Version: 3.4.x

System Overview

Design Principle: Separating Control and Data Responsibilities

A key design point in CoBiz is the separation between the two planes.

Control: domain state, policies, authentication, Workflows, Tasks, and operational events managed by CoBiz Server
Data: video, audio, sensor, and control Tracks delivered by Moth

This separation allows real-time media handling and business-domain state transitions to be operated as distinct responsibilities.

Component	Role
CoBiz	Responsible for operator UI, authentication, device management, workflow execution, and orchestration of the overall server components.
Device	A physical robot or agent that publishes sensor data to Moth, receives assigned Tasks, and reports back to CoBiz.
Moth	A real-time data and event hub that relays device sensor data, control data, and cross-service event messages.
TGDM	A recording solution for Moth network streams. It records by consuming stream URIs from Moth.
Mantis	AI analysis pipeline server that consumes specific Tracks and produces analysis streams and events

Client, Server, Device, TGDM, and Mantis are all participants connected to Moth.

Client ↔ Moth: subscribes to server events, subscribes to Tracks, publishes control messages
Server ↔ Moth: operates the client event channel and the device management channel
Device ↔ Moth: exchanges video, audio, sensor, and control Tracks
TGDM ↔ Moth: consumes recording-source stream URIs
Mantis ↔ Moth: consumes analysis input streams and output references

CoBiz Server is at the center of domain-state management, while the other components exchange data through Moth.

Devices register with the Server and report Task progress.
The Server instructs Devices to execute Tasks and apply operating control.
The Server sends recording requests and policies to TGDM.
The Server requests pipeline creation, stop, and mapping management from Mantis.
TGDM and Mantis consume Moth Track URIs for real data access.

In short, logical interactions are centered on CoBiz Server, while the real-time transport implementation is handled by Moth.

Uses REST APIs to query and change devices, Workflows, Workflow Runs, Tasks, and server settings
Subscribes to the server event stream through /moth/events
Receives selected device Track endpoints and connects directly to Moth
Updates device state, current Task, Workflow history, and AI pipeline state from events

Issues tokens when devices are registered
Manages runtime settings for device, tgdm, and mantis
Manages Task, Workflow, and Workflow Run state transitions
Performs follow-up actions based on device connect/disconnect events and Task events
Publishes client events and device-management messages through Moth
Calls TGDM and Mantis as external integration services

Uses its issued device token to identify its Tracks
Exchanges video, audio, sensor, and control channels through Moth
Receives TASK_REGISTERED, HEALTHCHECK, and similar messages on the Moth device channel
Reports Task status to CoBiz Server through the start, complete, reject, and abort APIs
Sends heartbeats as health-check responses

Relays device Tracks in real time
Provides the client Track for server events
Provides the device Track for device-management traffic
Acts as the real-time bus that loosely couples CoBiz Server, Client, Device, TGDM, and Mantis