{
 "id": "systemsketch-blocks",
 "title": "SystemSketch blocks",
 "titleProperty": "block",
 "source": "systemsketch sketches/review/communication-projection-prototype.systemsketch (Block-Ports-Edges)",
 "properties": {
  "block": {
   "type": "text",
   "label": "Block",
   "width": 200
  },
  "kind": {
   "type": "text",
   "label": "Block type",
   "display": "badge"
  },
  "inputs": {
   "type": "list",
   "label": "Inputs"
  },
  "outputs": {
   "type": "list",
   "label": "Outputs"
  },
  "n_in": {
   "type": "number",
   "label": "In ports"
  },
  "n_out": {
   "type": "number",
   "label": "Out ports"
  },
  "definition": {
   "type": "text",
   "label": "Definition"
  },
  "sends_to": {
   "type": "list",
   "label": "Sends to",
   "readOnly": true
  },
  "via": {
   "type": "list",
   "label": "Via port",
   "readOnly": true
  }
 },
 "rows": [
  {
   "id": "telemetry",
   "block": "Telemetry UI",
   "kind": "component",
   "inputs": [
    "preview: Chunk[Image]",
    "status: Status"
   ],
   "outputs": [],
   "n_in": 2,
   "n_out": 0,
   "definition": "Telemetry_UI",
   "sends_to": [],
   "via": []
  },
  {
   "id": "threshold_value",
   "block": "threshold (value)",
   "kind": "value",
   "inputs": [
    "threshold: float"
   ],
   "outputs": [
    "threshold: float"
   ],
   "n_in": 1,
   "n_out": 1,
   "definition": null,
   "sends_to": [
    "perception"
   ],
   "via": [
    "threshold"
   ]
  },
  {
   "id": "mission_value",
   "block": "mission_id (value)",
   "kind": "value",
   "inputs": [
    "mission_id: str"
   ],
   "outputs": [
    "mission_id: str"
   ],
   "n_in": 1,
   "n_out": 1,
   "definition": null,
   "sends_to": [
    "mission"
   ],
   "via": [
    "mission_id"
   ]
  },
  {
   "id": "motion",
   "block": "Motion Controller",
   "kind": "service + action server",
   "inputs": [
    "pose.query: PoseQuery",
    "move.goal: MoveGoal",
    "move.cancel: GoalId"
   ],
   "outputs": [
    "pose.reply: Pose",
    "move.feedback: Progress",
    "move.result: MoveResult",
    "status: Status"
   ],
   "n_in": 3,
   "n_out": 4,
   "definition": "Motion_Controller",
   "sends_to": [
    "mission",
    "mission",
    "mission",
    "telemetry"
   ],
   "via": [
    "move.feedback",
    "move.result",
    "pose.reply",
    "status"
   ]
  },
  {
   "id": "mission",
   "block": "Mission BT",
   "kind": "action client",
   "inputs": [
    "mission_id: str",
    "plan: Plan",
    "pose.reply: Pose",
    "move.feedback: Progress",
    "move.result: MoveResult"
   ],
   "outputs": [
    "pose.query: PoseQuery",
    "move.goal: MoveGoal",
    "move.cancel: GoalId"
   ],
   "n_in": 5,
   "n_out": 3,
   "definition": "Mission_BT",
   "sends_to": [
    "motion",
    "motion",
    "motion"
   ],
   "via": [
    "move.cancel",
    "move.goal",
    "pose.query"
   ]
  },
  {
   "id": "planner",
   "block": "Planner",
   "kind": "component",
   "inputs": [
    "detections: Detections"
   ],
   "outputs": [
    "plan: Plan"
   ],
   "n_in": 1,
   "n_out": 1,
   "definition": "Planner",
   "sends_to": [
    "mission"
   ],
   "via": [
    "plan"
   ]
  },
  {
   "id": "camera",
   "block": "Camera",
   "kind": "component",
   "inputs": [],
   "outputs": [
    "frame: Image",
    "preview: Chunk[Image]"
   ],
   "n_in": 0,
   "n_out": 2,
   "definition": "Camera",
   "sends_to": [
    "perception",
    "telemetry"
   ],
   "via": [
    "frame",
    "preview"
   ]
  },
  {
   "id": "perception",
   "block": "Perception",
   "kind": "component",
   "inputs": [
    "image: Image",
    "threshold: float"
   ],
   "outputs": [
    "detections: Detections"
   ],
   "n_in": 2,
   "n_out": 1,
   "definition": "Perception",
   "sends_to": [
    "planner"
   ],
   "via": [
    "detections"
   ]
  }
 ]
}