add a dora-node.yml manifest and a dora validate CI gate

No source package is shared between node repositories, so the manifest and its
type URNs are the only contract a consumer has. Declaring them makes a wiring
mistake fail at validate time with the producer and consumer URNs, instead of
at runtime.

Every payload this node sends is a raw buffer whose shape and dtype live in the
metadata rather than an Arrow struct, so the URNs name the element type:
UInt8 for image_bgr, Float32 for depth, camera_info and point_cloud, String for
camera_state. tick is UInt64, matching how dora types timer inputs.

dataflow.yml now builds the node from the checkout with path: + build:. A
git:-sourced node does not pick up an adjacent manifest, so validating the
previous form checked nothing; with path: the CLI reports "injected 6 contract
type(s)" and a deliberately mismatched annotation exits non-zero under
strict_types. The README keeps the tag: form for consumers.

The workflow needs no camera and no ZED SDK, since validation never runs the
node. Also ignores the git/ and out/ working directories dora build creates,
and drops the ignore rules for the deleted test assets.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c

AGENTS.md

@@ -41,7 +41,9 @@ Camera behavior is configured entirely through environment variables (see README
 - **`src/main.cc`** — Dora event loop. Parses `ZED_PC_MODE` (`FULL`/`HALF`) once before the loop. On any input event (intended to be driven by a tick timer; the id is not inspected): calls `camera.grab()`, then sends `image_bgr` and `depth`, plus `point_cloud` when `ZED_POINT_CLOUD` is on and `camera_info` on the first frame of a camera session (`camera_info_pending`, re-armed on reconnection). `pack_depth` copies the depth map into a tightly packed `[H, W]` float buffer (sl::Mat rows can be padded) and clears `inf`/`nan` to `0`. `set_intrinsics` and `set_frame_stamps` stamp every output of a frame with the same intrinsics, `frame_id` and the two timestamps (`device_timestamp_ns`, `host_timestamp_ns`; both Unix-epoch nanoseconds). Point cloud output varies by mode: `FULL` sends the raw `sl::Mat` pointer (no copy); `HALF` downsamples by 2 in each dimension. Recovery is a state machine over ticks rather than a blocking retry: the camera is opened from inside the loop, `begin_recovery` closes (first attempt) or resets (later ones) and sets a backoff deadline, and `camera_state` is published on each transition. Nothing sleeps, so `Stop` is honoured while the camera is down.
 - **`DoraTargets.cmake`** — Handles building or fetching dora-rs and generating the CXX bridge files. Two paths: local (`DORA_ROOT_DIR`) or git clone. Produces `dora_node_api_cxx` library and the `node_bridge.cc` glue.
 - **`scripts/build.sh`** — Configure/compile/install in one shell-free-callable step. Referenced by `dataflow.yml`, the `Dockerfile` and the README.
-- **`dataflow.yml`** — Example dora dataflow definition using the `git:` source format, pinned with `tag:` — dora 1.0 pins a source with the mutually exclusive `tag:`, `rev:` or `branch:`.
+- **`dora-node.yml`** — Node manifest (`apiVersion: 1`): typed input/output contract, entrypoint, build command. `dora validate` injects these types into any dataflow that reaches the node by `path:`; a `git:`-sourced node does **not** pick it up, which is why `dataflow.yml` builds from the checkout. Type URNs name the element type (`std/core/v1/UInt8`, `.../Float32`, `.../String`) because every payload is a raw buffer described by its metadata, not an Arrow struct.
+- **`dataflow.yml`** — Example dora dataflow, built from this checkout with `path:` + `build:` and `strict_types: true`. A consumer wires the node from a tag instead (see README) — dora 1.0 pins a source with the mutually exclusive `tag:`, `rev:` or `branch:`.
+- **`.gitea/workflows/validate.yml`** — CI gate running `dora validate dataflow.yml` on push and pull request. Needs no camera and no ZED SDK.
 - **`Dockerfile`** — Ubuntu 24.04 x86-64 build environment (CUDA 12.8, ZED SDK 5.2, Rust). No ARM64/Jetson image; build natively there. No camera needed; run the compile with `--gpus all`. Sets `NVIDIA_DRIVER_CAPABILITIES=compute,utility,video` — the `video` capability is what makes the container runtime mount NVDEC/NVENC, which `libsl_zed.so` links against. Rust lives at `/usr/local/{rustup,cargo}` rather than `/root` so the build can run as the invoking user. `docker build -t dora-zed-build . && docker run --rm --gpus all --user "$(id -u):$(id -g)" -v "$PWD:/src" -v dora-zed-cargo:/usr/local/cargo/registry dora-zed-build`.
 
 ## Key APIs