[
    {
        "id": "99d991848a0eb804",
        "type": "tab",
        "label": "CenterPoint 3D检测",
        "disabled": false,
        "info": ""
    },
    {
        "id": "d84a85f562c882d4",
        "type": "group",
        "z": "99d991848a0eb804",
        "name": "目标检测 (LiDAR)",
        "style": {
            "fill": "#e3f3d3",
            "fill-opacity": "0.6",
            "label": true
        },
        "nodes": [
            "be18aef63fca6337",
            "bc3aeaa4569b5c9e",
            "3abe15921e8b0e97",
            "93edcd8a42d72116",
            "dc2d1181ea528614",
            "989dba54e5cde30b"
        ],
        "x": 114,
        "y": 171.5,
        "w": 1052,
        "h": 169.5
    },
    {
        "id": "702cf508b838b36a",
        "type": "group",
        "z": "99d991848a0eb804",
        "name": "结果可视化",
        "style": {
            "fill": "#d1e7f5",
            "fill-opacity": "0.6",
            "label": true
        },
        "nodes": [
            "1a5facce3dfa0d0f",
            "ef39f48ca588fad3",
            "6924838803f3c001",
            "ea70f79d1b5d778f",
            "43f29dae302dccc2"
        ],
        "x": 114,
        "y": 399,
        "w": 612,
        "h": 129.5
    },
    {
        "id": "87be978d8fd68f39",
        "type": "group",
        "z": "99d991848a0eb804",
        "name": "环境准备 & 说明",
        "style": {
            "fill": "#fff9c4",
            "fill-opacity": "0.6",
            "label": true
        },
        "nodes": [
            "71cb36b5c17bfa02",
            "030b00dbeabc9087",
            "abd878cb7ccfea7f",
            "611a3825ac2ab8ff",
            "490c196281046628",
            "aab69055a636db13",
            "3728a172a02adb46"
        ],
        "x": 94,
        "y": 39,
        "w": 1012,
        "h": 122
    },
    {
        "id": "be18aef63fca6337",
        "type": "inject",
        "z": "99d991848a0eb804",
        "g": "d84a85f562c882d4",
        "name": "启动 CenterPoint",
        "props": [
            {
                "p": "payload"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 250,
        "y": 220,
        "wires": [
            [
                "989dba54e5cde30b"
            ]
        ]
    },
    {
        "id": "989dba54e5cde30b",
        "type": "exec",
        "z": "99d991848a0eb804",
        "g": "d84a85f562c882d4",
        "command": "source /opt/tros/humble/setup.bash && cp -r /opt/tros/humble/lib/hobot_centerpoint/config/ . 2>/dev/null || true && rm -rf qat && ln -s $(ros2 pkg prefix hobot_centerpoint)/lib/hobot_centerpoint/qat/ qat && ln -sf ~/centerpoint_data centerpoint_data",
        "addpay": false,
        "append": "",
        "useSpawn": false,
        "timer": "",
        "oldrc": false,
        "name": "环境初始化 (配置/链接)",
        "x": 480,
        "y": 220,
        "wires": [
            [
                "bc3aeaa4569b5c9e",
                "6924838803f3c001"
            ],
            [],
            []
        ]
    },
    {
        "id": "bc3aeaa4569b5c9e",
        "type": "change",
        "z": "99d991848a0eb804",
        "g": "d84a85f562c882d4",
        "name": "配置流参数",
        "rules": [
            {
                "t": "set",
                "p": "launch",
                "pt": "msg",
                "to": "hobot_centerpoint hobot_centerpoint.launch.py",
                "tot": "str"
            },
            {
                "t": "set",
                "p": "payload",
                "pt": "msg",
                "to": "",
                "tot": "str"
            }
        ],
        "action": "",
        "property": "",
        "from": "",
        "to": "",
        "reg": false,
        "x": 710,
        "y": 220,
        "wires": [
            [
                "3abe15921e8b0e97"
            ]
        ]
    },
    {
        "id": "3abe15921e8b0e97",
        "type": "rdk-tools checkexecute",
        "z": "99d991848a0eb804",
        "g": "d84a85f562c882d4",
        "name": "执行算法",
        "x": 900,
        "y": 260,
        "wires": [
            [
                "dc2d1181ea528614"
            ],
            [
                "dc2d1181ea528614"
            ]
        ]
    },
    {
        "id": "93edcd8a42d72116",
        "type": "inject",
        "z": "99d991848a0eb804",
        "g": "d84a85f562c882d4",
        "name": "关闭服务",
        "props": [
            {
                "p": "kill",
                "v": "",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "x": 220,
        "y": 300,
        "wires": [
            [
                "3abe15921e8b0e97"
            ]
        ]
    },
    {
        "id": "dc2d1181ea528614",
        "type": "debug",
        "z": "99d991848a0eb804",
        "g": "d84a85f562c882d4",
        "name": "系统日志",
        "active": true,
        "tosidebar": true,
        "console": false,
        "tostatus": false,
        "complete": "payload",
        "targetType": "msg",
        "statusVal": "",
        "statusType": "auto",
        "x": 1060,
        "y": 260,
        "wires": []
    },
    {
        "id": "1a5facce3dfa0d0f",
        "type": "inject",
        "z": "99d991848a0eb804",
        "g": "702cf508b838b36a",
        "name": "打开浏览器",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "http://{host}:8000",
        "payloadType": "str",
        "x": 220,
        "y": 440,
        "wires": [
            [
                "ef39f48ca588fad3"
            ]
        ]
    },
    {
        "id": "ef39f48ca588fad3",
        "type": "rdk-tools openurl",
        "z": "99d991848a0eb804",
        "g": "702cf508b838b36a",
        "name": "",
        "x": 400,
        "y": 440,
        "wires": []
    },
    {
        "id": "6924838803f3c001",
        "type": "delay",
        "z": "99d991848a0eb804",
        "g": "702cf508b838b36a",
        "name": "等待加载(5s)",
        "pauseType": "delay",
        "timeout": "5",
        "timeoutUnits": "seconds",
        "rate": "1",
        "nbRateUnits": "1",
        "rateUnits": "second",
        "randomFirst": "1",
        "randomLast": "5",
        "randomUnits": "seconds",
        "drop": false,
        "allowrate": false,
        "outputs": 1,
        "x": 240,
        "y": 480,
        "wires": [
            [
                "ea70f79d1b5d778f"
            ]
        ]
    },
    {
        "id": "ea70f79d1b5d778f",
        "type": "change",
        "z": "99d991848a0eb804",
        "g": "702cf508b838b36a",
        "name": "设定视频流",
        "rules": [
            {
                "t": "set",
                "p": "payload",
                "pt": "msg",
                "to": "ws://{host}:8000",
                "tot": "str"
            }
        ],
        "action": "",
        "property": "",
        "from": "",
        "to": "",
        "reg": false,
        "x": 430,
        "y": 480,
        "wires": [
            [
                "43f29dae302dccc2"
            ]
        ]
    },
    {
        "id": "43f29dae302dccc2",
        "type": "rdk-tools videows",
        "z": "99d991848a0eb804",
        "g": "702cf508b838b36a",
        "name": "Web预览",
        "fps": "10",
        "width": "480",
        "active": true,
        "x": 620,
        "y": 480,
        "wires": [
            [],
            [],
            []
        ]
    },
    {
        "id": "71cb36b5c17bfa02",
        "type": "inject",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "检查更新",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 220,
        "y": 120,
        "wires": [
            [
                "030b00dbeabc9087"
            ]
        ]
    },
    {
        "id": "030b00dbeabc9087",
        "type": "rdk-tools smartupdate",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "",
        "x": 380,
        "y": 120,
        "wires": [
            [
                "abd878cb7ccfea7f"
            ],
            []
        ]
    },
    {
        "id": "abd878cb7ccfea7f",
        "type": "change",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "提示内容",
        "rules": [
            {
                "t": "set",
                "p": "payload",
                "pt": "msg",
                "to": "环境检查完成",
                "tot": "str"
            }
        ],
        "action": "",
        "property": "",
        "from": "",
        "to": "",
        "reg": false,
        "x": 540,
        "y": 120,
        "wires": [
            [
                "611a3825ac2ab8ff"
            ]
        ]
    },
    {
        "id": "611a3825ac2ab8ff",
        "type": "rdk-tools texttoaudio",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "",
        "x": 670,
        "y": 120,
        "wires": []
    },
    {
        "id": "490c196281046628",
        "type": "inject",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "📖 首次使用必读 (下载数据集)",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "https://developer.d-robotics.cc/rdk_doc/Robot_development/boxs/driver/hobot_centerpoint",
        "payloadType": "str",
        "x": 260,
        "y": 80,
        "wires": [
            [
                "aab69055a636db13"
            ]
        ]
    },
    {
        "id": "aab69055a636db13",
        "type": "rdk-tools openurl",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "",
        "x": 520,
        "y": 80,
        "wires": []
    },
    {
        "id": "3728a172a02adb46",
        "type": "comment",
        "z": "99d991848a0eb804",
        "g": "87be978d8fd68f39",
        "name": "⚠️ 注意：运行前请先点击左侧按钮，按官方文档手动下载数据集！",
        "info": "需要手动下载 centerpoint_data.tar.gz 并解压到 ~/centerpoint_data",
        "x": 840,
        "y": 80,
        "wires": []
    },
    {
        "id": "90c53444c23c4551",
        "type": "global-config",
        "env": [],
        "modules": {
            "node-red-node-rdk-tools": "0.0.27"
        }
    }
]