Message Types
RCAN v1.9 defines 36 message types across 6 categories. The spec is the single source of truth — all SDK implementations are generated from it.
Command & Control
| Type |
ID |
Description |
COMMAND |
1 |
General command to the agent |
COMMAND_ACK |
2 |
Command acknowledged |
COMMAND_RESULT |
3 |
Command completed with result |
COMMAND_CANCEL |
4 |
Cancel an in-progress command |
Telemetry
| Type |
ID |
Description |
TELEMETRY_HEARTBEAT |
10 |
Periodic health ping |
TELEMETRY_STATUS |
11 |
Full status snapshot |
TELEMETRY_HARDWARE |
12 |
Hardware profile broadcast |
TELEMETRY_HARNESS |
13 |
Active harness config broadcast |
Safety
| Type |
ID |
Description |
ESTOP |
20 |
Emergency stop (HMAC-signed) |
ESTOP_ACK |
21 |
ESTOP acknowledged |
SAFETY_ALERT |
22 |
Safety condition flagged |
P66_PREEMPT |
23 |
P66 preemption triggered |
Contribute
| Type |
ID |
Description |
CONTRIBUTE_START |
30 |
Robot begins work unit |
CONTRIBUTE_PROGRESS |
31 |
Work unit progress update |
CONTRIBUTE_RESULT |
32 |
Work unit completed |
CONTRIBUTE_CANCEL |
34 |
Work unit cancelled (P66 or manual) |
CONTRIBUTE_CREDITS |
35 |
Credits balance update |
Authentication
| Type |
ID |
Description |
AUTH_CHALLENGE |
40 |
HMAC challenge |
AUTH_RESPONSE |
41 |
HMAC response |
AUTH_TOKEN |
42 |
Scoped token grant |
AUTH_REVOKE |
43 |
Token revocation |
Peer
| Type |
ID |
Description |
PEER_ANNOUNCE |
50 |
Robot announces presence |
PEER_DISCOVER |
51 |
Discover peers on network |
PEER_TEST |
52 |
Latency/connectivity test |
Full spec: rcan-spec §3