Market Messages

Market messages is used for exchange Demand and Offer information. It also used for delivery Result messages with liability execution reports.

Note

This is spec for Robonomics Generation 5.

  • Currently for message delivery is used IPFS PubSub broadcaster.
  • IPFS PubSub topic is set according to Lighthouse ENS name.

Messages content

Robonomics market message use JSON data format.

Demand

Field ROS Type Description
model ipfs_common/Multihash CPS behavioral model identifier
objective ipfs_common/Multihash CPS behavioral model parameters in rosbag file
token ethereum_common/Address Operational token address
cost ethereum_common/UInt256 CPS behavioral model execution cost
lighthouse ethereum_common/Address Lighthouse contract address
validator ethereum_common/Address Observing network address
validatorFee ethereum_common/UInt256 Observing network fee
deadline ethereum_common/UInt256 Deadline block number
nonce ethereum_common/UInt256 Robonomics message counter
sender ethereum_common/Address Message sender address
signature std_msgs/UInt8[] Sender’s Ethereum signature

Offer

Field ROS Type Description
model ipfs_commom/Multihash CPS behavioral model identifier
objective ipfs_commom/Multihash CPS behavioral model parameters in rosbag file
token ethereum_commom/Address Operational token address
cost ethereum_commom/UInt256 CPS behavioral model execution cost
validator ethereum_commom/Address Observing network address
lighthouse ethereum_commom/Address Lighthouse contract address
lighthouseFee ethereum_commom/UInt256 Liability creation fee
deadline ethereum_commom/UInt256 Deadline block number
nonce ethereum_commom/UInt256 Robonomics message counter
sender ethereum_commom/Address Message sender address
signature std_msgs/UInt8[] Sender’s Ethereum signature

Result

Field ROS Type Description
liability ethereum_commom/Address Liability contract address
result ipfs_commom/Multihash Liability result multihash
success std_msgs/Bool Is liability executed successful
signature std_msgs/UInt8[] Sender’s Ethereum signature

Messages signing

Before signing the messages is packed using abi.encodePacked solidity finction and hashed by Keccak_256.

   demandHash = keccak256(abi.encodePacked(
        _model
      , _objective
      , _token
      , _cost
      , _lighthouse
      , _validator
      , _validator_fee
      , _deadline
      , IFactory(factory).nonceOf(_sender)
      , _sender
      ));

Note

nonce parameter is counted by factory smart contract and incremented for each created liability smart contract.

Message hash are signed using Ethereum secp256k1 signature.