[
        {
                "id": "c3d4e5f6a7b80000",
                "type": "tab",
                "label": "MQTT Bridge",
                "disabled": false,
                "info": ""
        },
        {
                "id": "cfg1",
                "type": "gofa-robot",
                "name": "ABB-GoFa-12",
                "ip": "192.168.125.1",
                "rwsPort": "443",
                "socketPort": "1025",
                "username": "Default User",
                "remotePointsPath": "$HOME/Programs/gofa_points.json",
                "backgroundPort": "1026",
                "jointLimits": "",
                "allowInsecureLiveControl": false
        },
        {
                "id": "broker1",
                "type": "mqtt-broker",
                "name": "Local Broker",
                "broker": "localhost",
                "port": "1883",
                "clientid": "",
                "autoConnect": true,
                "usetls": false,
                "protocolVersion": "4",
                "keepalive": "60",
                "cleansession": true,
                "autoUnsubscribe": true,
                "birthTopic": "",
                "birthQos": "0",
                "birthPayload": "",
                "birthMsg": {},
                "closeTopic": "",
                "closeQos": "0",
                "closePayload": "",
                "closeMsg": {},
                "willTopic": "",
                "willQos": "0",
                "willPayload": "",
                "willMsg": {},
                "userProps": "",
                "sessionExpiry": ""
        },
        {
                "id": "c3d4e5f6a7b80001",
                "type": "comment",
                "z": "c3d4e5f6a7b80000",
                "name": "\"Local Broker\" points at localhost:1883 — a placeholder. Point it at your real broker (e.g. Mosquitto) before deploying. Topics: gofa/state, gofa/pose, gofa/io/<signal>. Payloads are plain objects — Node-RED's mqtt out node JSON.stringifies them automatically.",
                "info": "",
                "x": 480,
                "y": 40,
                "wires": []
        },
        {
                "id": "c3d4e5f6a7b80002",
                "type": "inject",
                "z": "c3d4e5f6a7b80000",
                "name": "Start Bridge (on deploy)",
                "props": [
                        {
                                "p": "payload"
                        }
                ],
                "repeat": "",
                "crontab": "",
                "once": true,
                "onceDelay": 0.1,
                "topic": "",
                "payload": "",
                "payloadType": "date",
                "x": 190,
                "y": 240,
                "wires": [
                        [
                                "c3d4e5f6a7b80003",
                                "c3d4e5f6a7b80004",
                                "c3d4e5f6a7b80005",
                                "c3d4e5f6a7b80006"
                        ]
                ]
        },
        {
                "id": "c3d4e5f6a7b80003",
                "type": "gofa-subscribe-state",
                "z": "c3d4e5f6a7b80000",
                "name": "Subscribe: Controller State",
                "robot": "cfg1",
                "oneshot": false,
                "x": 470,
                "y": 120,
                "wires": [
                        [
                                "c3d4e5f6a7b80007"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "c3d4e5f6a7b80004",
                "type": "gofa-subscribe-pose",
                "z": "c3d4e5f6a7b80000",
                "name": "Subscribe: TCP Pose",
                "robot": "cfg1",
                "interval": "1000",
                "x": 460,
                "y": 200,
                "wires": [
                        [
                                "c3d4e5f6a7b80008"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "c3d4e5f6a7b80005",
                "type": "gofa-subscribe-io",
                "z": "c3d4e5f6a7b80000",
                "name": "Subscribe: ASI Button 1",
                "robot": "cfg1",
                "signal": "Asi1Button1",
                "oneshot": false,
                "x": 460,
                "y": 280,
                "wires": [
                        [
                                "c3d4e5f6a7b80009"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "c3d4e5f6a7b80006",
                "type": "gofa-subscribe-io",
                "z": "c3d4e5f6a7b80000",
                "name": "Subscribe: ASI Button 2",
                "robot": "cfg1",
                "signal": "Asi1Button2",
                "oneshot": false,
                "x": 460,
                "y": 360,
                "wires": [
                        [
                                "c3d4e5f6a7b8000a"
                        ]
                ],
                "outputPayload": true
        },
        {
                "id": "c3d4e5f6a7b80007",
                "type": "mqtt out",
                "z": "c3d4e5f6a7b80000",
                "name": "Publish: gofa/state",
                "topic": "gofa/state",
                "qos": "0",
                "retain": "true",
                "respTopic": "",
                "contentType": "",
                "userProps": "",
                "correl": "",
                "expiry": "",
                "broker": "broker1",
                "x": 770,
                "y": 120,
                "wires": []
        },
        {
                "id": "c3d4e5f6a7b80008",
                "type": "mqtt out",
                "z": "c3d4e5f6a7b80000",
                "name": "Publish: gofa/pose",
                "topic": "gofa/pose",
                "qos": "0",
                "retain": "true",
                "respTopic": "",
                "contentType": "",
                "userProps": "",
                "correl": "",
                "expiry": "",
                "broker": "broker1",
                "x": 770,
                "y": 200,
                "wires": []
        },
        {
                "id": "c3d4e5f6a7b80009",
                "type": "mqtt out",
                "z": "c3d4e5f6a7b80000",
                "name": "Publish: gofa/io/Asi1Button1",
                "topic": "gofa/io/Asi1Button1",
                "qos": "0",
                "retain": "true",
                "respTopic": "",
                "contentType": "",
                "userProps": "",
                "correl": "",
                "expiry": "",
                "broker": "broker1",
                "x": 790,
                "y": 280,
                "wires": []
        },
        {
                "id": "c3d4e5f6a7b8000a",
                "type": "mqtt out",
                "z": "c3d4e5f6a7b80000",
                "name": "Publish: gofa/io/Asi1Button2",
                "topic": "gofa/io/Asi1Button2",
                "qos": "0",
                "retain": "true",
                "respTopic": "",
                "contentType": "",
                "userProps": "",
                "correl": "",
                "expiry": "",
                "broker": "broker1",
                "x": 790,
                "y": 360,
                "wires": []
        }
]