# Async API Reference

> Interactive reference for the Wandelbots NOVA Async API. Browse channels, view message schemas, and understand event-driven communication.

# Async API Reference

This page renders an interactive API reference on the website.

The full API spec is available as a YAML file: /specs/nova/26.7/asyncapi.yaml

### Cell

Cell-scoped messaging operations.

| Direction | Subject | Message |
| - | - | - |
| NOVA publishes | `{instance}.v2.cells.{cell}` | Cell Configuration |
| NOVA publishes | `{instance}.v2.cells.{cell}.apps.{app}` | App Configuration |
| NOVA publishes | `{instance}.v2.cells.{cell}.controllers.{controller}` | Robot Controller Configuration |
| NOVA publishes | `{instance}.v2.cells.{cell}.status` | Service Status |
| NOVA publishes | `{instance}.v2.cells.{cell}.cycle` | Cell Cycle Event |

### Program

| Direction | Subject | Message |
| - | - | - |
| NOVA publishes | `{instance}.v2.cells.{cell}.programs` | Program Status |

### System

| Direction | Subject | Message |
| - | - | - |
| NOVA publishes | `{instance}.v2.system.status` | Wandelbots NOVA status |

### Store Collision Setups

| Direction | Subject | Message |
| - | - | - |
| NOVA publishes | `{instance}.v2.cells.{cell}.collision.setups.{setup}` | Collision Setup |

### BUS Inputs/Outputs

| Direction | Subject | Message |
| - | - | - |
| NOVA publishes | `{instance}.v2.cells.{cell}.bus-ios.status` | BUS Inputs/Outputs Service Status |
| NOVA publishes | `{instance}.v2.cells.{cell}.bus-ios.ios` | BUS Input/Output Values |
| NOVA receives | `{instance}.v2.cells.{cell}.bus-ios.ios.set` | Set Output Values |

### Controller

| Direction | Subject | Message |
| - | - | - |
| NOVA receives | `{instance}.v2.cells.{cell}.controllers.{controller}.ios.select` | Select Input/Output Values |
| NOVA publishes | `{instance}.v2.cells.{cell}.controllers.{controller}.ios` | Input/Output Values |
| NOVA publishes | `{instance}.v2.cells.{cell}.controllers.{controller}.state` | State of Robot Controller |
| NOVA publishes | `{instance}.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description` | Description of Motion Group |

### Events

| Direction | Subject | Message |
| - | - | - |
| NOVA publishes | `{instance}.v2.events.system.update.started` | System Update Started |
| NOVA publishes | `{instance}.v2.events.system.update.completed` | System Update Completed |
| NOVA publishes | `{instance}.v2.events.system.network.status.changed` | System Network Status Changed |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.created` | Cell Created |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.updated` | Cell Updated |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.deleted` | Cell Deleted |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.apps.{app}.created` | App Created |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.apps.{app}.updated` | App Updated |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.apps.{app}.deleted` | App Deleted |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.controllers.{controller}.created` | Robot Controller Created |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.controllers.{controller}.updated` | Robot Controller Updated |
| NOVA publishes | `{instance}.v2.events.cells.{cell}.controllers.{controller}.deleted` | Robot Controller Deleted |

### Network

| Direction | Subject | Message |
| - | - | - |
| NOVA receives | `{instance}.v2.system.network.interfaces` | List Network Interfaces |
| NOVA receives | `{instance}.v2.system.network.arpscan` | Run ARP Scan |