# The whole operator stack, and what CI validates.
#
# Built from checkouts rather than tags, so `dora validate` resolves each node's
# manifest from its `path:` and checks the wiring against the versions in front
# of you. The sibling repos are expected next to this one, which is how they are
# cloned in practice.
#
# Three nodes, one loop: the bridge carries the browser, this node decides who
# drives, and the arm node moves the arm and reports back.

strict_types: true

nodes:
  - id: teleop
    path: dora-teleop
    build: pip install .
    inputs:
      tick: dora/timer/millis/50
      ui_command: ws-transceiver/data_out
      clients: ws-transceiver/clients
      response: ulite6/response
      motion_state: ulite6/motion_state
      robot_state: ulite6/robot_state
      tcp_pose: ulite6/tcp_pose
      joint_pose: ulite6/joint_pose
    outputs:
      - jog
      - request
      - ui_state
    env:
      SPEED_MM_S: "60"
      SPEED_DEG_S: "30"

  - id: ws-transceiver
    path: ../dora-websocket-transceiver
    build: pip install .
    inputs:
      data_in: teleop/ui_state
    outputs:
      - data_out
      - clients
    env:
      WS_PORT: "9000"
      STATIC_DIR: "../dora-teleop/web"
      HTTP_PORT: "9010"

  - id: ulite6
    path: ../dora-ulite6
    build: pip install .
    inputs:
      tick: dora/timer/millis/100
      request: teleop/request
      jog: teleop/jog
    outputs:
      - response
      - motion_state
      - joint_pose
      - tcp_pose
      - robot_state
    env:
      ROBOT_IP: "192.168.1.192"
      TOOL_TYPE: "vacuum"
      # Nothing moves because the node started. An operator asks for the first
      # motion, which is the whole point of a teleop stack.
      INIT_MODE: "none"