From ac2540629e05fc035df245e8cc826e8ca48e878e Mon Sep 17 00:00:00 2001 From: fondef Date: Tue, 15 Sep 2026 17:21:49 -0500 Subject: [PATCH] docs: explain what debug inspection is for MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The dataflow turned on `enable_debug_inspection` without the README saying why anyone would want it, which made it a line of configuration nobody could act on. Documents the three commands it buys — topic list, topic echo, topic hz — and that they need a coordinator rather than `dora run`. hz is the one that checks the timings this node promises, so it names the measurement to expect. --- README.md | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/README.md b/README.md index 175edd6..380f338 100644 --- a/README.md +++ b/README.md @@ -201,6 +201,32 @@ is printed and forgotten. It closes the loop so this node's behaviour can be wat the lease changing hands, the deadman firing when you let go — not so the arm can be pretended at. +### Watching the wire + +`dataflow.yml` sets `debug: enable_debug_inspection: true`, so dora will let you read what +is actually on the wire without the bench printing anything. Run it under a coordinator +rather than `dora run`: + +```bash +dora up +dora start dataflow.yml --uv --name teleop-bench +``` + +Then, in another terminal: + +```bash +dora topic list -d teleop-bench # every edge in the graph +dora topic echo -d teleop-bench teleop/jog # every velocity, live +dora topic echo -d teleop-bench teleop/ui_state # what the console would draw +dora topic hz -d teleop-bench teleop/jog --duration 10 # the re-send cadence +``` + +`hz` is the one that checks the timings this node promises. The `get_state` poll measures +at 1.88 Hz against a configured `STATE_POLL_S` of 0.5, and with a pad held over the +deadzone `teleop/jog` should sit near the 50 ms tick. + +Tear it down with `dora stop --name teleop-bench && dora down`. + ## Development ```bash