Market messages
Market messages is used for exchange Demand and Offer information. It also used for delivery Result messages with liability execution reports.
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
));
nonce parameter is counted by factory smart contract and incremented for each created liability smart contract.
Message hash are signed using Ethereum secp256k1signature.