Message Reference

All request and normal response messages use protocol_version: "1.0". error_response is the protocol-error exception and carries no type or protocol_version.

Requests

Message	Required fields
hello	type, protocol_version, auth.mode, auth.token
ping	type, protocol_version
query_state	type, protocol_version; optional scope is all, motors, or groups
subscribe	type, protocol_version
command	type, protocol_version, motor_id, op; move also requires target_percent
group_command	type, protocol_version, group_id, op; move also requires target_percent
multi_motor_move	type, protocol_version, non-empty ordered targets; each target requires unique motor_id and target_percent

request_id is optional on every request and, when present, is a 1-to-64-code-point string. command_id is invalid.

Responses And Events

Message	Notes
hello	Returns status: "ok"; echoes a valid request_id when supplied and never echoes authentication credentials
pong	Response to ping
query_state	Baseline state object
subscribe	Subscription acknowledgement
command_response	Terminal response for command, group_command, or multi_motor_move; multi-motor responses include ordered per-target results
motor_state	Motor delta event
group_state	Group delta event
registry_event	Registry delta event
error_response	Protocol/session error; request_id is present only when the request supplied a valid one

See examples/ for complete wire payloads.