# The pad, a real arm and the probe. No bench and no browser.
#
# `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, a pad, and
# an arm.
#
# It is `dataflow-robot.yml` with the probe attached and the console shut, for
# the one job the probe exists for: checking that the pad in your hands has the
# layout `mapping.py` assumes, against the arm that will actually move. Use
# `dataflow-robot.yml` for ordinary driving.
#
#   source .venv/bin/activate    # not --uv; README.md says why
#   dora build dataflow-gamepad.yml
#   dora run dataflow-gamepad.yml
#
# `dora run`, not `dora up` + `dora start`: dora 1.0.1 refuses to start a
# dataflow holding `git:` nodes from a coordinator — "node joy has git source,
# but no `dora build` was run yet", straight after a build that succeeded. It is
# the same shape of gap as the `--uv` one above, and it costs this file
# `dora topic`, which needs a coordinator to read the wire.
#
# ROBOT_IP and TOOL_TYPE below name the arm in front of you: the bench arm at
# 192.168.1.162, with a vacuum tool. Read
# `The gamepad` in README.md before picking it up — Back is the E-STOP.

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: ulite6/response
      motion_state: ulite6/motion_state
      robot_state: ulite6/robot_state
      tcp_pose: ulite6/tcp_pose
      joint_pose: ulite6/joint_pose
    outputs:
      - twist
      - command
      - jog
      - request
      - ui_state
    env:
      SPEED_MM_S: "60"
      SPEED_DEG_S: "30"
      # Keep the deadman layers ordered: JOY_TTL_S < JOG_TTL_S < the arm's own
      # VELOCITY_COMMAND_TTL_S, which is 0.5 s below. Each backs up the one
      # inside it, and a backstop that fires first backs up nothing.
      JOY_TTL_S: "0.2"
      JOG_TTL_S: "0.4"
      # This one is about the pad, so the console stays shut and no port is
      # opened. `dataflow-robot.yml` is the one that serves it.
      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: ulite6
    git: https://gitea.liria.cl/liria/dora-ulite6.git
    tag: v0.3.1
    build: pip install .
    path: dora-ulite6
    inputs:
      tick: dora/timer/millis/100
      request: teleop/request
      jog: teleop/jog
    outputs:
      - response
      - motion_state
      - joint_pose
      - tcp_pose
      - robot_state
    # dora type-checks before it fetches a `git:` source, so it cannot read the
    # arm's own manifest from here. These three repeat what `dora-ulite6`
    # v0.3.1 annotates; `response` and `motion_state` stay untyped there and so
    # stay untyped here. Re-check them when moving to a new tag.
    output_types:
      joint_pose: std/core/v1/Float32
      tcp_pose: std/core/v1/Float32
      robot_state: std/core/v1/String
    env:
      ROBOT_IP: "192.168.1.162"
      TOOL_TYPE: "vacuum"
      # The outermost deadman, enforced by the controller whether or not any of
      # this is alive. Every timer above must stay below it.
      VELOCITY_COMMAND_TTL_S: "0.5"
      # The pad does not home. Nothing moves until somebody pushes a stick.
      INIT_MODE: "none"