api_version: cmvr.edge.ai/v1

runtime:
  # Decoder, YOLO and viewer drawing share this bounded application pool.
  thread_workers: 3
  shutdown_timeout_s: 8

endpoints:
  cmvr_es:
    transport: grpc
    # Remote cmvr-es address. Keep this aligned with the robot being viewed.
    target: 192.168.0.119:50052
    tls: false
    timeout_s: 5
    options:
      max_receive_mb: 32

pipelines:
  detection_show:
    enabled: true
    nodes:
      camera:
        uses: cmvr.grpc.camera_rgb_stream@1
        with:
          endpoint: cmvr_es
          device_id: wrist_cam
          pixel_format: BGR8
          reconnect: true
          reconnect_initial_s: 0.5
          reconnect_max_s: 10
          stream_log_interval_s: 5

      decoder:
        uses: media.video_decoder.pyav@1

      detector:
        uses: detection.model@1
        with:
          model: construction-ppe-yolov8@1
          detect_labels:
            - No-Boots
            - No-Ear-Protection
            - No-Glass
            - No-Glove
            - No-Helmet
            - No-Mask
            - No-Vest
          confidence: 0.50
          # A 30 FPS stream starts at most 10 model inferences each second.
          max_fps: 10
          inference_log_interval_s: 5
          # Required so the viewer receives the exact decoded inference frame.
          attach_frame: true
          model_options:
            # Repository-relative path; launch the viewer from the repository root.
            weights: models/detection/construction-ppe-yolov8/v1/best.pt
            device: cpu
            imgsz: 640
            iou: 0.70
            half: false
            max_det: 100

      viewer:
        uses: demo.opencv_detection_viewer@1
        with:
          window_name: CMVR PPE Detection
          window_width: 1280
          window_height: 720
          wait_key_ms: 1
          box_thickness: 2
          font_scale: 0.6
          show_stats: true

    edges:
      # H264/H265 packets must remain contiguous until decoding.
      - from: camera.frames
        to: decoder.frames
        qos:
          profile: video_contiguous
          capacity: 8
          overflow: block

      # Keep only the latest decoded frame while YOLO is busy.
      - from: decoder.frames
        to: detector.frames
        qos:
          profile: realtime_latest
          capacity: 1
          overflow: drop_oldest

      # A slow GUI must not accumulate raw frames or stale detection results.
      - from: detector.detections
        to: viewer.input
        qos:
          profile: realtime_latest
          capacity: 1
          overflow: drop_oldest