# Manifest for the bench stand-in.
#
# dora resolves a node's manifest from its `path:`, so without this file the
# bench would be validated against the teleop node's own contract and every port
# would look wrong.

apiVersion: 1
name: bench
namespace: liria
description: Bench stand-in for the arm and the browser, so teleop can run with neither

runtime: python
entrypoint: bench.py
dora: ">=1.0"

inputs:
  tick:
    description: Drives the telemetry the arm node would publish.
    type: std/core/v1/UInt64
  jog:
    description: A velocity teleop wants the arm to move at. Printed, then forgotten.
  request:
    description: A service call. Every one is answered ok.
  ui_state:
    description: >-
      The console snapshot teleop publishes. Accepted and dropped: no browser is
      attached to this dataflow.

outputs:
  response:
    description: One answer per request, under the id it arrived with.
  robot_state:
    description: Reports `ready` once, so teleop stops drawing the arm as disconnected.
    type: std/core/v1/String
  tcp_pose:
    description: A fixed tool-tip pose. Fixed on purpose — nothing here integrates a velocity.
    type: std/core/v1/Float32
  joint_pose:
    description: Fixed joint angles, for the same reason.
    type: std/core/v1/Float32
  clients:
    description: Always zero connected, since the WebSocket bridge is not in this dataflow.