[
  {
    "id": "avr26ex_tab",
    "type": "tab",
    "label": "AVR 2026 YOLO",
    "disabled": false,
    "info": "The drone runs a YOLO model trained on the AVR 2026 field artwork and\npublishes what it sees on `/yolo_detections`. Turn those detections into the\nright LED color.\n\nThe subscribe and service-call nodes are wired. `gasoline` is done as an\nexample. The other nine are yours.\n\n1. Point the camera at a printed card and watch the `raw detections` debug\n   node to see the data.\n2. Read the `pick a class` function node. It works but it is basic.\n3. Add rules to the `class -> color` switch node."
  },

  {
    "id": "avr26ex_sub",
    "type": "ros2-subscribe",
    "z": "avr26ex_tab",
    "name": "/yolo_detections",
    "server": "27129f80a96ce509",
    "topicname": "/yolo_detections",
    "x": 180,
    "y": 240,
    "wires": [["avr26ex_dbg", "avr26ex_fn", "avr26ex_clear"]]
  },
  {
    "id": "avr26ex_dbg",
    "type": "debug",
    "z": "avr26ex_tab",
    "name": "raw detections",
    "active": true,
    "tosidebar": true,
    "console": false,
    "tostatus": false,
    "complete": "payload",
    "targetType": "msg",
    "statusVal": "",
    "statusType": "auto",
    "x": 430,
    "y": 140,
    "wires": []
  },

  {
    "id": "avr26ex_note_labels",
    "type": "comment",
    "z": "avr26ex_tab",
    "name": "Class labels",
    "info": "The ten strings the model can emit. Copy and paste them, a typo will not\nraise an error.\n\n```\nwheat_barrel\nwater_barrel\ngasoline\ntoxic_fluid\nwheat_barn\nwater_barn\nbridge_1line\nbridge_2line\nbridge_3line\nblackout\n```\n\nThe color for each one is in the AVR 2026 game manual.",
    "x": 210,
    "y": 60,
    "wires": []
  },

  {
    "id": "avr26ex_fn",
    "type": "function",
    "z": "avr26ex_tab",
    "name": "pick a class",
    "func": "// msg.payload.detections is an array. Each entry:\n//   { class_name: \"gasoline\", confidence: 0.83, bbox: [x1, y1, x2, y2] }\n//\n// This takes the first detection and passes its label through.\n\nvar detections = msg.payload.detections || [];\n\nif (detections.length === 0) {\n    return null;\n}\n\nmsg.payload = detections[0].class_name;\nreturn msg;\n\n// TODO\n//\n// 1. The array can hold more than one detection. Point the camera at two\n//    cards and check the debug node. Decide which one to use.\n//\n// 2. Each detection has a confidence between 0 and 1. This uses all of them.\n//    Aim at a blank wall and watch the ring.\n//\n// 3. Hold one card still and watch the ring. Decide how many frames in a row\n//    you need before acting.\n//\n// 4. This sends a message on every frame, including when the class has not\n//    changed.\n//\n// context.get() and context.set() let a function node remember values\n// between messages.\n",
    "outputs": 1,
    "timeout": 0,
    "noerr": 0,
    "initialize": "",
    "finalize": "",
    "libs": [],
    "x": 440,
    "y": 240,
    "wires": [["avr26ex_switch"]]
  },

  {
    "id": "avr26ex_switch",
    "type": "switch",
    "z": "avr26ex_tab",
    "name": "class -> color",
    "property": "payload",
    "propertyType": "msg",
    "rules": [{ "t": "eq", "v": "gasoline", "vt": "str" }],
    "checkall": "true",
    "repair": false,
    "outputs": 1,
    "x": 660,
    "y": 240,
    "wires": [["avr26ex_led_red"]]
  },
  {
    "id": "avr26ex_note_switch",
    "type": "comment",
    "z": "avr26ex_tab",
    "name": "Add the other classes",
    "info": "`gasoline` goes out of output 1 to a red `led` node.\n\nAdd a rule per class, set the switch to that many outputs, and wire each one\nto an `led` node with the right color. Check the manual for how many colors\nyou need.",
    "x": 690,
    "y": 180,
    "wires": []
  },

  {
    "id": "avr26ex_led_red",
    "type": "led",
    "z": "avr26ex_tab",
    "name": "gasoline -> red",
    "color": "red",
    "x": 900,
    "y": 240,
    "wires": [["avr26ex_call"]]
  },

  {
    "id": "avr26ex_call",
    "type": "ros2-service-call",
    "z": "avr26ex_tab",
    "name": "set LED ring",
    "server": "27129f80a96ce509",
    "x": 1120,
    "y": 240,
    "wires": [[]]
  },
  {
    "id": "avr26ex_note_done",
    "type": "comment",
    "z": "avr26ex_tab",
    "name": "Already wired",
    "info": "`led` turns a color name into a service request and `ros2-service-call`\nsends it. Every `led` node wires into this same service call node.\n\nColors: red green blue yellow purple cyan white orange teal magenta gold\npink aqua jade amber old_lace black. black turns the ring off.",
    "x": 1130,
    "y": 180,
    "wires": []
  },

  {
    "id": "avr26ex_cmt_clear",
    "type": "comment",
    "z": "avr26ex_tab",
    "name": "Turning the ring off when detection stops",
    "info": "The detector publishes only when it sees something, so nothing arrives on\nan empty frame and the ring would hold its last color indefinitely.\n\nEvery detection restarts the timer below. When 5 seconds pass with no\ndetection the timer fires and the ring goes off.\n\nThe ring is shared with the flight mode indicator, which sets a color only\nwhen the mode changes. After this clears the ring, the flight mode color\nreturns on the next mode change.",
    "x": 420,
    "y": 300,
    "wires": []
  },
  {
    "id": "avr26ex_clear",
    "type": "trigger",
    "z": "avr26ex_tab",
    "name": "no detection for 5s",
    "op1": "",
    "op1type": "nul",
    "op2": "clear",
    "op2type": "str",
    "duration": "5",
    "extend": true,
    "overrideDelay": false,
    "units": "s",
    "reset": "",
    "bytopic": "all",
    "topic": "topic",
    "outputs": 1,
    "x": 420,
    "y": 340,
    "wires": [["avr26ex_led_off"]]
  },
  {
    "id": "avr26ex_led_off",
    "type": "led",
    "z": "avr26ex_tab",
    "name": "nothing seen -> off",
    "color": "black",
    "x": 900,
    "y": 340,
    "wires": [["avr26ex_call"]]
  }
]