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Showing content from http://docs.aws.amazon.com/iot/latest/developerguide/kinesis-rule-action.html below:

Kinesis Data Streams - AWS IoT Core

Kinesis Data Streams

The Kinesis Data Streams (kinesis) action writes data from an MQTT message to Amazon Kinesis Data Streams.

Requirements

This rule action has the following requirements:

An IAM role that AWS IoT can assume to perform the kinesis:PutRecord operation. For more information, see Granting an AWS IoT rule the access it requires.

In the AWS IoT console, you can choose or create a role to allow AWS IoT to perform this rule action.
If you use an AWS KMS customer-managed AWS KMS key (KMS key) to encrypt data at rest in Kinesis Data Streams, the service must have permission to use the AWS KMS key on the caller's behalf. For more information, see Permissions to use user-generated AWS KMS keys in the Amazon Kinesis Data Streams Developer Guide.

Parameters

When you create an AWS IoT rule with this action, you must specify the following information:

stream

The Kinesis data stream to which to write data.

Supports substitution templates: API and AWS CLI only

partitionKey

The partition key used to determine to which shard the data is written. The partition key is usually composed of an expression (for example, ${topic()} or ${timestamp()}).

Supports substitution templates: Yes

roleArn

The ARN of the IAM role that grants AWS IoT permission to access the Kinesis data stream. For more information, see Requirements.

Supports substitution templates: No

Examples

The following JSON example defines a Kinesis Data Streams action in an AWS IoT rule.

{
    "topicRulePayload": {
        "sql": "SELECT * FROM 'some/topic'", 
        "ruleDisabled": false, 
        "awsIotSqlVersion": "2016-03-23",
        "actions": [
            {
                "kinesis": {
                    "streamName": "my_kinesis_stream", 
                    "partitionKey": "${topic()}",
                    "roleArn": "arn:aws:iam::123456789012:role/aws_iot_kinesis"
                }
            }
        ] 
    }
}

The following JSON example defines a Kinesis action with substitution templates in an AWS IoT rule.

{
    "topicRulePayload": {
        "sql": "SELECT * FROM 'some/topic'",
        "ruleDisabled": false,
        "awsIotSqlVersion": "2016-03-23",
        "actions": [
            {
                "kinesis": {
                    "streamName": "${topic()}",
                    "partitionKey": "${timestamp()}",
                    "roleArn": "arn:aws:iam::123456789012:role/aws_iot_kinesis"
                }
            }
        ]
    }
}