nodes:
  - id: robot
    operator:
      python: ../operators/robot.py
      inputs:
        blaster:
          source: planning/blaster
          queue_size: 1
        led:
          source: planning/led
          queue_size: 1
        control:
          source: planning/control
          queue_size: 1
        gimbal_control:
          source: planning/gimbal_control
          queue_size: 1
        tick:
          source: dora/timer/millis/100
          queue_size: 1
      outputs:
        - position

  - id: bot_webcam
    custom:
      source: ../operators/opencv_stream.py
      outputs:
        - image

  - id: object_detection
    operator:
      python: ../operators/object_detection.py
      inputs:
        image: bot_webcam/image
      outputs:
        - bbox

  ### Second Camera
  - id: webcam
    operator:
      python: ../operators/webcam.py
      inputs:
        tick:
          source: dora/timer/millis/50
          queue_size: 1
      outputs:
        - image

  - id: plot_webcam
    operator:
      python: ../operators/plot.py
      inputs:
        image: webcam/image
        text: whisper/text  


  - id: plot_bot
    operator:
      python: ../operators/plot.py
      inputs:
        image: bot_webcam/image
        text: whisper/text
        bbox: object_detection/bbox
  
  - id: planning
    operator:
      python: ../operators/planning_op.py
      inputs:
        position: robot/position
        bbox: object_detection/bbox
        tick: dora/timer/millis/100
      outputs:
        - control
        - gimbal_control
        - led
        - blaster

  ## Speech to text
  - id: keyboard
    custom:
      source: ../operators/keybinding_op.py
      outputs:
        - mic_on
        - revert
        - failed
        - error
      inputs:
        tick:
          source: dora/timer/millis/50
          queue_size: 1


  - id: microphone
    operator:
      python: ../operators/microphone_op.py
      inputs:
        mic_on: keyboard/mic_on
      outputs:
        - audio

  - id: whisper
    operator:
      python: ../operators/whisper_op.py
      inputs:
        audio: microphone/audio
      outputs:
        - text

  ## Code Modifier
  - id: vectordb
    operator:
      python: ../operators/sentence_transformers_op.py
      inputs:
        query: whisper/text
        saved_file: file_saver/saved_file
      outputs:
        - raw_file

  - id: mistral
    operator:
      python: ../operators/mistral_op.py
      inputs:
        raw_file: vectordb/raw_file
      outputs:
        - output_file

  - id: chatgpt
    operator:
      python: ../operators/chatgpt_op.py
      inputs:
        raw_file: vectordb/raw_file
      outputs:
        - output_file
  
  - id: file_saver
    operator:
      python: ../operators/file_saver_op.py
      inputs:
        chatgpt_output_file: chatgpt/output_file
        mistral_output_file: mistral/output_file
        error: keyboard/error
        revert: keyboard/revert
        failed: keyboard/failed
      outputs:
        - saved_file

  - id: dora-record
    custom:
      source: dora-record
      inputs:
        chatgpt_output_file: chatgpt/output_file
        mistral_output_file: mistral/output_file
        raw_file: vectordb/raw_file
        saved_file: file_saver/saved_file
        audio: microphone/audio
        whisper_text: whisper/text
        bbox: object_detection/bbox
        image: cv2_encoder/encoded_image
        position: robot/position
        control: planning/control
        gimbal_control: planning/gimbal_control

  ### Second Camera
  - id: cv2_encoder
    operator:
      python: ../operators/cv2_encoder_op.py
      inputs:
        image: bot_webcam/image
      outputs:
        - encoded_image