csg-robomaster / libraries /core /dora-schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "dora-rs specification",
"description": "Dataflow description",
"type": "object",
"required": [
"nodes"
],
"properties": {
"nodes": {
"type": "array",
"items": {
"$ref": "#/definitions/Node"
}
}
},
"additionalProperties": true,
"definitions": {
"CustomNode": {
"type": "object",
"required": [
"source"
],
"properties": {
"args": {
"description": "Args for the executable.",
"type": [
"string",
"null"
]
},
"build": {
"type": [
"string",
"null"
]
},
"envs": {
"description": "Environment variables for the custom nodes\n\nDeprecated, use outer-level `env` field instead.",
"type": [
"object",
"null"
],
"additionalProperties": {
"$ref": "#/definitions/EnvValue"
}
},
"inputs": {
"description": "Inputs for the nodes as a map from input ID to `node_id/output_id`.\n\ne.g.\n\ninputs:\n\nexample_input: example_node/example_output1",
"default": {},
"type": "object",
"additionalProperties": true
},
"outputs": {
"description": "List of output IDs.\n\ne.g.\n\noutputs:\n\n- output_1\n\n- output_2",
"default": [],
"type": "array",
"items": {
"$ref": "#/definitions/DataId"
},
"uniqueItems": true
},
"send_stdout_as": {
"description": "Send stdout and stderr to another node",
"type": [
"string",
"null"
]
},
"source": {
"description": "Path of the source code\n\nIf you want to use a specific `conda` environment. Provide the python path within the source.\n\nsource: /home/peter/miniconda3/bin/python\n\nargs: some_node.py\n\nSource can match any executable in PATH.",
"type": "string"
}
}
},
"DataId": {
"type": "string"
},
"Duration": {
"type": "object",
"required": [
"nanos",
"secs"
],
"properties": {
"nanos": {
"type": "integer",
"format": "uint32",
"minimum": 0.0
},
"secs": {
"type": "integer",
"format": "uint64",
"minimum": 0.0
}
}
},
"EnvValue": {
"anyOf": [
{
"type": "boolean"
},
{
"type": "integer",
"format": "uint64",
"minimum": 0.0
},
{
"type": "string"
}
]
},
"Input": {
"type": "object",
"required": [
"mapping"
],
"properties": {
"mapping": {
"$ref": "#/definitions/InputMapping"
},
"queue_size": {
"type": [
"integer",
"null"
],
"format": "uint",
"minimum": 0.0
}
},
"additionalProperties": true
},
"InputMapping": {
"oneOf": [
{
"type": "object",
"required": [
"Timer"
],
"properties": {
"Timer": {
"type": "object",
"required": [
"interval"
],
"properties": {
"interval": {
"$ref": "#/definitions/Duration"
}
}
}
},
"additionalProperties": true
},
{
"type": "object",
"required": [
"User"
],
"properties": {
"User": {
"$ref": "#/definitions/UserInputMapping"
}
},
"additionalProperties": true
}
]
},
"Node": {
"description": "Dora Node",
"type": "object",
"required": [
"id"
],
"properties": {
"args": {
"type": [
"string",
"null"
]
},
"build": {
"type": [
"string",
"null"
]
},
"custom": {
"anyOf": [
{
"$ref": "#/definitions/CustomNode"
},
{
"type": "null"
}
]
},
"description": {
"description": "Description of the node",
"type": [
"string",
"null"
]
},
"env": {
"description": "Environment variables",
"type": [
"object",
"null"
],
"additionalProperties": {
"$ref": "#/definitions/EnvValue"
}
},
"id": {
"description": "Node identifier",
"allOf": [
{
"$ref": "#/definitions/NodeId"
}
]
},
"inputs": {
"default": {},
"type": "object",
"additionalProperties": true
},
"name": {
"description": "Node name",
"type": [
"string",
"null"
]
},
"operator": {
"anyOf": [
{
"$ref": "#/definitions/SingleOperatorDefinition"
},
{
"type": "null"
}
]
},
"operators": {
"type": [
"array",
"null"
],
"items": {
"$ref": "#/definitions/OperatorDefinition"
}
},
"outputs": {
"default": [],
"type": "array",
"items": {
"$ref": "#/definitions/DataId"
},
"uniqueItems": true
},
"path": {
"type": [
"string",
"null"
]
},
"send_stdout_as": {
"type": [
"string",
"null"
]
}
},
"additionalProperties": true
},
"NodeId": {
"type": "string"
},
"OperatorDefinition": {
"type": "object",
"oneOf": [
{
"type": "object",
"required": [
"shared-library"
],
"properties": {
"shared-library": {
"type": "string"
}
},
"additionalProperties": true
},
{
"type": "object",
"required": [
"python"
],
"properties": {
},
"additionalProperties": true
}
],
"required": [
"id"
],
"properties": {
"build": {
"type": [
"string",
"null"
]
},
"description": {
"type": [
"string",
"null"
]
},
"id": {
"$ref": "#/definitions/OperatorId"
},
"inputs": {
"default": {},
"type": "object",
"additionalProperties": true
},
"name": {
"type": [
"string",
"null"
]
},
"outputs": {
"default": [],
"type": "array",
"items": {
"$ref": "#/definitions/DataId"
},
"uniqueItems": true
},
"send_stdout_as": {
"type": [
"string",
"null"
]
}
}
},
"OperatorId": {
"type": "string"
},
"PythonSource": {
"type": "object",
"required": [
"source"
],
"properties": {
"conda_env": {
"type": [
"string",
"null"
]
},
"source": {
"type": "string"
}
},
"additionalProperties": true
},
"SingleOperatorDefinition": {
"type": "object",
"oneOf": [
{
"type": "object",
"required": [
"shared-library"
],
"properties": {
"shared-library": {
"type": "string"
}
},
"additionalProperties": true
},
{
"type": "object",
"required": [
"python"
],
"properties": {
},
"additionalProperties": true
}
],
"properties": {
"build": {
"type": [
"string",
"null"
]
},
"description": {
"type": [
"string",
"null"
]
},
"id": {
"description": "ID is optional if there is only a single operator.",
"anyOf": [
{
"$ref": "#/definitions/OperatorId"
},
{
"type": "null"
}
]
},
"inputs": {
"default": {},
"type": "object",
"additionalProperties": true
},
"name": {
"type": [
"string",
"null"
]
},
"outputs": {
"default": [],
"type": "array",
"items": {
"$ref": "#/definitions/DataId"
},
"uniqueItems": true
},
"send_stdout_as": {
"type": [
"string",
"null"
]
}
}
},
"UserInputMapping": {
"type": "object",
"required": [
"output",
"source"
],
"properties": {
"output": {
"$ref": "#/definitions/DataId"
},
"source": {
"$ref": "#/definitions/NodeId"
}
}
}
}
}