Skip to main content

auki-registry

Synced from the repository

This page mirrors crates/auki-registry/README.md in the auki-sdk repo (branch develop). The repository is the source of truth.

Sensor / Clock / Frame / Detector / Map identity catalogs and their on-disk IO. Content-addressed: the XXH3-128 hash of the RFC 8785 canonical JSON is the entry's version, and refining an entry is a sibling-write under the same id.

The crate's scope is identity catalogs only — log payload types live in auki-datatypes. Spatial sensor bodies pin exact frame references to the Frame Registry via the shared RegistryRef type.

Status: Shipped.

Public surface​

  • SensorRegistryEntry (peer_id, sensor_id, body) + SensorBody (Camera / Rangefinder / Rf / Audio / JointEncoders / Scalar). Every body has an open-string type field (e.g. "rgb", "point_cloud", "pcm", "battery_charge"). Spatial bodies carry a frame: RegistryRef; Scalar is deliberately non-spatial and instead pins an open-string unit and expected_rate_hz. Camera bodies also pin the immutable frame-byte contract: image_encoding, pixel_format, dimensions, and row_stride_bytes. CameraFrame therefore carries only per-frame data. PointCloud was renamed to Rangefinder; point_cloud is now a sensor.type value under that variant.
  • ClockRegistryEntry (peer_id, clock_id, body)
  • FrameRegistryEntry (peer_id, frame_id, convention fields) + preset constructors FrameRegistryEntry::ros_body(peer_id, frame_id), ros_optical(...), opengl(...), unity(...) — all take peer_id as the first parameter.
  • DetectorRegistryEntry (peer_id, detector_id, body, input_types, output_types). DetectorInput contracts make sensor compatibility discoverable before an instance starts; camera requirements can pin image encoding and pixel format. DetectorBody::Custom is the open extension point for third-party implementations: its namespaced kind and arbitrary JSON configuration are both content-addressed.
  • MapRegistryEntry (peer_id, map_id, body) + MapBody::Voxel(VoxelMap). The voxel contract pins the exact frame, voxel size, chunk dimension, additive evidence model, and semantic labels.
  • RegistryRef { peer_id, id, hash } — shared reference type replacing per-field (sensor_id, sensor_hash) pairs in manifests and sensor bodies.
  • LogRef { source_peer_id, resource_id } — reference type for identifying logs by identity tuple (not a single content hash).
  • write_sensor(app_root, entry) / read_sensor(app_root, peer_id, sensor_id, hash) (and _clock / _frame / _detector / _map variants). Disk paths include the peer_id segment: registries/<kind>/<peer_id>/<id>/<hash>.json.
  • validate_registry_id(id) — rejects >, @, and whitespace. Used by Session::register_* in auki-session.
  • Locked vector pins the canonical-JSON + XXH3-128 chain for the M1 example sensor and clock entries.

Depends on​

  • auki-jcs — for canonicalizing entries before hashing.
  • auki-hash — for the content hash.
  • auki-layout — for the on-disk path of each entry.