Accepted (2026-10-08)

Services exchange mower commands, telemetry and domain events over NATS JetStream (ADR 0007). The plan requires that a command delivered twice is executed once, that a stale command (for example a "start" queued during an outage) is never executed, that an emergency stop always wins, and that contracts only evolve in a backward compatible way. ADR 0007 left the message format, the subject scheme and the enforcement of message ids and expiry to our contracts.

All bus messages are wrapped in envelopes defined in mowdeck-contracts (mowdeck_contracts.v1):

• CommandEnvelope: command_id (UUID), mower_id, account_id, issued_by (principal reference), issued_at, expires_at, priority (normal or emergency), correlation_id and command, a discriminated union on kind (start_mow, pause_mow, resume_mow, return_to_dock, emergency_stop, set_blade_height, set_speed, manual_drive).
  • expires_at must be after issued_at. Consumers check is_expired() before execution and answer with a CommandResult of status expired; publishers refuse to send expired commands.
  • priority is emergency if and only if the command is emergency_stop, and is derived when omitted. The priority is also sent as the Mowdeck-Priority header so the Device-Gateway can fast-path it without decoding.
  • manual_drive carries its own dead-man timeout ttl_ms (100 to 2000 ms, default 1000).
• CommandResult: command_id, mower_id, status (accepted, rejected, executed, expired, failed), reason, at.
• EventEnvelope[Payload]: id (UUID), type (<domain>.<name>, e.g. mower.registered), version (integer, starting at 1), occurred_at, account_id, correlation_id, causation_id, producer and the typed payload.
• All timestamps are timezone-aware UTC. Models ignore unknown fields (tolerant reader).

De-duplication uses JetStream: the envelope id (command_id or event id) is sent as the Nats-Msg-Id header. JetStream drops a repeated id within the stream's duplicate window (120 s for commands and events, 30 s for telemetry). Consumers stay idempotent for redeliveries after a missing ack.

Subject naming (refines ADR 0007; events get an event. prefix so one stream captures all of them):

Subject	Stream	Payload
command.mower.<mower_id>	COMMANDS (command.>)	CommandEnvelope
command.result.mower.<mower_id>	COMMANDS	CommandResult
telemetry.mower.<mower_id>	TELEMETRY (telemetry.>)	MowerState
event.<domain>.<name>	EVENTS (event.>)	EventEnvelope

Other subjects (for example svc.<service>.<operation> for request/reply) use core NATS and are not persisted. Stream limits are defined as data in mowdeck_contracts.v1.subjects and applied by mowdeck-service-kit on connect.

Versioning: within v1 only backward compatible changes (new optional fields). An event is never reinterpreted; a changed meaning gets a new event version. An incompatible envelope change creates a new namespace mowdeck_contracts.v2. JSON Schemas are exported to libs/mowdeck-contracts/schemas/v1/ and a test fails when they are out of date.

Options considered: CloudEvents as the envelope (rejected for now: more fields than needed and no typed command union; the envelope maps onto CloudEvents attributes if an external integration needs it), and de-duplication in each consumer with a database table (rejected: JetStream already provides it within a window, consumers only need idempotency for redeliveries).

• Duplicate publishes within the window are harmless; stale and duplicated commands cannot move a mower.
• Emergency stops are recognisable from the header alone and cannot be downgraded by a client.
• Every producer and consumer depends on mowdeck-contracts; changing a model requires regenerating and committing the schemas.
• De-duplication only covers the duplicate window. Longer-lived idempotency (for example for scheduled commands) must be handled by the producer, which issues a new command_id per execution.
• Telemetry and command results are bounded by stream limits; history lives in the Telemetry service and the audit log.

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Mirrored from docs/adr/0009-command-and-event-envelopes.md at commit 6a87264c6123f07c8474e153053525dc1816feb7. Edit the file in the repository, not this wiki page.