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_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
validator	ethereum_common/Address	Observing network address
lighthouse	ethereum_common/Address	Lighthouse contract address
lighthouseFee	ethereum_common/UInt256	Liability creation 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

Result

Field	ROS Type	Description
liability	ethereum_common/Address	Liability contract address
result	ipfs_common/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.