_const = "ados_display::sidecar::LCD_PLUGIN_PAGE_PATH"
description = "Plugin-contributed content for the LCD's reserved plugin page: title, rows, and touch zones."
[[sidecar]]
id = "lcd-plugin-tap"
version = 1
path = "/run/ados/lcd-plugin-tap.json"
writer = "ados-display"
rust_const = "ados_display::sidecar::LCD_PLUGIN_TAP_PATH"
description = "A pending plugin display action fired by a touch zone or button, for the plugin host to deliver."
# In the sensing directory with the sensor bus socket: plugins granted
# sensor.stream.read get that directory bound, so they follow every rename.
[[sidecar]]
id = "clock"
version = 1
path = "/run/ados/sensing/clock.json"
max_age_ms = 5000
writer = "ados-clock"
description = "The host timebase and its disciplining sources: the timebase the next capture session uses, the lock verdict, sigma, and per-source offset/skew/sigma (fc, hub, gnss PPS, sim)."
[[sidecar]]
id = "sensors"
version = 1
path = "/run/ados/sensors.json"
max_age_ms = 5000
writer = "ados-clock"
description = "Every sensor stream seen on the sensor bus: kind, source id, measured rate, last sample time."
[[sidecar]]
id = "sensorhub"
version = 1
path = "/run/ados/sensorhub.json"
max_age_ms = 5000
writer = "ados-sensorhub"
description = "The sensor hub link: transport, connection, firmware and board from Hello, protocol version, uptime, CRC errors and dropped packets."
[[sidecar]]
id = "gnss"
version = 1
path = "/run/ados/gnss.json"
max_age_ms = 5000
writer = "ados-gnss"
description = "GNSS receivers (fix, satellites, position, RTK, PPS lock), the RTK base state (survey-in, fixed position, RTCM out) and the moving-baseline heading."
# Alone in its directory, which capture.storage.write plugins get bound
# read-only, so they follow every rename.
[[sidecar]]
id = "capture-storage"
version = 1
path = "/run/ados/capture-storage/capture-storage.json"
max_age_ms = 30000
writer = "ados-supervisor"
description = "The capture storage root, its volume, capture usage against the budget and free-space floor, session counts, and the admission state (ok, near_full, full) a new capture session is checked against."
# ===========================================================================
# SOCKETS — Unix sockets under the run directory
# ===========================================================================
[[socket]]
id = "api-internal"
path = "/run/ados/api-internal.sock"
owner = "ados-api"
[[socket]]
id = "aux-cmd"
path = "/run/ados/aux-cmd.sock"
owner = "ados-radio"
[[socket]]
id = "aux-rpc-responses"
path = "/run/ados/aux-rpc-responses.sock"
owner = "ados-control"
[[socket]]
id = "buttons"
path = "/run/ados/buttons.sock"
owner = "ados-hid"
[[socket]]
id = "cloud-publish"
path = "/run/ados/cloud-publish.sock"
owner = "ados-cloud"
[[socket]]
id = "crsf-cmd"
path = "/run/ados/crsf-cmd.sock"
owner = "ados-crsf"
[[socket]]
id = "gpio-cmd"
path = "/run/ados/gpio-cmd.sock"
owner = "ados-gpio"
[[socket]]
id = "groundlink-cmd"
path = "/run/ados/groundlink-cmd.sock"
owner = "ados-groundlink"
[[socket]]
id = "hid-cmd"
path = "/run/ados/hid-cmd.sock"
owner = "ados-hid"
[[socket]]
id = "logd"
path = "/run/ados/logd.sock"
owner = "ados-logd"
[[socket]]
id = "logd-query"
path = "/run/ados/logd-query.sock"
owner = "ados-logd"
[[socket]]
id = "mavlink"
path = "/run/ados/mavlink.sock"
owner = "ados-mavlink-router"
[[socket]]
id = "mavlink-ingest"
path = "/run/ados/mavlink-ingest.sock"
owner = "ados-mavlink-router"
[[socket]]
id = "msp"
path = "/run/ados/msp.sock"
owner = "ados-mavlink-router"
[[socket]]
id = "gnss-cmd"
path = "/run/ados/gnss-cmd.sock"
owner = "ados-gnss"
[[socket]]
id = "pairing"
path = "/run/ados/pairing.sock"
owner = "ados-groundlink"
[[socket]]
id = "pic"
path = "/run/ados/pic.sock"
owner = "ados-hid"
[[socket]]
id = "radio-aux"
path = "/run/ados/radio-aux.sock"
owner = "ados-radio"
[[socket]]
id = "radio-cmd"
path = "/run/ados/radio-cmd.sock"
owner = "ados-radio"
[[socket]]
id = "state"
path = "/run/ados/state.sock"
owner = "ados-mavlink-router"
[[socket]]
id = "supervisor"
path = "/run/ados/supervisor.sock"
owner = "ados-supervisor"
[[socket]]
id = "swarm"
path = "/run/ados/swarm.sock"
owner = "ados-swarmbus"
[[socket]]
id = "tunnel-config-cmd"
path = "/run/ados/tunnel-config-cmd.sock"
owner = "ados-config-tunnel"
[[socket]]
id = "video-cmd"
path = "/run/ados/video-cmd.sock"
owner = "ados-supervisor"
[[socket]]
id = "video-encoder"
path = "/run/ados/video-encoder.sock"
owner = "ados-video"
[[socket]]
id = "sensor-bus"
path = "/run/ados/sensing/sensors.sock"
owner = "ados-clock"
[[socket]]
id = "vision"
path = "/run/ados/vision.sock"
owner = "ados-vision"
[[socket]]
id = "wfb-cmd"
path = "/run/ados/wfb-cmd.sock"
owner = "ados-radio"
[[socket]]
id = "wifi-cmd"
path = "/run/ados/wifi-cmd.sock"
owner = "ados-net"