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api.yml
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nodes:
###############################################
# 两个视频输入,被脚本`dora_api_server/node_listener.py`所监听 #
###############################################
- id: camera1 # Run on car
# build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/20
outputs:
- image
env:
CAPTURE_PATH: 0
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480
# WARN: 暂时不支持其他压缩格式：由于未知原因导致无法解码图像。请查阅 [node_listener.py](dora_api_server/node_listener.py)
ENCODING: rgb8
FLIP: VERTICAL
- id: camera2 # Run on car
# build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/20
outputs:
- image
env:
CAPTURE_PATH: 2
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480
ENCODING: rgb8
FLIP: VERTICAL
##########################################################################
# 机械臂控制器，接收脚本 `dora_api_server/node_publisher.py` 中 `ArmController` 发布的消息 #
##########################################################################
- id: arm # Run on car
# build: wget -nc https://github.com/dora-rs/gosim-2024/releases/download/v0.0.1/robot # cargo install --git https://github.com/lyon-dora/chongyou-car
path: dora-gen72
# _unstable_deploy:
# machine: ec7
inputs:
movec: restapi/movec
movej: restapi/movej
claw: restapi/claw
save: restapi/save
go_to: restapi/go_to
# env:
# ROBOT_IP: 192.168.1.18
############################################################################
# 底盘控制器，接收脚本 `dora_api_server/node_publisher.py` 中 `ChassisController` 发布的消息 #
############################################################################
- id: mickrobot_chassis # Run on car
# build: wget -nc https://github.com/dora-rs/gosim-2024/releases/download/v0.0.1/robot # cargo install --git https://github.com/lyon-dora/chongyou-car
path: robot
# _unstable_deploy:
# machine: ec7
inputs:
text: restapi/chassis
##############################################
# Restful API由此脚本启动，并一并拉起节点监听和输出 #
##############################################
- id: restapi
# path: python -m sanic dora_api_server.app.app --host=0.0.0.0 --port=11451
path: ./dora_api_server/app.py
inputs:
image_1:
source: camera1/image
queue_size: 1
image_2:
source: camera2/image
queue_size: 1
outputs:
- movec
- movej
- claw
- save
- go_to
- chassis
# env:
# IMAGE_WIDTH: 640
# IMAGE_HEIGHT: 480
# RERUN_MEMORY_LIMIT: 25%