nodes:
  - id: camera
    path: dora-reachy2-camera
    _unstable_deploy:
      machine: encoder
    inputs:
      tick: dora/timer/millis/50
    outputs:
      - image_right
      - image_left
      - image_depth
      - depth
    env:
      CAPTURE_PATH: 0
      IMAGE_WIDTH: 640
      IMAGE_HEIGHT: 480
      ROBOT_IP: 127.0.0.1

  - id: rav1e-local
    path: dora-rav1e
    build: cargo build -p dora-rav1e --release
    _unstable_deploy:
      machine: encoder
    inputs:
      depth: camera/depth
    outputs:
      - depth
    env:
      RAV1E_SPEED: 7

  - id: rav1e-local-image
    path: dora-rav1e
    build: cargo build -p dora-rav1e --release
    _unstable_deploy:
      machine: encoder
    inputs:
      image_depth: camera/image_depth
      image_left: camera/image_left
    outputs:
      - image_left
      - image_depth
      - depth
    env:
      RAV1E_SPEED: 10

  - id: dav1d-remote
    path: dora-dav1d
    build: cargo build -p dora-dav1d --release
    _unstable_deploy:
      machine: plot
    inputs:
      image_depth: rav1e-local-image/image_depth
      image_left: rav1e-local-image/image_left
      depth: rav1e-local/depth
    outputs:
      - image_left
      - image_depth
      - depth

  - id: plot
    build: pip install -e ../../node-hub/dora-rerun
    _unstable_deploy:
      machine: plot
    path: dora-rerun
    inputs:
      image: dav1d-remote/image_depth
      depth: dav1d-remote/depth
      image_left: dav1d-remote/image_left