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github-actions[bot] edited this page Jun 10, 2026 · 4 revisions

Crate map

The SDK is a Cargo workspace of ~15 Rust crates plus per-language bindings. The top-level README's table is the at-a-glance summary; this page walks the same set in narrative form, organized by layer, so you can build a mental dependency graph.

Reading direction: lower layers know nothing about higher layers. A crate in the Foundations layer can be used by anything above it; a crate in the App surface layer can use anything below.

Foundations

Pure primitives. No SDK-specific concepts, no I/O. Anything in the SDK can depend on these.

auki-hash

XXH3-128 wrapper used everywhere the SDK content-addresses something. The hash is the version: refining a registry entry produces a new hash, sibling-stored under the same id.

auki-jcs

RFC 8785 JCS (JSON Canonicalization Scheme). Every JSON the SDK hashes — registry entries, manifests, catalog rows — is canonicalized first so the bytes are stable across languages and pretty-printers.

auki-identity

Wallet primitive: ed25519 keypair with deterministic label-based child derivation (BIP32-like). Wallet::derive_child("peer/v1") produces the libp2p PeerId; future payment/billing rails will derive their keys here too. WASM-friendly.

Shared schemas

Two crates own the SDK's data shapes. They're parallel: auki-datatypes owns wire/disk payload shapes (segment bytes); auki-manifests owns the manifest sidecar shapes that describe those payloads.

auki-datatypes

.proto schemas + prost-generated Rust for every cross-language payload: camera::CameraFrame, point_cloud::Data, audio::Data, joint_encoders::Data, detection::DetectionFrame, pose::SpatialTransform, time_transform::TimeTransformEntry, plus the /auki/stream/0.2.0 StreamMessage envelope. One Data message per modality used on both disk segment and wire substream — the dual *_stream packages were collapsed in #176.

auki-manifests

JCS-canonical JSON manifests for the four log types. SensorLogManifest, PoseLogManifest, TimeTransformLogManifest, DetectionLogManifest. Post-#216 each carries source_peer_id (canonical) + writer_peer_id (this file's writer) + registry refs + writer-local rollover params. Builders for each plus enums (PoseSource, PoseWriterMode, TimeTransformSource) live here.

Storage and identity catalogs

The on-disk primitives. Logs and registries.

auki-layout

Disk-path helpers — single source of truth for where a sensor log / pose log / time-transform log / detection log / registry entry lives under <app_root>. Pure path computation; no I/O.

auki-logs

Generic segmented append-only log primitive. Log<T> over a LogPayload trait: encoder-agnostic, segment rollover is time-based (segment_duration_ns), eviction is retention-based (retention_ns), and the two are independent. Every on-disk log type (sensor, pose, time-transform, detection) is a Log<T> over a different payload from auki-datatypes.

auki-registry

The four registries: Sensor, Clock, Frame, Detector. Each entry post-#216 carries an explicit peer_id top-level field; the key is (peer_id, id, hash) where the hash is XXH3-128 over the entry's JCS-canonical JSON. Frame Registry ships four preset constructors (ros_body, ros_optical, opengl, unity); SensorBody is a closed enum (Camera, Rangefinder, Rf, Audio, JointEncoders), each with an open type: String for the modality.

auki-time

Clock primitives, TimeTransform math, NTP-style samplers. SessionClock for per-process monotonic time, TimeTransform math for the (planned) convert_time operation, NtpExchange / NtpSample / compute_ntp_sample for the heartbeat-driven domain-clock convergence, and the 1 Hz local_clock_read sampler that writes a MonotonicClock ↔ UtcClock TimeTransform Log on each device.

auki-geometry

Pure spatial math. Phase 1 ships convention conversion via convert_pose_convention (plus _point_, _vector_, _direction_ siblings) — the convention-only layer underneath the full convert_pose (path-walking composition) that's still pending. No I/O, no network.

Network

The libp2p substrate and the cluster lifecycle layer.

auki-network

libp2p substrate: TCP/QUIC, Noise, Yamux, Circuit Relay v2, identify, ping. On top of that, the seven peer protocols (/auki/join, /auki/heartbeat, /auki/membership, /auki/info, /auki/resources/0.2.0, /auki/registries/0.2.0, /auki/stream/0.2.0), the typed stream payload registry, the Discovery HTTP client (with relay-address hints for browser-compatible reachability), and the SessionHandle trait that breaks the would-be auki-domain ↔ auki-session cycle.

auki-domain

Domain::join(&peer, &session, config) — the app-facing network-presence API (#282) — on top of ClusterManager: cluster bootstrap, Manager election, membership exchange, Discovery liveness checks, relay-hint preservation, resource catalog exchange, registry-entry fetch, stream serving, graceful shutdown. App code never constructs ClusterManager directly; Domain::join builds and owns one internally. Re-exports ResourceEntry from auki-network so consumers of either crate see the same type.

auki-domain-relay

Domain Relay capability — runs a native- and browser-compatible Circuit Relay v2 server so Managers reachable only over TCP can advertise WebSocket-circuit addresses for browser peers to dial. WIP; domain-scoped reservation policy and grants are pending.

App surface

One crate. The entry point for app code.

auki-session

Declarative app-facing API shipped in #216, split into Peer / Session in #282. Apps construct a long-lived Peer and declare what it has (register_sensor / register_frame / register_detector), then mint sessions via Peer::start_session() — which auto-registers the session's monotonic + UTC clocks (#284) — and register the logs each session writes (register_clock, register_sensor_log / register_pose_log / register_time_transform_log / register_detection_log). The SDK handles registry I/O, manifest persistence, and session-clock registration internally; going on-network is auki-domain's Domain::join. materialize_remote_log and resolve_static_transform ship as NotImplemented stubs — Phase 5 of #216.

Adapters

External-system bridges. Each adapter targets one foreign data plane (ROS 2, browser, etc.).

auki-ros-adapter

ROS 2 → SDK translator: CameraInfo / Image / PointCloud2 → registry entries + sensor log entries. frame_id + frame_hash thread through both builders so sensor entries commit to an exact Frame Registry version. Currently broken at the r2r 0.9.5 transport layer — fix in flight.

auki-network-browser-wasm

Browser/WASM libp2p transport probe. WIP (v0.0.0); the production browser story currently runs through the TypeScript auki-domain-browser package and Domain Relay reachability.

Bindings

Per-language wrappers. The pattern is per-component naming — no umbrella auki-py package; each Rust crate gets its own <crate>-py mirror so consumers pull exactly what they need.

Python (PyO3)

Swift (UniFFI)

Browser (TypeScript)

Examples

  • examples/diagnostic-app — end-to-end demo that opens a cluster, joins a domain, logs diagnostic flash timestamps. Useful as a worked reference for runtime wiring.

A consumer's likely subset

If you're building a robot data-plane producer, you probably pull:

  • auki-session + auki-registry (Rust) — what the Quickstart uses.
  • auki-session-py + auki-registry-py (Python) — equivalent.

You generally don't touch auki-logs / auki-network / auki-domain directly any more — Session owns the I/O and the cluster lifecycle. The lower-level crates remain available for unusual cases (running a peer without Session, integrating with a non-libp2p transport, processing logs offline).

For visualizers consuming other peers' data (Park, browser dashboards), the path is:

  • Today: auki-domain-py or auki-network-py for stream consumption against a known peer (typed openers exist for camera / point-cloud / joint-encoders / audio / pose).
  • After Phase 5 of #216 lands: Session::materialize_remote_log for persistent local replicas with custom retention.

See also

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