# The same bench, with a real gamepad and a probe.
#
# `dataflow.yml` is what CI validates, and it deliberately has no pad in it: the
# pad is `dora-joy`, another repo, and pulling it in by `git:` would cost that
# file its one property — that it resolves and runs from this checkout alone.
# This file is the other half. It needs the network on first build, and a pad.
#
# The bench answers services and publishes telemetry but never moves anything.
# What this is for is watching the node decide: the lease changing hands, the
# deadman firing when you let go, and the arm being stopped when the pad — or
# the node reading it — goes away.
#
# Run it under a coordinator rather than `dora run`, so `dora topic` can read the
# wire and so the probe has something to attach to:
#
#   dora up
#   dora start dataflow-gamepad.yml --uv --name teleop-bench
#   dora-teleop-probe                                   # in another terminal
#   dora topic echo -d teleop-bench teleop/jog
#   dora stop --name teleop-bench && dora down

strict_types: true

debug:
  enable_debug_inspection: true

nodes:
  - id: joy
    git: https://gitea.liria.cl/liria/dora-joy.git
    tag: v0.1.1
    build: pip install .
    path: dora-joy
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - joy

  - id: teleop
    path: dora-teleop
    build: pip install .
    inputs:
      tick: dora/timer/millis/50
      # queue_size 1: joy ticks at 20 ms and this node at 50, so without it the
      # loop would work through a backlog of readings that have already been
      # overtaken. An arm should be driven by the newest one or by none.
      joy:
        source: joy/joy
        queue_size: 1
        queue_policy: drop_oldest
      response: bench/response
      robot_state: bench/robot_state
      tcp_pose: bench/tcp_pose
      joint_pose: bench/joint_pose
    outputs:
      - twist
      - command
      - jog
      - request
      - ui_state
    env:
      SPEED_MM_S: "60"
      SPEED_DEG_S: "30"
      # This one is about the pad, so the console stays shut. Set a port to
      # bring it up alongside and watch the lease move between the two.
      WEB_PORT: "0"

  # Declared, not spawned: `dora-teleop-probe` attaches to this id when you run
  # it, and the dataflow runs perfectly well when nobody does.
  - id: teleop-probe
    path: dynamic
    inputs:
      joy: joy/joy

  - id: bench
    path: examples/bench.py
    inputs:
      tick: dora/timer/millis/200
      jog: teleop/jog
      request: teleop/request
      ui_state: teleop/ui_state
    outputs:
      - response
      - robot_state
      - tcp_pose
      - joint_pose