#!/usr/bin/env python3
# Copyright 2025-2026 Dimensional Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""G1 stack with shared memory image transport."""

from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
from dimos.core.blueprints import autoconnect
from dimos.core.transport import pSHMTransport
from dimos.msgs.sensor_msgs import Image
from dimos.robot.foxglove_bridge import foxglove_bridge
from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1 import unitree_g1

unitree_g1_shm = autoconnect(
    unitree_g1.transports(
        {
            ("color_image", Image): pSHMTransport(
                "/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
            ),
        }
    ),
    foxglove_bridge(
        shm_channels=[
            "/color_image#sensor_msgs.Image",
        ]
    ),
)

__all__ = ["unitree_g1_shm"]
