nodes:
  - id: mavlink-sim
    build: cargo build -p mavlink2-bridge-example-mavlink-sim
    path: ../../target/debug/mavlink2-bridge-example-mavlink-sim
    env:
      MAVLINK_SIM_PEER: 127.0.0.1:14550

  - id: bridge
    build: cargo build -p dora-mavlink2-bridge-node
    path: ../../target/debug/dora-mavlink2-bridge-node
    env:
      MAVLINK_BRIDGE_CONFIG: |
        endpoint: udp://127.0.0.1:14550
    inputs:
      heartbeat_cmd: heartbeat-emitter/heartbeat_cmd
    outputs:
      - heartbeat
      - sys_status
      - system_time
      - attitude
      - attitude_quaternion
      - local_position_ned
      - global_position_int
      - gps_raw_int
      - rc_channels
      - servo_output_raw
      - command_long
      - command_ack
      - mission_current

  - id: heartbeat-emitter
    build: cargo build -p mavlink2-bridge-example-heartbeat-emitter
    path: ../../target/debug/mavlink2-bridge-example-heartbeat-emitter
    inputs:
      tick: dora/timer/secs/1
    outputs:
      - heartbeat_cmd

  # C++ consumer. Pre-built by `cargo run --example mavlink2-bridge-cxx`,
  # which compiles main.cc with clang++ + Arrow into build/.
  - id: telemetry-printer
    path: build/telemetry_printer_cxx
    inputs:
      heartbeat: bridge/heartbeat