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Architecture Overview

RoboArc separates workflow authoring, canonical behavior semantics, execution, and robot-native integration.

React workbench -> Blockly editor -> Workflow IR -> Runtime -> Capability adapter -> Robot
       |               |                  |          \             /
 project/runtime UI   editor state       JSON Schemas  ordered events + telemetry
                                                          |
                                                     JSONL / Rerun

The React application is the workbench shell. It owns project controls, manifest-driven argument editing, validation, run/stop actions, runtime state, logs, progress, and results. Blockly is the embedded visual editor for the supported sequence, wait, and capability nodes. Its workspace/XML is editor state and is never executed directly; the compiler produces the validated Workflow IR, which remains the only executable source of truth.

The implemented core is under src/roboarc:

  • contracts/ owns strict, versioned external data contracts.
  • runtime/ validates and executes Workflow IR without ROS/vendor imports.
  • telemetry.py defines backend-neutral pose, trajectory, action-state, and progress observations correlated with runtime identity and timestamps.
  • api/ exposes discovery, validation, run control, replay, and live events.
  • cli.py provides local validation, execution, simulation, trace viewing, and server commands.
  • web/src/ contains the React shell, Blockly blocks, compiler, API client, runtime event reducer, and tokenized workbench styling.

Adapters translate capability invocations and lifecycle semantics into native operations. A cancellation request never proves that the native operation has stopped; terminal results must report that distinction truthfully.

The deterministic simulation adapter proves the observation path without ROS. The separate TIAGo manual lane translates Nav2, controller, TF, and simulator feedback into the same vocabulary using a pinned ROS 2 Jazzy/Gazebo Harmonic stack. Simulator and ROS dependencies do not enter the runtime core.

See docs/architecture.md for subsystem boundaries, security and portability constraints, and planned extension points. Runtime and IR semantics live in docs/runtime.md and docs/workflow-ir.md.