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6388 lines (6388 loc) · 339 KB
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<?xml version="1.0" encoding="utf-8"?>
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xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xmlns:rx="clr-namespace:Bonsai.Reactive;assembly=Bonsai.Core"
xmlns:gl="clr-namespace:Bonsai.Shaders;assembly=Bonsai.Shaders"
xmlns:res="clr-namespace:Bonsai.Resources;assembly=Bonsai.System"
xmlns:scr="clr-namespace:Bonsai.Scripting.Expressions;assembly=Bonsai.Scripting.Expressions"
xmlns:harp="clr-namespace:Bonsai.Harp;assembly=Bonsai.Harp"
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xmlns:p3="clr-namespace:AllenNeuralDynamics.AindManipulator;assembly=AllenNeuralDynamics.AindManipulator"
xmlns:beh="clr-namespace:Harp.Behavior;assembly=Harp.Behavior"
xmlns:sys="clr-namespace:System;assembly=mscorlib"
xmlns:cv="clr-namespace:Bonsai.Vision;assembly=Bonsai.Vision"
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xmlns:vid="clr-namespace:Bonsai.Video;assembly=Bonsai.Video"
xmlns:num="clr-namespace:Bonsai.Numerics;assembly=Bonsai.Numerics"
xmlns:p6="clr-namespace:Bonsai.Numerics.Distributions;assembly=Bonsai.Numerics"
xmlns:p7="clr-namespace:AllenNeuralDynamics.VersionControl;assembly=AllenNeuralDynamics.VersionControl"
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xmlns:p10="clr-namespace:;assembly=Extensions"
xmlns:p11="clr-namespace:OpenTK;assembly=OpenTK"
xmlns:p12="clr-namespace:Harp.Olfactometer;assembly=Harp.Olfactometer"
xmlns:dsp="clr-namespace:Bonsai.Dsp;assembly=Bonsai.Dsp"
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xmlns:p14="clr-namespace:AllenNeuralDynamics.Treadmill;assembly=AllenNeuralDynamics.Treadmill"
xmlns:p15="clr-namespace:AllenNeuralDynamics.HarpUtils;assembly=AllenNeuralDynamics.HarpUtils"
xmlns:bv="clr-namespace:BonVision;assembly=BonVision"
xmlns:p16="clr-namespace:AllenNeuralDynamics.LicketySplit;assembly=AllenNeuralDynamics.LicketySplit"
xmlns:p17="clr-namespace:AllenNeuralDynamics.SniffDetector;assembly=AllenNeuralDynamics.SniffDetector"
xmlns:p18="clr-namespace:Bonsai.Numerics.Interpolation;assembly=Bonsai.Numerics"
xmlns="https://bonsai-rx.org/2018/workflow">
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<Workflow>
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<Expression xsi:type="Annotation">
<Text><![CDATA[]]></Text>
</Expression>
<Expression xsi:type="GroupWorkflow">
<Name>Hardware</Name>
<Workflow>
<Nodes>
<Expression xsi:type="GroupWorkflow">
<Name>ScreenConfiguration</Name>
<Workflow>
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<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Screen</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="DisplayDevice" Selector="DisplayIndex" />
<Property Name="TargetRenderFrequency" Selector="TargetRenderFrequency" />
<Property Name="TargetUpdateFrequency" Selector="TargetUpdateFrequency" />
</PropertyMappings>
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<Expression xsi:type="Combinator">
<Combinator xsi:type="gl:CreateWindow">
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<gl:Height>1000</gl:Height>
<gl:Title>VrForaging</gl:Title>
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<gl:SwapSync>false</gl:SwapSync>
<gl:ClearColor>Black</gl:ClearColor>
<gl:ClearMask>DepthBufferBit ColorBufferBit</gl:ClearMask>
<gl:CursorVisible>false</gl:CursorVisible>
<gl:Location xsi:nil="true" />
<gl:WindowBorder>Resizable</gl:WindowBorder>
<gl:WindowState>Fullscreen</gl:WindowState>
<gl:DisplayDevice>Second</gl:DisplayDevice>
<gl:TargetRenderFrequency>60</gl:TargetRenderFrequency>
<gl:TargetUpdateFrequency>120</gl:TargetUpdateFrequency>
<gl:RenderState />
<gl:GraphicsMode>
<gl:ColorFormat>
<gl:Red>8</gl:Red>
<gl:Green>8</gl:Green>
<gl:Blue>8</gl:Blue>
<gl:Alpha>8</gl:Alpha>
</gl:ColorFormat>
<gl:Depth>16</gl:Depth>
<gl:Stencil>0</gl:Stencil>
<gl:Samples>0</gl:Samples>
<gl:AccumulatorFormat>
<gl:Red>0</gl:Red>
<gl:Green>0</gl:Green>
<gl:Blue>0</gl:Blue>
<gl:Alpha>0</gl:Alpha>
</gl:AccumulatorFormat>
<gl:Buffers>2</gl:Buffers>
<gl:Stereo>false</gl:Stereo>
</gl:GraphicsMode>
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<Expression xsi:type="Combinator">
<Combinator xsi:type="res:LoadResources" />
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<Expression xsi:type="WorkflowOutput" />
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Screen.Calibration</Selector>
</Expression>
<Expression xsi:type="rx:Defer">
<Name>LoadDisplayCalibration</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="rx:AsyncSubject">
<Name>calibration</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>calibration</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Left</Selector>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="Extensions\DisplayCalibration.bonsai" />
<Expression xsi:type="SubscribeSubject">
<Name>calibration</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Center</Selector>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="Extensions\DisplayCalibration.bonsai" />
<Expression xsi:type="SubscribeSubject">
<Name>calibration</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Right</Selector>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="Extensions\DisplayCalibration.bonsai" />
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Zip" />
</Expression>
<Expression xsi:type="scr:ExpressionTransform">
<scr:Expression>new(
Item1 as Left,
Item2 as Center,
Item3 as Right)</scr:Expression>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
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<Edge From="10" To="11" Label="Source3" />
<Edge From="11" To="12" Label="Source1" />
<Edge From="12" To="13" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="rx:AsyncSubject">
<Name>DisplayCalibration</Name>
</Expression>
<Expression xsi:type="GroupWorkflow">
<Name>RenderLoop</Name>
<Workflow>
<Nodes>
<Expression xsi:type="SubscribeSubject">
<Name>FarClipHorizon</Name>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="FarClip" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:RenderLoop.bonsai">
<Eye>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
</Eye>
<NearClip>1E-05</NearClip>
<FarClip>1000</FarClip>
<Light>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
</Light>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:DisplaySynchQuad.bonsai">
<Minimum>2</Minimum>
<Maximum>6</Maximum>
</Expression>
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<Value>1</Value>
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<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="rx:BehaviorSubject">
<Name>WorldContrast</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Screen</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Contrast</Selector>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>WorldContrast</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:CombineLatest" />
</Expression>
<Expression xsi:type="Multiply" />
<Expression xsi:type="MulticastSubject">
<Name>DisplayContrast</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Screen</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Brightness</Selector>
</Expression>
<Expression xsi:type="MulticastSubject">
<Name>DisplayBrightness</Name>
</Expression>
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
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</Workflow>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Screen.TextureAssetsDirectory</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
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<Property Name="Path" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:LoadTextureBank.bonsai">
<Path>Textures</Path>
<SearchPattern>*.jpg</SearchPattern>
</Expression>
</Nodes>
<Edges>
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<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:DelaySubscription">
<rx:DueTime>PT2S</rx:DueTime>
</Combinator>
</Expression>
<Expression xsi:type="GroupWorkflow">
<Name>HarpDevices</Name>
<Workflow>
<Nodes>
<Expression xsi:type="SubscribeSubject">
<Name>HarpWhiteRabbitEvents</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="harp:FilterMessageType">
<harp:FilterType>Include</harp:FilterType>
<harp:MessageType>Event</harp:MessageType>
</Combinator>
</Expression>
<Expression xsi:type="p2:Parse">
<harp:Register xsi:type="p2:TimestampedCounter" />
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Seconds</Selector>
</Expression>
<Expression xsi:type="rx:BehaviorSubject">
<Name>HarpTimestampSource</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>HarpWhiteRabbitEvents</Name>
</Expression>
<Expression xsi:type="harp:Parse">
<harp:Register xsi:type="harp:TimestampedTimestampSeconds" />
</Expression>
<Expression xsi:type="rx:PublishSubject">
<Name>HarpWhiteRabbitHeartbeat</Name>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="Extensions\HarpBehaviorDevice.bonsai">
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpClockGenerator.PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.HarpUtils:HarpWhiteRabbit.bonsai">
<PortName>COMx</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpOlfactometer.PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.HarpUtils:HarpOlfactometerDevice.bonsai">
<PortName>COM6</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
<Channel3AsCarrier>true</Channel3AsCarrier>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpLickometer.PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="Extensions\HarpLicketySplitDevice.bonsai">
<PortName>COMx</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpTreadmill</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.HarpUtils:HarpTreadmill.bonsai">
<PortName>COMx</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Manipulator</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Calibration</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Input</Selector>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="p1:SerializeToJson">
<p1:Formatting>None</p1:Formatting>
</Combinator>
</Expression>
<Expression xsi:type="p3:DeserializeFromJson">
<p3:Type xsi:type="TypeMapping" TypeArguments="p3:AindManipulatorCalibrationInput" />
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Manipulator</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="Extensions\AindManipulator.bonsai">
<PortName>COMx</PortName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpSniffDetector.PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.HarpUtils:HarpSniffDetector.bonsai">
<PortName>COMx</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpSniffDetector</Selector>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:FilterNotNull.bonsai" />
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:SubscribeWhen" />
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpAnalogInput.PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.HarpUtils:HarpAnalogInputDevice.bonsai">
<PortName>COMx</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpAnalogInput</Selector>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:FilterNotNull.bonsai" />
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:SubscribeWhen" />
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpEnvironmentSensor.PortName</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="PortName" />
</PropertyMappings>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.HarpUtils:HarpEnvironmentSensor.bonsai">
<PortName>COMx</PortName>
<TriggerHarpReadDumpSubjectName>TriggerHarpReadDump</TriggerHarpReadDumpSubjectName>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>HarpEnvironmentSensor</Selector>
</Expression>
<Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:FilterNotNull.bonsai" />
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:SubscribeWhen" />
</Expression>
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
<Edge From="3" To="4" Label="Source1" />
<Edge From="5" To="6" Label="Source1" />
<Edge From="6" To="7" Label="Source1" />
<Edge From="9" To="10" Label="Source1" />
<Edge From="10" To="11" Label="Source1" />
<Edge From="11" To="12" Label="Source1" />
<Edge From="13" To="14" Label="Source1" />
<Edge From="14" To="15" Label="Source1" />
<Edge From="15" To="16" Label="Source1" />
<Edge From="17" To="18" Label="Source1" />
<Edge From="18" To="19" Label="Source1" />
<Edge From="19" To="20" Label="Source1" />
<Edge From="21" To="22" Label="Source1" />
<Edge From="22" To="23" Label="Source1" />
<Edge From="23" To="24" Label="Source1" />
<Edge From="24" To="25" Label="Source1" />
<Edge From="26" To="27" Label="Source1" />
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<Edge From="29" To="30" Label="Source1" />
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<Edge From="32" To="33" Label="Source1" />
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<Edge From="35" To="36" Label="Source2" />
<Edge From="37" To="38" Label="Source1" />
<Edge From="38" To="39" Label="Source1" />
<Edge From="39" To="40" Label="Source1" />
<Edge From="40" To="44" Label="Source1" />
<Edge From="41" To="42" Label="Source1" />
<Edge From="42" To="43" Label="Source1" />
<Edge From="43" To="44" Label="Source2" />
<Edge From="45" To="46" Label="Source1" />
<Edge From="46" To="47" Label="Source1" />
<Edge From="47" To="48" Label="Source1" />
<Edge From="48" To="52" Label="Source1" />
<Edge From="49" To="50" Label="Source1" />
<Edge From="50" To="51" Label="Source1" />
<Edge From="51" To="52" Label="Source2" />
<Edge From="53" To="54" Label="Source1" />
<Edge From="54" To="55" Label="Source1" />
<Edge From="55" To="56" Label="Source1" />
<Edge From="56" To="60" Label="Source1" />
<Edge From="57" To="58" Label="Source1" />
<Edge From="58" To="59" Label="Source1" />
<Edge From="59" To="60" Label="Source2" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="GroupWorkflow">
<Name>Cameras</Name>
<Workflow>
<Nodes>
<Expression xsi:type="GroupWorkflow">
<Name>TriggeredCameras</Name>
<Workflow>
<Nodes>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>TriggeredCameraController</Selector>
</Expression>
<Expression xsi:type="rx:AsyncSubject">
<Name>TriggeredCameraController</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>FrameRate.Value</Selector>
</Expression>
<Expression xsi:type="rx:AsyncSubject">
<Name>CameraFrameRate</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>TriggeredCameraController</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Cameras</Selector>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>CameraFrameRate</Name>
</Expression>
<Expression xsi:type="beh:Format">
<harp:MessageType>Write</harp:MessageType>
<harp:Register xsi:type="beh:Camera0Frequency" />
</Expression>
<Expression xsi:type="MulticastSubject">
<Name>HarpBehaviorCommands</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>HarpBehaviorEvents</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="harp:FilterMessageType">
<harp:FilterType>Include</harp:FilterType>
<harp:MessageType>Event</harp:MessageType>
</Combinator>
</Expression>
<Expression xsi:type="beh:Parse">
<harp:Register xsi:type="beh:TimestampedCamera0Frame" />
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Value</Selector>
</Expression>
<Expression xsi:type="BitwiseAnd">
<Operand xsi:type="WorkflowProperty" TypeArguments="beh:FrameAcquired">
<Value>FrameAcquired</Value>
</Operand>
</Expression>
<Expression xsi:type="GreaterThan">
<Operand xsi:type="WorkflowProperty" TypeArguments="sys:Byte">
<Value>0</Value>
</Operand>
</Expression>
<Expression xsi:type="rx:Condition">
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:WithLatestFrom" />
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item2.Seconds</Selector>
</Expression>
<Expression xsi:type="rx:PublishSubject">
<Name>FrameEvent</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>TriggeredCameraController</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Cameras</Selector>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Merge" />
</Expression>
<Expression xsi:type="rx:CreateObservable">
<Name>InstantiateCamera</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="rx:AsyncSubject">
<Name>ThisCamera</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="BooleanProperty">
<Value>true</Value>
</Combinator>
</Expression>
<Expression xsi:type="MulticastSubject">
<Name>TriggeredCamerasInitialized</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>ThisCamera</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Value</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="SerialNumber" Selector="SerialNumber" />
<Property Name="ExposureTime" Selector="Exposure" />
<Property Name="Gain" Selector="Gain" />
<Property Name="Binning" Selector="Binning" />
<Property Name="ColorProcessing" Selector="ColorProcessing" />
<Property Name="Gamma" Selector="Gamma" />
<Property Name="PixelFormat" Selector="PixelFormat" />
<Property Name="AdcBitDepth" Selector="AdcBitDepth" />
</PropertyMappings>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>ThisCamera</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Value</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>RegionOfInterest</Selector>
</Expression>
<Expression xsi:type="InputMapping">
<PropertyMappings>
<Property Name="Value" Selector="X,Y,Width,Height" />
</PropertyMappings>
</Expression>
<Expression xsi:type="PropertySource" TypeArguments="cv:Crop,p4:Rect">
<MemberName>RegionOfInterest</MemberName>
<Value>
<X>0</X>
<Y>0</Y>
<Width>0</Width>
<Height>0</Height>
</Value>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="RegionOfInterest" />
</PropertyMappings>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="p5:AindSpinnakerCapture">
<spk:Index xsi:nil="true" />
<spk:ColorProcessing>Default</spk:ColorProcessing>
<p5:ExposureTime>19000</p5:ExposureTime>
<p5:Gain>0</p5:Gain>
<p5:Binning>1</p5:Binning>
<p5:Gamma xsi:nil="true" />
<p5:PixelFormat>Mono8</p5:PixelFormat>
<p5:RegionOfInterest>
<p5:X>0</p5:X>
<p5:Y>0</p5:Y>
<p5:Width>0</p5:Width>
<p5:Height>0</p5:Height>
</p5:RegionOfInterest>
<p5:AdcBitDepth xsi:nil="true" />
</Combinator>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>FrameEvent</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Zip" />
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="harp:CreateTimestamped" />
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>ThisCamera</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Key</Selector>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:WithLatestFrom" />
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="3" To="4" Label="Source1" />
<Edge From="4" To="5" Label="Source1" />
<Edge From="5" To="15" Label="Source1" />
<Edge From="6" To="7" Label="Source1" />
<Edge From="7" To="8" Label="Source1" />
<Edge From="8" To="15" Label="Source2" />
<Edge From="9" To="10" Label="Source1" />
<Edge From="10" To="11" Label="Source1" />
<Edge From="11" To="12" Label="Source1" />
<Edge From="12" To="13" Label="Source1" />
<Edge From="13" To="14" Label="Source1" />
<Edge From="14" To="15" Label="Source3" />
<Edge From="15" To="17" Label="Source1" />
<Edge From="16" To="17" Label="Source2" />
<Edge From="17" To="18" Label="Source1" />
<Edge From="18" To="21" Label="Source1" />
<Edge From="19" To="20" Label="Source1" />
<Edge From="20" To="21" Label="Source2" />
<Edge From="21" To="22" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="Annotation">
<Name>SpinnakerApiNote</Name>
<Text><![CDATA[For some reason, if you try to access the spinnaker API back to back, a threading error is emitted]]></Text>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="gl:Timer">
<gl:DueTime>PT0S</gl:DueTime>
<gl:Period>PT0.1S</gl:Period>
</Combinator>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Zip" />
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Merge" />
</Expression>
<Expression xsi:type="rx:GroupBy">
<rx:KeySelector>Item2</rx:KeySelector>
<rx:ElementSelector>Item1</rx:ElementSelector>
</Expression>
<Expression xsi:type="rx:ReplaySubject">
<Name>TriggeredCamerasStream</Name>
<rx:BufferSize xsi:nil="true" />
</Expression>
<Expression xsi:type="rx:BehaviorSubject" TypeArguments="sys:Boolean">
<rx:Name>TriggeredCamerasInitialized</rx:Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="IntProperty">
<Value>1</Value>
</Combinator>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="IntProperty">
<Value>0</Value>
</Combinator>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Merge" />
</Expression>
<Expression xsi:type="rx:Accumulate" />
<Expression xsi:type="SubscribeSubject">
<Name>TriggeredCameraController</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Cameras</Selector>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Count</Selector>
</Expression>
<Expression xsi:type="PropertyMapping">
<PropertyMappings>
<Property Name="Value" />
</PropertyMappings>
</Expression>
<Expression xsi:type="GreaterThanOrEqual">
<Operand xsi:type="IntProperty">
<Value>0</Value>
</Operand>
</Expression>
<Expression xsi:type="rx:Condition">
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Take">
<rx:Count>1</rx:Count>
</Combinator>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="gl:Delay">
<gl:DueTime>PT0.1S</gl:DueTime>
</Combinator>
</Expression>
<Expression xsi:type="rx:BehaviorSubject">
<Name>TriggeredCamerasReady</Name>
</Expression>
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
<Edge From="3" To="4" Label="Source1" />
<Edge From="4" To="5" Label="Source1" />
<Edge From="6" To="7" Label="Source1" />
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<Edge From="11" To="12" Label="Source1" />
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<Edge From="14" To="15" Label="Source1" />
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<Edge From="17" To="18" Label="Source1" />
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<Edge From="19" To="20" Label="Source1" />