# The camera into dora-image-view, and the worked example of wiring this node to
# a consumer.
#
# dora has no cross-dataflow wiring, so the camera node is declared here too
# rather than referenced — run this file or dataflow.yml, not both.
#
# Run it with `--uv`, which gives the viewer its own managed environment:
#
#     dora run dataflow_view.yml --uv
#
# Fetching the viewer needs anonymous read access to its repository. dora-cli
# 1.0.1 fetches through libgit2 with no credential callback, so ssh:// cannot
# authenticate at all; on Gitea, marking the repository public is not enough
# either, since a repository inside a private organization answers an anonymous
# clone with 401.
strict_types: true

nodes:
  - id: zed-camera
    path: bin/dora_zed
    build: scripts/build.sh
    inputs:
      tick: dora/timer/millis/100
    outputs:
      - image
      - depth
      - point_cloud
      - camera_info
      - camera_state

  - id: view
    git: https://gitea.liria.cl/liria/dora-image-view.git
    tag: v0.1.0
    build: uv pip install .
    path: dora-image-view
    inputs:
      image: zed-camera/image
      depth: zed-camera/depth
      camera_info: zed-camera/camera_info
    # The viewer's own manifest says this, but a `git:` node's manifest is not
    # read at validate time — only at build. Repeating it here is what makes the
    # two contracts checked against each other now rather than at runtime.
    input_types:
      image: std/media/v1/Image
      depth: std/media/v1/Image
      camera_info: std/core/v1/Float32