Scopes

Scopes are the main data structure used in the data access layer. They are used to store and retrieve data from the key value database.

The following sections describe the different types of scopes and how they are used in the data access layer.

The fllowing scopes exist in the data access layer:

Alert
Application
Callback
Configuration
FleetRobot
Flow
Form
Message
Node
Package
Ports
Robot
Role
StateMachine
System
Translation
User
Widget

Node

Specific validations

Besides the JSON schema validation, Node scopes have some specific validations:

The Type field must be a valid node type
The PortsInst field is validated against the node Type with:
- Type must be one of the defined NODE_TYPES
- If Type is in ROS1 category, PortsInst cannot have ROS2 templates
- If Type is in ROS2 category, PortsInst cannot have ROS1 templates
- If Type is MovAI/State, PortsInst must have at least one transition template
- If Type is not MovAI/State, PortsInst cannot have transition templates
- If Type is ROS1/Plugin, PortsInst must have at least one ROS1/PluginClient template
- If Type is not ROS1/Plugin, PortsInst cannot have ROS1/PluginClient templates
- If Type is ROS1/Nodelet, PortsInst must have at least one ROS1/NodeletClient or ROS1/NodeletServer template
- If Type is not ROS1/Nodelet, PortsInst cannot have ROS1/NodeletClient or ROS1/NodeletServer templates
- If Type is MOVAI/Server, PortsInst must have at least one MOVAI http template
- If Type is not MOVAI/Server, PortsInst cannot have MOVAI http templates

Allowed I/O templates

The following I/O templates are allowed for each node type:

ROS1/Nodelet:
- MovAI/Depends
- MovAI/Dependency
- ROS1/ActionClient
- ROS1/ActionServer
- ROS1/Bag
- ROS1/NodeletClient
- ROS1/NodeletServer
- ROS1/ParameterServer
- ROS1/PluginServer
- ROS1/Publisher
- ROS1/ReconfigureClient
- ROS1/ReconfigureServer
- ROS1/ServiceClient
- ROS1/ServiceServer
- ROS1/Subscriber
- ROS1/TFPublisher
- ROS1/TFSubscriber
- ROS1/Timer
- ROS1/TopicHz
ROS1/Node:
- MovAI/Depends
- MovAI/Dependency
- ROS1/ActionClient
- ROS1/ActionServer
- ROS1/Bag
- ROS1/ParameterServer
- ROS1/PluginServer
- ROS1/Publisher
- ROS1/ReconfigureClient
- ROS1/ReconfigureServer
- ROS1/ServiceClient
- ROS1/ServiceServer
- ROS1/Subscriber
- ROS1/TFPublisher
- ROS1/TFSubscriber
- ROS1/Timer
- ROS1/TopicHz
ROS1/Plugin:
- ROS1/PluginClient
MovAI/Node:
- MovAI/ContextClient
- MovAI/ContextServer
- MovAI/Dependency
- MovAI/Depends
- MovAI/Init
- ROS1/ActionClient
- ROS1/Bag
- ROS1/ParameterServer
- ROS1/Publisher
- ROS1/ReconfigureClient
- ROS1/ReconfigureServer
- ROS1/ServiceClient
- ROS1/ServiceServer
- ROS1/Subscriber
- ROS1/TFPublisher
- ROS1/TFSubscriber
- ROS1/Timer
- ROS1/TopicHz
- Redis/Subscriber
- Redis/VarSubscriber
MovAI/State:
- MovAI/ContextClient
- MovAI/ContextServer
- MovAI/Dependency
- MovAI/Depends
- MovAI/Init
- MovAI/TransitionFor (aka MovAI/TransitionOut)
- MovAI/TransitionTo (aka MovAI/TransitionIn)
- ROS1/ActionClient
- ROS1/Bag
- ROS1/ParameterServer
- ROS1/Publisher
- ROS1/ReconfigureClient
- ROS1/ReconfigureServer
- ROS1/ServiceClient
- ROS1/ServiceServer
- ROS1/Subscriber
- ROS1/TFPublisher
- ROS1/TFSubscriber
- ROS1/Timer
- ROS1/TopicHz
- Redis/Subscriber
- Redis/VarSubscriber
MovAI/Server:
- MovAI/ContextClient
- MovAI/ContextServer
- MovAI/Dependency
- MovAI/Depends
- MovAI/Init
- ROS1/ActionClient
- ROS1/Bag
- ROS1/ParameterServer
- ROS1/Publisher
- ROS1/ReconfigureClient
- ROS1/ReconfigureServer
- ROS1/ServiceClient
- ROS1/ServiceServer
- ROS1/Subscriber
- ROS1/TFPublisher
- ROS1/TFSubscriber
- ROS1/Timer
- ROS1/TopicHz
- Redis/Subscriber
- Redis/VarSubscriber
- AioHttp/Http
- AioHttp/Websocket
ROS2/Node:
- MovAI/Depends
- MovAI/Dependency
- ROS2/Publisher
- ROS2/ServiceClient
- ROS2/ServiceServer
- ROS2/Subscriber
- ROS2/ActionServer
- ROS2/ActionClient
ROS2/Launch:
- MovAI/Depends
- MovAI/Dependency

Mandatory I/O templates

From the above rules, we can derive the following mandatory I/O templates for each node type:

ROS1/Nodelet: a port with either ROS1/NodeletClient or ROS1/NodeletServer template
ROS1/Node: no mandatory I/O templates
ROS1/Plugin: a port with ROS1/PluginClient template
MovAI/Node: no mandatory I/O templates
MovAI/State: a port with either a MovAI/TransitionTo or MovAI/TransitionFor template
MovAI/Server: a port with either a AioHttp/Http or AioHttp/Websocket template
ROS2/Node: no mandatory I/O templates
ROS2/Launch: no mandatory I/O templates

Sensible default ports

Sensible default ports for each node type (to be added autocamatically when creating a node of that type):

ROS1/Nodelet:
- a port named nodelet_client with ROS1/NodeletClient template
ROS1/Node:
- a port named dependency with MovAI/Dependency template
ROS1/Plugin:
- a port named plugin with ROS1/PluginClient template
MovAI/Node:
- a port named dependency with MovAI/Dependency template
- a port named init with MovAI/Init template
MovAI/State:
- a port named init with MovAI/Init template
- a port named in with a MovAI/TransitionTo template
- a port named out with a MovAI/TransitionFor template
MovAI/Server:
- a port named dependency with MovAI/Dependency template
- a port named init with MovAI/Init template
- a port named http with AioHttp/Http template
ROS2/Node:
- a port named dependency with MovAI/Dependency template
ROS2/Launch:
- a port named dependency with MovAI/Dependency template

Ports (I/O templates)

Ports are complex structures based on the following concepts:

Transports: the base communication mechanism used by the protocol, e.g. ROS1, ROS2, Redis, AioHttp, MovAI
Protocols and primitives (direction): the specific communication pattern used by the port, e.g. Publisher, Subscriber - In MovAI Protocol is used to identify both the protocol and the primitive
I/O templates: configuration of a transport and protocol + primitive, e.g. MovAI/ContextClient - This is the structure that can actually be added to a node. It can be an in port, an out port, or both.

Each Transport has the following I/O templates available:

ROS1:
- ROS1/ActionClient
- ROS1/ActionServer
- ROS1/Bag
- ROS1/NodeletClient
- ROS1/NodeletServer
- ROS1/ParameterServer
- ROS1/PluginClient
- ROS1/PluginServer
- ROS1/Publisher
- ROS1/ReconfigureClient
- ROS1/ReconfigureServer
- ROS1/ServiceClient
- ROS1/ServiceServer
- ROS1/Subscriber
- ROS1/TFPublisher
- ROS1/TFSubscriber
- ROS1/Timer
- ROS1/TopicHz
ROS2:
- ROS2/Publisher
- ROS2/ServiceClient
- ROS2/ServiceServer
- ROS2/Subscriber
- ROS2/ActionServer
- ROS2/ActionClient
MovAI:
- MovAI/ContextClient
- MovAI/ContextServer
- MovAI/Dependency
- MovAI/Depends
- MovAI/Init
- MovAI/TransitionFor (aka MovAI/TransitionOut)
- MovAI/TransitionTo (aka MovAI/TransitionIn)
Redis:
- Redis/Subscriber
- Redis/VarSubscriber
AioHttp:
- AioHttp/Http
- AioHttp/Websocket