Dataflow Config

Dataflow Configuration

Complete guide to dora-rs dataflow YAML specification

Basic Structure

nodes:
  - id: node_id          # Required: unique identifier (no "/" characters)
    name: "Human Name"   # Optional: descriptive name
    description: "..."   # Optional: node description
    path: executable     # Path to executable/script
    args: "-v --flag"    # Optional: command-line arguments
    env:                 # Optional: environment variables
      DEBUG: true
      PORT: 8080
    inputs:              # Input connections
      input_id: source_node/output_id
    outputs:             # Output identifiers
      - output_1
      - output_2

Node Configuration Fields

*One of path, operator, or operators is required.

Input Connections

From Another Node

inputs:
  input_name: source_node/output_name

Timer Inputs

inputs:
  # Trigger every N milliseconds
  tick: dora/timer/millis/100    # 10 Hz
  tick: dora/timer/millis/33     # ~30 Hz
  tick: dora/timer/millis/1000   # 1 Hz

  # Trigger every N seconds
  tick: dora/timer/secs/5        # Every 5 seconds

With Queue Size

inputs:
  image:
    source: camera/image
    queue_size: 1  # Only keep latest (drop old frames)

Environment Variables

env:
  # Model configuration
  MODEL_PATH: /path/to/model.pt
  DEVICE: cuda

  # Camera settings
  CAPTURE_PATH: "0"
  IMAGE_WIDTH: "640"
  IMAGE_HEIGHT: "480"

  # Serial ports
  SERIAL_PORT: /dev/ttyUSB0
  BAUD_RATE: "115200"

Node Source Options

Python Package (pip)

- id: yolo
  build: pip install dora-yolo
  path: dora-yolo

Local Python File

- id: custom
  path: ./my_node.py

Rust Executable

- id: rust-node
  build: cargo build --release
  path: ./target/release/my_node

Git Repository

- id: remote-node
  git: https://github.com/org/repo.git
  branch: main           # Or: tag: v1.0.0 / rev: abc123
  build: cargo build --release
  path: target/release/node

Dynamic Nodes

- id: dynamic-node
  path: dynamic          # Special keyword
  inputs:
    tick: dora/timer/millis/100
  outputs:
    - output

Operators

Single Operator

- id: processor
  operator:
    python: script.py
    inputs:
      data: source/output
    outputs:
      - processed

Multiple Operators (Runtime Node)

- id: runtime-node
  operators:
    - id: op1
      python: op1.py
      inputs:
        data: source/output
      outputs:
        - result1
    - id: op2
      python: op2.py
      inputs:
        input: op1/result1
      outputs:
        - result2

Operator with Conda

- id: ml-node
  operator:
    python:
      source: inference.py
      conda_env: ml_env
    inputs:
      image: camera/image
    outputs:
      - prediction

Restart Policy

- id: resilient-node
  path: ./node
  restart_policy: on-failure  # never (default), on-failure, always

Stdout Forwarding

- id: producer
  path: ./node
  send_stdout_as: logs  # Forward stdout as output
  outputs:
    - logs

Complete Example: Vision Pipeline

nodes:
  # Camera capture
  - id: camera
    build: pip install opencv-video-capture
    path: opencv-video-capture
    inputs:
      tick: dora/timer/millis/33
    outputs:
      - image
    env:
      CAPTURE_PATH: "0"
      IMAGE_WIDTH: "640"
      IMAGE_HEIGHT: "480"

  # Object detection
  - id: detector
    build: pip install dora-yolo
    path: dora-yolo
    inputs:
      image: camera/image
    outputs:
      - bbox
    env:
      MODEL: yolov8n.pt

  # Visualization
  - id: plot
    build: pip install dora-rerun
    path: dora-rerun
    inputs:
      image: camera/image
      boxes2d: detector/bbox

Best Practices

1. Use descriptive node IDs: camera, object-detector, arm-controller
2. Set appropriate timer frequencies: Match your processing rate
3. Configure queue sizes: Use queue_size: 1 for real-time applications
4. Use environment variables: Keep configuration separate from code
5. Use --uv flag: For faster Python package installation

Related Skills

• node-api-rust - Rust node development
• node-api-python - Python node development
• cli-commands - Running dataflows
• hub-nodes - Pre-built nodes