Skip to content
Librux Runtime Kernel for Robotics development
Librux Runtime Kernel for Robotics development

    API Guide

    This section explains the developer-facing API boundaries of Librux. It is a guide, not the exhaustive API catalog.

    There are two primary API surfaces.

    • Subsystem SDK API - the Python and C++ API used by subsystem authors inside a subsystem.
    • Host Control API - the REST and WebSocket API exposed by the host control backend for the Web Console, automation, monitoring, app management, and external integration.

    Choose the API by where the code runs.

    Code location Use
    Managed subsystem on a supported Linux runtime host Subsystem SDK API
    Browser frontend or packaged app UI Host Control WebSocket API
    Windows/macOS tool, cloud service, or other non-Librux client Host Control REST/WebSocket API
    Deployment automation, package management, runtime inspection Host Control REST API
    ROS 2 code that should participate as a Librux subsystem A ROS 2 interface subsystem using the Subsystem SDK

    The language-neutral message, API contract, and component contracts are documented under Spec. A spec entry is not a runtime method catalog by itself. It is the semantic contract that SDK code declares, registers, calls, or validates against.

    For table-oriented lookup, use API Reference.

    API Map

    Page Use when
    Subsystem SDK API Learning the subsystem-author API flow in Python or C++
    Host Control REST API Learning how operator tools, automation, deployment checks, and app management clients use HTTP
    Host Control WebSocket API Learning how browser or outside-runtime clients observe Events or invoke Procedure/Operation calls
    Typed Payload and Codec Understanding typed message refs, codec behavior, and the timing envelope

    Use these Reference pages when you need the catalog.

    Reference Contains
    Subsystem SDK Reference Public subsystem-author classes and method groups
    Host Control REST Routes REST route table, method, role, and request-body summary
    Host Control WebSocket Messages WebSocket endpoints, client message kinds, server responses, and fields
    Data Types And Binary Encoding Binary encoding details for typed payloads

    Boundary Rule

    Keep these boundaries separate.

    • Subsystem code uses the SDK and should not depend on REST routes.
    • Browser and external tools use the Host Control API and should not implement native runtime transport.
    • Non-Linux or non-Librux clients use Host Control WebSocket for live observation and Procedure/Operation requests.
    • Product frontends should use the stable /api/v1 Host Control prefix. The bundled Web Console is optional and can be disabled or replaced.
    • Semantic contracts live under Spec and are referenced by SDK/API calls through message refs, API contracts, components, and endpoint declarations.

    Public SDK Surface

    Runtime SDK APIs are provided by language SDKs.

    • Python - librux.wrapper.GatewaySubsystem, ComponentSubsystem, CompoundSubsystem, AppSubsystem
    • C++ - librux::wrapper::GatewaySubsystem, ComponentSubsystem, CompoundSubsystem, AppSubsystem

    The runtime core is implemented in Rust. The public subsystem-author SDK surface is Python and C++.

    Language-specific syntax may differ, but declare/register/lifecycle semantics, endpoint metadata, message refs, timing support policy, and Event / Control / Procedure / Operation behavior should remain shared across the public SDKs.