From 3fccf544add104423964ca46b60746b88024fd53 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 11:50:20 +0000
Subject: [PATCH 01/14] update camera client

---
 website/docs/examples/camera_client/README.md | 80 +++++++------------
 1 file changed, 29 insertions(+), 51 deletions(-)

diff --git a/website/docs/examples/camera_client/README.md b/website/docs/examples/camera_client/README.md
index b423a796f..2d32ece58 100644
--- a/website/docs/examples/camera_client/README.md
+++ b/website/docs/examples/camera_client/README.md
@@ -35,7 +35,7 @@ pip3 install -r requirements.txt
 ### 3. Execute the Python script
 
 ```bash
-python3 main.py --port 50051
+python3 main.py --service-config service_config.json
 ```
 
 :::info
@@ -55,75 +55,53 @@ the `WifiClient` (coming soon)
 ```bash
 python3 main.py --help
 
-# usage: amiga-camera-app [-h] --port PORT [--address ADDRESS]
-#[--stream-every-n STREAM_EVERY_N]
-
+# usage: amiga-camera-stream [-h] --service-config SERVICE_CONFIG
+# 
 # optional arguments:
 #   -h, --help            show this help message and exit
-#   --port PORT           The camera port.
-#   --address ADDRESS     The camera address
-#   --stream-every-n STREAM_EVERY_N
-#                         Streaming frequency
+#   --service-config SERVICE_CONFIG
+#                         The camera config.
 ```
 
-Usage example:
-
-```bash
-python3 main.py --address 192.168.1.93 --port 50051
-```
+To customize the run, you need to update the `service_config.json` by modifying the `host` and `port` fields.
 
 ### 5. Code overview
 
-Basic structure to consume from the camera client in an async
-fashion.
+In this example we use the `EventClient` with the subscribe method to receive the camera stream.
 
 ```python
-from farm_ng.oak.client import OakCameraClient,
-OakCameraClientConfig
-from farm_ng.oak import oak_pb2
-
-async def main(address: str, port: int, stream_every_n: int) ->
-None:
+async def main(service_config_path: Path) -> None:
+    """Run the camera service client.
 
-    # configure the camera client
-    config = OakCameraClientConfig(address=address, port=port)
-    client = OakCameraClient(config)
+    Args:
+        service_config_path (Path): The path to the camera service config.
+    """
+    # create a client to the camera service
+    config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
 
-    # get the streaming object
-    response_stream = client.stream_frames(every_n=stream_every_n)
+    # instantiate the image decoder
+    image_decoder = ImageDecoder()
 
-    # start the streaming service
-    await client.connect_to_service()
+    async for event, message in EventClient(config).subscribe(config.subscriptions[0], decode=True):
+        print(f"Timestamps: {event.timestamps[-2]}")
+        print(f"Meta: {message.meta}")
+        print("###################\n")
 
-    while True:
-        # query the service state
-        state: oak_pb2.OakServiceState = await client.get_state()
+        # cast image data bytes to numpy and decode
+        image = np.from_dlpack(image_decoder.decode(message.image_data))
 
-        if state.value != oak_pb2.OakServiceState.RUNNING:
-            print("Camera is not streaming!")
-            continue
+        # visualize the image
+        cv2.namedWindow("image", cv2.WINDOW_NORMAL)
+        cv2.imshow("image", image)
+        cv2.waitKey(1)
 
-        response: oak_pb2.StreamFramesReply = await
-        response_stream.read()
-        if response and response.status == oak_pb2.ReplyStatus.OK:
-            # get the sync frame
-            frame: oak_pb2.OakSyncFrame = response.frame
-            print(f"Got frame: {frame.sequence_num}")
-            print(f"Device info: {frame.device_info}")
-            print("#################################\n")
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser(prog="amiga-camera-app")
-    parser.add_argument("--port", type=int, required=True,
-    help="The camera port.")
-    parser.add_argument("--address", type=str,
-    default="localhost", help="The camera address")
-    parser.add_argument("--stream-every-n", type=int, default=4,
-    help="Streaming frequency")
+    parser = argparse.ArgumentParser(prog="amiga-camera-stream")
+    parser.add_argument("--service-config", type=Path, required=True, help="The camera config.")
     args = parser.parse_args()
 
-    asyncio.run(main(args.address, args.port, args.
-    stream_every_n))
+    asyncio.run(main(args.service_config))
 ```
 
 :::tip

From e10d8c3a2a4263723c8a48b4930ba930b91c52a8 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 12:00:49 +0000
Subject: [PATCH 02/14] update the calibration readme

---
 .../examples/camera_calibration/README.md     | 94 +++++++++++++++++++
 .../camera_calibration/camera-calibration.md  | 74 ---------------
 website/docs/examples/camera_client/README.md |  2 +-
 3 files changed, 95 insertions(+), 75 deletions(-)
 create mode 100644 website/docs/examples/camera_calibration/README.md
 delete mode 100644 website/docs/examples/camera_calibration/camera-calibration.md

diff --git a/website/docs/examples/camera_calibration/README.md b/website/docs/examples/camera_calibration/README.md
new file mode 100644
index 000000000..696879531
--- /dev/null
+++ b/website/docs/examples/camera_calibration/README.md
@@ -0,0 +1,94 @@
+---
+id: camera-calibration
+title: Camera Calibration
+---
+
+## Camera Calibration
+
+The requirements to run this example are to have a
+[**farm-ng brain**](/docs/brain/) running Oak cameras and that
+your PC is on the same local network as the brain.
+
+### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
+
+### 2. Setup
+
+:::tip
+
+It is recommended to also install these dependencies and run the
+example in the brain ADK virtual environment.
+
+:::
+
+Create first a virtual environment
+
+```bash
+python3 -m venv venv
+source venv/bin/activate
+```
+
+```bash
+# assuming you're already in the amiga-dev-kit/ directory
+cd farm-ng-amiga/py/examples/camera_calibration
+```
+
+### 3. Install the example's dependencies
+
+```bash
+pip3 install -r requirements.txt
+```
+
+### 4. Execute the Python script
+
+```bash
+python3 main.py --service-config service_config.json
+```
+
+:::info
+By default, the camera address is assumed top be `localhost`.
+:::
+
+### 5. Customize run
+
+```bash
+# usage: amiga-camera-calibration [-h] --service-config SERVICE_CONFIG
+# 
+# optional arguments:
+#   -h, --help            show this help message and exit
+#   --service-config SERVICE_CONFIG
+#                         The camera config.
+```
+
+### 6. Code overview
+
+In this example we use the `EventClient` with the `request_rreply` method to receive the camera camera calibration. The `request_reply` method is a coroutine that returns a `Future` object. The `Future` object is used to retrieve the result of the request.
+
+The path to the calibration service is `/calibration` and the request message is `Empty`. The response message is `OakCalibration`, which is automatically decoded by the `request_reply` method using the `decode=True` argument.
+
+```python
+async def main(service_config_path: Path) -> None:
+    """Request the camera calibration from the camera service.
+
+    Args:
+        service_config_path (Path): The path to the camera service config.
+    """
+    # create a client to the camera service
+    config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
+
+    # get the calibration message
+    calibration: oak_pb2.OakCalibration = await EventClient(config).request_reply("/calibration", Empty(), decode=True)
+    print(calibration)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(prog="amiga-camera-calibration")
+    parser.add_argument("--service-config", type=Path, required=True, help="The camera config.")
+    args = parser.parse_args()
+
+    asyncio.run(main(args.service_config))
+```
+
+:::tip
+We highgly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
+:::
diff --git a/website/docs/examples/camera_calibration/camera-calibration.md b/website/docs/examples/camera_calibration/camera-calibration.md
deleted file mode 100644
index 9ddc51ce2..000000000
--- a/website/docs/examples/camera_calibration/camera-calibration.md
+++ /dev/null
@@ -1,74 +0,0 @@
----
-id: camera-calibration
-title: Camera Calibration
----
-
-## Camera Calibration
-
-The requirements to run this example are to have a
-[**farm-ng brain**](/docs/brain/) running Oak cameras and that
-your PC is on the same local network as the brain.
-
-### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
-
-### 2. Setup
-
-:::tip
-
-It is recommended to also install these dependencies and run the
-example in the brain ADK virtual environment.
-
-:::
-
-Create first a virtual environment
-
-```bash
-python3 -m venv venv
-source venv/bin/activate
-```
-
-```bash
-# assuming you're already in the amiga-dev-kit/ directory
-cd farm-ng-amiga/py/examples/camera_calibration
-```
-
-### 3. Install the example's dependencies
-
-```bash
-pip3 install -r requirements.txt
-```
-
-### 4. Execute the Python script
-
-```bash
-python3 read_oak_calibration.py --port 50051
-```
-
-:::info
-By default, the camera address is assumed top be `localhost`.
-:::
-
-### 5. Customize run of the Script
-
-Usage example:
-
-```bash
-python3 read_oak_calibration.py --address 192.168.1.93 --port 50051
-```
-
-:::info
-The `--address` will be the IP address of the Amiga. If you need help understanding the
-structure of the command line use `python3 read_oak_calibration.py --help`.
-:::
-
-### 6. Code overview
-
-Here you can review the code and gain a closer look at how this
-example is done.
-
-#### [Link to `camera_calibration/read_oak_calibration.py`](https://github.com/farm-ng/farm-ng-amiga/blob/main/py/examples/camera_calibration/read_oak_calibration.py)
-
-:::tip
-We highgly recommend to have some basic knowledge about
-[**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
-:::
diff --git a/website/docs/examples/camera_client/README.md b/website/docs/examples/camera_client/README.md
index 2d32ece58..006b8c3ce 100644
--- a/website/docs/examples/camera_client/README.md
+++ b/website/docs/examples/camera_client/README.md
@@ -67,7 +67,7 @@ To customize the run, you need to update the `service_config.json` by modifying
 
 ### 5. Code overview
 
-In this example we use the `EventClient` with the subscribe method to receive the camera stream.
+In this example we use the `EventClient` with the `subscribe` method to receive the camera stream.
 
 ```python
 async def main(service_config_path: Path) -> None:

From b82c98448f942de967e07343e954b46c81ea02f8 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 13:11:43 +0000
Subject: [PATCH 03/14] update camera settings example

---
 .../docs/examples/camera_settings/README.md   | 120 ++++++++++++++++++
 1 file changed, 120 insertions(+)
 create mode 100644 website/docs/examples/camera_settings/README.md

diff --git a/website/docs/examples/camera_settings/README.md b/website/docs/examples/camera_settings/README.md
new file mode 100644
index 000000000..3e16e9796
--- /dev/null
+++ b/website/docs/examples/camera_settings/README.md
@@ -0,0 +1,120 @@
+---
+id: camera-settings
+title: Camera Settings
+---
+
+## Camera Settings
+
+The requirements to run this example are to have a
+[**farm-ng brain**](/docs/brain/) running Oak cameras and that
+your PC is on the same local network as the brain.
+
+### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
+
+### 2. Setup
+
+:::tip
+
+It is recommended to also install these dependencies and run the
+example in the brain ADK virtual environment.
+
+:::
+
+Create first a virtual environment
+
+```bash
+python3 -m venv venv
+source venv/bin/activate
+```
+
+```bash
+# assuming you're already in the amiga-dev-kit/ directory
+cd farm-ng-amiga/py/examples/camera_settings
+```
+
+### 3. Install the example's dependencies
+
+```bash
+pip3 install -r requirements.txt
+```
+
+### 4. Execute the Python script
+
+```bash
+python3 main.py --service-config service_config.json --camera-settings camera_settings.json
+```
+
+### 5. Customize run
+
+```bash
+# usage: amiga-camera-settings [-h] --service-config SERVICE_CONFIG [--camera-settings CAMERA_SETTINGS] [--stream-name {rgb,mono}]
+# 
+# optional arguments:
+#   -h, --help            show this help message and exit
+#   --service-config SERVICE_CONFIG
+#                         The camera service config.
+#   --camera-settings CAMERA_SETTINGS
+#                         The camera control settings.
+#   --stream-name {rgb,mono}
+#                         The stream name to set the settings for.
+```
+
+### 6. Code overview
+
+In this example we use the `EventClient` with the `request_rreply` method to receive and set the camera settings. The `request_reply` method is a coroutine that returns a `Future` object. The `Future` object is used to retrieve the result of the request.
+
+To get the settings, the path to the camera service is `/camera_settings/<stream_name>` and the request message is `Empty`. The reply message is `oak_pb2.CameraSettings` and contains the current camera settings.
+
+To set the settings, the path to the camera service is `/camera_settings/<stream_name>` and the request message is `oak_pb2.CameraSettings`.
+
+You can explore the files `service_config.json` to customize the camera service configuration and `camera_settings.json` to customize the camera settings.
+
+```python
+async def main(service_config_path: Path, settings_config_path: Path, stream_name: str) -> None:
+    """Request the camera calibration from the camera service.
+
+    Args:
+        service_config_path (Path): The path to the camera service config.
+        settings_config_path (Path): The path to the camera settings config.
+        stream_name (str): The stream name to set the settings for.
+    """
+    # create a client to the camera service
+    config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
+
+    # create camera setting from the json file
+    camera_settings_request: oak_pb2.CameraSettings | Empty = Empty()
+    if settings_config_path:
+        camera_settings_request = proto_from_json_file(settings_config_path, oak_pb2.CameraSettings())
+
+    # send a request to the camera service
+    # the camera service will reply with the current camera settings
+    # available settings are:
+    #   - /camera_settings/rgb
+    #   - /camera_settings/mono
+    camera_settings: oak_pb2.CameraSettings = await EventClient(config).request_reply(
+        f"/camera_settings/{stream_name}", camera_settings_request, decode=True
+    )
+
+    print(camera_settings)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(prog="amiga-camera-settings")
+    parser.add_argument("--service-config", type=Path, required=True, help="The camera service config.")
+    parser.add_argument("--camera-settings", type=Path, required=False, help="The camera control settings.")
+    parser.add_argument(
+        "--stream-name",
+        type=str,
+        choices=["rgb", "mono"],
+        default="rgb",
+        help="The stream name to set the settings for.",
+    )
+    args = parser.parse_args()
+
+    asyncio.run(main(args.service_config, args.camera_settings, args.stream_name))
+```
+
+:::tip
+We highgly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
+:::

From f12f44cab00bd83834fe4489336e7db2274ffba6 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 13:33:28 +0000
Subject: [PATCH 04/14] add the camera to pointcloud example

---
 .../docs/examples/camera_pointcloud/README.md | 162 ++++++++++++++++++
 .../docs/examples/camera_settings/README.md   |   2 +-
 2 files changed, 163 insertions(+), 1 deletion(-)
 create mode 100644 website/docs/examples/camera_pointcloud/README.md

diff --git a/website/docs/examples/camera_pointcloud/README.md b/website/docs/examples/camera_pointcloud/README.md
new file mode 100644
index 000000000..576f9889c
--- /dev/null
+++ b/website/docs/examples/camera_pointcloud/README.md
@@ -0,0 +1,162 @@
+---
+id: camera-pointcloud
+title: Camera Pointcloud
+---
+
+## Camera Pointcloud
+
+The requirements to run this example are to have a
+[**farm-ng brain**](/docs/brain/) running Oak cameras and that
+your PC is on the same local network as the brain.
+
+### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
+
+### 2. Setup
+
+:::tip
+
+It is recommended to also install these dependencies and run the
+example in the brain ADK virtual environment.
+
+:::
+
+Create first a virtual environment
+
+```bash
+python3 -m venv venv
+source venv/bin/activate
+```
+
+```bash
+# assuming you're already in the amiga-dev-kit/ directory
+cd farm-ng-amiga/py/examples/poincloud
+```
+
+### 3. Install the example's dependencies
+
+```bash
+pip3 install -r requirements.txt
+```
+
+### 4. Execute the Python script
+
+```bash
+python3 main.py --service-config service_config.json
+```
+
+### 5. Customize run
+
+```bash
+# usage: amiga-camera-pointcloud [-h] --service-config SERVICE_CONFIG [--save-disparity] [--save-pointcloud]
+# 
+# optional arguments:
+#   -h, --help            show this help message and exit
+#   --service-config SERVICE_CONFIG
+#                         The camera config.
+#   --save-disparity      Save the disparity image.
+#   --save-pointcloud     Save the depth image.
+```
+
+### 6. Code overview
+
+In this example we use 
+
+In this example we get the camera calibration from the camera service that jointly with the `disparity` image we will be used to generate the `pointcloud`.
+
+First, we use the `EventClient` to request the camera calibration from the camera service. The camera calibration is a `oak_pb2.CameraCalibration` message that contains the camera intrinsics and extrinsics.
+
+```python
+# create a client to the camera service
+config: EventServiceConfig = proto_from_json_file(args.service_config, EventServiceConfig())
+
+camera_client = EventClient(config)
+
+# get the calibration message
+calibration_proto: oak_pb2.OakCalibration = await camera_client.request_reply("/calibration", Empty(), decode=True)
+
+# NOTE: The OakCalibration message contains the camera calibration data for all the cameras.
+# Since we are interested in the disparity image, we will use the calibration data for the right camera
+# which is the first camera in the list.
+camera_data: oak_pb2.CameraData = calibration_proto.camera_data[0]
+
+# compute the camera matrix from the calibration data
+camera_matrix: Tensor = get_camera_matrix(camera_data)
+```
+
+Below is the code to compute the camera matrix from the calibration data. Notice that we cast the `intrinsic_matrix` to a `Tensor` and reshape it to a 3x3 matrix for later easy integration with the
+kornia library.
+
+```python
+def get_camera_matrix(camera_data: oak_pb2.CameraData) -> Tensor:
+    """Compute the camera matrix from the camera calibration data.
+
+    Args:
+        camera_data (oak_pb2.CameraData): The camera calibration data.
+
+    Returns:
+        Tensor: The camera matrix with shape 3x3.
+    """
+    fx = camera_data.intrinsic_matrix[0]
+    fy = camera_data.intrinsic_matrix[4]
+    cx = camera_data.intrinsic_matrix[2]
+    cy = camera_data.intrinsic_matrix[5]
+
+    return tensor([[fx, 0, cx], [0, fy, cy], [0, 0, 1]])
+```
+
+Next, we use the `EventClient` to subsribe to the `disparity` path from the camera service. The `disparity` image is a `oak_pb2.OakImage` message that contains the `disparity` image data.
+To compute the `pointcloud` we first need to decode the `disparity` image data to a `Tensor` and then compute the `pointcloud` from the `disparity` image using the kornia method `depth_from_disparity`
+and `depth_to_3d_v2`.
+
+```python
+async for event, message in camera_client.subscribe(
+    SubscribeRequest(uri=uri_pb2.Uri(path="/disparity"), every_n=5), decode=True
+):
+    # cast image data bytes to a tensor and decode
+    disparity_t = decode_disparity(message, image_decoder)  # HxW
+
+    # compute the depth image from the disparity image
+    calibration_baseline: float = 0.075  # m
+    calibration_focal: float = float(camera_matrix[0, 0])
+
+    depth_t = K.geometry.depth.depth_from_disparity(
+        disparity_t, baseline=calibration_baseline, focal=calibration_focal
+    )  # HxW
+
+    # compute the point cloud from the depth image
+    points_xyz = K.geometry.depth.depth_to_3d_v2(depth_t, camera_matrix)  # HxWx3
+
+    # filter out points that are in the range of the camera
+    valid_mask = (points_xyz[..., -1:] >= 0.2) & (points_xyz[..., -1:] <= 7.5)  # HxWx1
+    valid_mask = valid_mask.repeat(1, 1, 3)  # HxWx3
+
+    points_xyz = points_xyz[valid_mask].reshape(-1, 3)  # Nx3
+```
+Below is the code to decode the `disparity` image data to a `Tensor`.
+
+```python
+def decode_disparity(message: oak_pb2.OakFrame, decoder: ImageDecoder) -> Tensor:
+    """Decode the disparity image from the message.
+
+    Args:
+        message (oak_pb2.OakFrame): The camera frame message.
+        decoder (ImageDecoder): The image decoder.
+
+    Returns:
+        Tensor: The disparity image tensor (HxW).
+    """
+    # decode the disparity image from the message into a dlpack tensor for zero-copy
+    disparity_dl = decoder.decode(message.image_data)
+
+    # cast the dlpack tensor to a torch tensor
+    disparity_t = torch.from_dlpack(disparity_dl)
+
+    return disparity_t[..., 0].float()  # HxW
+```
+
+Additionally, we can save the `disparity` image and the `pointcloud` to disk by using the `--save-disparity` and `--save-pointcloud` flags respectively.
+
+:::tip
+We highgly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
+:::
diff --git a/website/docs/examples/camera_settings/README.md b/website/docs/examples/camera_settings/README.md
index 3e16e9796..9838667ad 100644
--- a/website/docs/examples/camera_settings/README.md
+++ b/website/docs/examples/camera_settings/README.md
@@ -61,7 +61,7 @@ python3 main.py --service-config service_config.json --camera-settings camera_se
 
 ### 6. Code overview
 
-In this example we use the `EventClient` with the `request_rreply` method to receive and set the camera settings. The `request_reply` method is a coroutine that returns a `Future` object. The `Future` object is used to retrieve the result of the request.
+In this example we use the `EventClient` with the `request_reply` method to receive and set the camera settings. The `request_reply` method is a coroutine that returns a `Future` object. The `Future` object is used to retrieve the result of the request.
 
 To get the settings, the path to the camera service is `/camera_settings/<stream_name>` and the request message is `Empty`. The reply message is `oak_pb2.CameraSettings` and contains the current camera settings.
 

From d3ce744c8ae785a9431539dc73810b856bec7106 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 13:48:11 +0000
Subject: [PATCH 05/14] minor updates to the file readers

---
 .../docs/examples/file_converter/README.md    | 38 +++++++++----------
 website/docs/examples/file_reader/README.md   |  4 +-
 2 files changed, 20 insertions(+), 22 deletions(-)

diff --git a/website/docs/examples/file_converter/README.md b/website/docs/examples/file_converter/README.md
index c93ebfca7..eda1be8c5 100644
--- a/website/docs/examples/file_converter/README.md
+++ b/website/docs/examples/file_converter/README.md
@@ -48,25 +48,23 @@ python main.py --file-name events_09162022160753_000000.bin
  Use the `--help` flag to see all possible arguments for using this tool.
 
 ```bash
-$ python main.py --help
-
-usage: Event file converter example. [-h] --file-name FILE_NAME [--output-path OUTPUT_PATH]
-[--camera-name CAMERA_NAME] [--disparity-scale DISPARITY_SCALE] [--video-to-jpg] [--snapshot]
-
-optional arguments:
-  -h, --help            show this help message and exit
-  --file-name FILE_NAME
-                        Path to the `events.bin` file.
-  --output-path OUTPUT_PATH
-                        Path to the folder where converted data will be written.
-                        Default: /home/kyle/farm-ng/farm-ng-amiga/py/examples/file_converter
-  --camera-name CAMERA_NAME
-                        The name of the camera to visualize. Default: oak0.
-  --disparity-scale DISPARITY_SCALE
-                        Scale for amplifying disparity color mapping. Default: 1.
-  --video-to-jpg        Use this flag to convert video .bin files to a series of jpg images.
-                        Default for videos is mp4.
-  --snapshot            Use this flag if the .bin file is a single snapshot. Output will be jpg images.
+# usage: Event file converter example. [-h] --file-name FILE_NAME [--output-path OUTPUT_PATH] [--camera-name CAMERA_NAME]
+#                                      [--view-name {rgb,left,right,disparity}] [--disparity-scale DISPARITY_SCALE]
+#                                      [--video-to-jpg]
+# 
+# optional arguments:
+#   -h, --help            show this help message and exit
+#   --file-name FILE_NAME
+#                         Path to the `events.bin` file.
+#   --output-path OUTPUT_PATH
+#                         Path to the folder where converted data will be written.
+#   --camera-name CAMERA_NAME
+#                         The name of the camera to visualize. Default: oak0.
+#   --view-name {rgb,left,right,disparity}
+#                         The name of the camera view to visualize. Default: rbg.
+#   --disparity-scale DISPARITY_SCALE
+#                         Scale for amplifying disparity color mapping. Default: 1.
+#   --video-to-jpg        Use this flag to convert video .bin files to a series of jpg images. Default is mp4.
 ```
 
  For instance, you can change the camera that is played back from the default of `oak0`. E.g.,
@@ -84,7 +82,7 @@ python main.py --file-name events_09162022160753_000000.bin --camera-name oak1 -
 Or you can convert a "snapshot" log to one jpg per view.
 
 ```bash
-python main.py --file-name cpy_data/farm_ng/2023_01_06_13_24_33_445932_snapshot_b42d218.bin --snapshot
+python main.py --file-name cpy_data/farm_ng/2023_01_06_13_24_33_445932_snapshot_b42d218.bin --video-to-jpg
 ```
 
 > NOTE: video logs will not convert if the `--snapshot` flag is used.
diff --git a/website/docs/examples/file_reader/README.md b/website/docs/examples/file_reader/README.md
index 1cb4a1dad..7ece4d21d 100644
--- a/website/docs/examples/file_reader/README.md
+++ b/website/docs/examples/file_reader/README.md
@@ -72,10 +72,10 @@ python main.py --file-name <path-from-above>/events_12052022115852.bin
 ```
 
 Optionally, you can change the camera that is played back from
-the default of `oak0`. E.g.,
+the default of `oak0`. E.g., and the view `rgb`. E.g.
 
 ```bash
-python main.py --file-name <path-from-above>/events_12052022115852.bin --camera-name oak1
+python main.py --file-name <path-from-above>/events_12052022115852.bin --camera-name oak1 --view-name rgb
 ```
 
 Congratulations two videos should now pop up and play! One should

From fb2e71f864aec655adea3defbd326651e4a4c088 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 14:45:04 +0000
Subject: [PATCH 06/14] add service client tutorial

---
 .../docs/examples/service_client/README.md    | 208 ++++++++++++++++++
 1 file changed, 208 insertions(+)
 create mode 100644 website/docs/examples/service_client/README.md

diff --git a/website/docs/examples/service_client/README.md b/website/docs/examples/service_client/README.md
new file mode 100644
index 000000000..0c9b52322
--- /dev/null
+++ b/website/docs/examples/service_client/README.md
@@ -0,0 +1,208 @@
+---
+id: service-client 
+title: Service Client
+---
+
+This example is the hello world of the farm-ng-core Event Service framework.
+
+The Event Service is a publish-subscribe service that allows to stream
+data from the farm-ng-core services to its respective clients. The central piece
+of the Event Service is the `EventServiceGrpc` service that is the main
+class encapsulating the gRPC server.
+
+In the following example, we will explain how to define your own service
+and how to use the `EventClient` to subscribe to the service.
+
+### Requirements
+
+This example only requires the farm-ng-core package.
+
+```bash
+pip3 install farm-ng-core
+
+```
+:::tip
+We highgly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html), [**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/) and [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
+:::
+
+
+### Define your protobuf messages
+
+The farm-ng-core Event Service uses protobuf messages and leverages
+gRPC to communicate between client and server. The first step is to
+define your own protobuf messages.
+
+For this example, we provide the `two_ints.proto`:
+
+```protobuf
+syntax = "proto3";
+
+// The request message containing the two integers.
+message AddTwoIntsRequest {
+    int32 a = 1;
+    int32 b = 2;
+}
+
+// The response message containing the sum.
+message AddTwoIntsResponse {
+    int32 sum = 1;
+}
+```
+
+We provide the generated Python code in the `two_ints_pb2.py` file and
+its corresponding `two_ints_pb2.pyi` file for type hinting. Optionally,
+you can regenerate the Python code yourself using the `genprotos.py`.
+
+### Create your own service
+
+In order to create your own service, we will create an auxiliary class
+to encapsulate the `EventServiceGrpc` class. This auxiliary class will
+be called `AddTwoIntsServer` and will easily allow us to define the
+service.
+
+The class `AddTwoIntsServer` will have a method called `request_reply_handler`
+that will be called every time a request is received. The method
+`request_reply_handler` will receive two arguments: the `Event` and the
+request message. The `Event` contains the metadata of the request and
+the request message contains the actual request message.
+
+```python
+class AddTwoIntServer:
+    """A simple service that implements the AddTwoInts service."""
+
+    def __init__(self, event_service: EventServiceGrpc) -> None:
+        """Initialize the service.
+
+        Args:
+            event_service: The event service to use for communication.
+        """
+        self._event_service = event_service
+        self._event_service.add_request_reply_handler(self.request_reply_handler)
+
+    @property
+    def logger(self) -> logging.Logger:
+        """Return the logger for this service."""
+        return self._event_service.logger
+
+    async def request_reply_handler(self, event: Event, message: two_ints_pb2.AddTwoIntsRequest) -> Message:
+        """The callback for handling request/reply messages."""
+        if event.uri.path == "/sum":
+            self.logger.info(f"Requested to sum {message.a} + {message.b}")
+
+            return two_ints_pb2.AddTwoIntsResponse(sum=message.a + message.b)
+
+        return Empty()
+```
+
+To wrap up, we need to create a `service.py` program that will instantiate
+the `EventServiceGrpc` and the `AddTwoIntServer` and run the service leveraging
+the `serve` method with the `asyncio` event loop.
+
+```python
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(prog="farm-ng-service")
+    parser.add_argument("--service-config", type=Path, required=True, help="The service config.")
+    args = parser.parse_args()
+
+    # load the service config
+    service_config: EventServiceConfig = proto_from_json_file(args.service_config, EventServiceConfig())
+
+    # create the grpc server
+    event_service: EventServiceGrpc = EventServiceGrpc(grpc.aio.server(), service_config)
+
+    loop = asyncio.get_event_loop()
+
+    try:
+        # wrap and run the service
+        loop.run_until_complete(AddTwoIntServer(event_service).serve())
+    except KeyboardInterrupt:
+        print("Exiting...")
+    finally:
+        loop.close()
+```
+
+Additionally, we provide a `service_config.json` file that contains the
+configuration of the service. The `service_config.json` file contains
+the following fields:
+
+```json
+{
+    "name": "two_int",
+    "port": 5001,
+    "host": "localhost",
+    "log_level": "DEBUG"
+}
+```
+
+### Create the client
+
+The client is a simple Python script that will connect to the service
+and subscribe to the service. For the client, we will leverage the
+`EventClient` class that will allow us to interact with the service.
+
+In this example, we will create a `client.py` program that will instantiate
+the `EventServiceConfig` and the `EventClient`. The `EventClient` will
+request the service to sum two integers implementing the `request_reply`
+method. The `request_reply` method is a coroutine that triggers a the
+`request_reply_handler` method in the service and returns a `Future`
+object. The `Future` object is used to retrieve the result of the
+request.
+
+```python
+async def main() -> None:
+    parser = argparse.ArgumentParser(prog="farm-ng-client")
+    parser.add_argument("--service-config", type=Path, required=True, help="The service config.")
+    parser.add_argument("--a", type=int, required=True, help="The first integer.")
+    parser.add_argument("--b", type=int, required=True, help="The second integer.")
+    args = parser.parse_args()
+
+    # create a client to the camera service
+    config: EventServiceConfig = proto_from_json_file(args.service_config, EventServiceConfig())
+
+    # request the sum of two integers
+    result = await EventClient(config).request_reply("/sum", AddTwoIntsRequest(a=args.a, b=args.b), decode=True)
+
+    print(f"Result of {args.a} + {args.b} = {result.sum}")
+
+
+if __name__ == "__main__":
+    asyncio.run(main())
+```
+
+## Run the example
+
+### 1. Run the service
+
+In a first terminal, run the service:
+
+```bash
+python service.py --service-config config.json
+```
+
+you should see the following output:
+
+```bash
+Starting server on port 5001
+Server started
+Sending /health: 0 to 0 clients
+Sending /health: 1 to 0 clients
+Sending /health: 2 to 0 clients
+Sending /health: 3 to 0 clients
+...
+...
+```
+
+### 2. Run the client
+
+In a second terminal, run the client:
+
+```bash
+python client.py --service-config config.json --a 1 --b 2
+```
+
+you should see the following output:
+
+```bash
+Result of 1 + 2 = 3
+```

From 81a458b922a25bb08f6766de4ff1c2a6ba4eeee4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 16:20:36 +0000
Subject: [PATCH 07/14] remove people detection

---
 .../people_detection/people_detection.md      | 121 ------------------
 1 file changed, 121 deletions(-)
 delete mode 100644 website/docs/examples/people_detection/people_detection.md

diff --git a/website/docs/examples/people_detection/people_detection.md b/website/docs/examples/people_detection/people_detection.md
deleted file mode 100644
index a14caff60..000000000
--- a/website/docs/examples/people_detection/people_detection.md
+++ /dev/null
@@ -1,121 +0,0 @@
----
-id: people-detection
-title: People Detection
----
-
-
-This example shows how to use the `farm-ng-amiga` library to
-detect people in a video stream.
-
-It also shows how to implement a service and client via grpc.
-
-The requirements to run this example are to have a
-[**farm-ng brain**](/docs/brain/) running Oak cameras and that
-your PC is on the same local network as the brain.
-
-For testing you can use your webcam as a replacement, which we
-will go over later in this tutorial.
-
-![PD gif](https://user-images.githubusercontent.com/64480560/229892116-e99de4d2-577a-4c38-876f-4ba03429d52c.gif)
-
-### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
-
-### 2. Setup
-
-:::tip
-
-It is recommended to also install these dependencies and run the
-example in the brain ADK virtual environment.
-
-:::
-
-Create first a virtual environment
-
-```bash
-python3 -m venv venv
-source venv/bin/activate
-```
-
-```bash
-#assuming you have the farm-ng-amiga repository.
-cd farm-ng-amiga/py/examples/people_detection
-```
-
-### 3. Install Dependencies
-
-```bash
-pip install -r requirements.txt
-```
-
-#### Download the model data
-
-In this example we use MobileNet SSD from tensorflow to be
-implemented in opencv.
-
-Download the model weights and architecture:
-
-```bash
-mkdir models
-```
-
-```bash
-wget \
-https://github.com/rdeepc/ExploreOpencvDnn/raw/master/models/frozen_inference_graph.pb \
--O models/frozen_inference_graph.pb
-```
-
-```bash
-wget \
-https://github.com/rdeepc/ExploreOpencvDnn/raw/master/models/ssd_mobilenet_v2_coco_2018_03_29.pbtxt \
--O models/ssd_mobilenet_v2_coco_2018_03_29.pbtxt
-```
-
-### 4. Run the service
-
-Open one terminal or in that same terminal run the service:
-
-```bash
-python service.py --port 50095 --models-dir models/
-# INFO:__main__:Loaded model: /home/edgar/software/farm-ng-amiga/py/examples/people_detection/models
-# INFO:__main__:Starting server on port 50095
-# INFO:__main__:Server started
-```
-
-![server](https://user-images.githubusercontent.com/64480560/229893034-7302d479-692a-4907-98e1-87a31b60fc19.png)
-
-:::tip
-With this command, you can run this on either your computer or
-your Amiga!
-:::
-
-### 5. Run the Client
-
-In another terminal, run the a pipeline using the client:
-
-```bash
-python main.py --port-camera 50051 --port-detector 50095
-```
-
-And you should see a window with the video stream and the
-detected people. The server is a process receives the decoded
-images then computes an AI model and returns the results. If you
-have a service on your machine and the client consume from the
-robot, there is the transmission overhead of grpc from the
-robot-camera to you laptop (service).
-
-:::tip
-You can also run this command from either your computer or your
-Amiga.
-:::
-
-### 6. Code overview
-
-Here you can review the code and gain a closer look at how this
-example is done.
-
-### [Link to `people_detection/main.py`](https://github.com/farm-ng/farm-ng-amiga/blob/main/py/examples/people_detection/main.py)
-
-:::tip
-We highgly recommend to have some basic knowledge about
-[**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
-:::

From 355bd0c98fa320c082426fdd81606c69f68881cf Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 26 Sep 2023 18:53:48 +0000
Subject: [PATCH 08/14] add the service_counter tutorial

---
 .../docs/examples/service_counter/README.md   | 171 ++++++++++++++++++
 1 file changed, 171 insertions(+)
 create mode 100644 website/docs/examples/service_counter/README.md

diff --git a/website/docs/examples/service_counter/README.md b/website/docs/examples/service_counter/README.md
new file mode 100644
index 000000000..694489ee4
--- /dev/null
+++ b/website/docs/examples/service_counter/README.md
@@ -0,0 +1,171 @@
+---
+id: service-counter 
+title: Service Counter
+---
+
+This is a subsequent example of the [**`service_client`**](/docs/examples/service_client/) example
+where we will show how to use the `publish` method from `EventServiceGrpc` to publish messages
+to later use the `EventClient` to interact with the service.
+
+In particular, we will create a service that will have a counter running in a separate
+task and will publish the counter value at fixed rate. We will show how to use the client
+to subscribe to the service and will print the counter value every time it receives a message.
+In addition, the client will be able to request the service to reset the counter to zero.
+
+### Requirements
+
+This example only requires the farm-ng-core package.
+
+```bash
+pip3 install farm-ng-core
+
+```
+:::tip
+We highgly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html), [**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/) and [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
+:::
+
+### Create the service
+
+We first create a service that will publish the counter value at a certain
+rate. For this, we will create a `counter.py` program that will
+instantiate the `EventServiceGrpc` and will run the service leveraging
+the `serve` method with the `asyncio` event loop.
+
+In the same program, we will create a `CounterService` class that will
+implement the logic of the service, including the concurrent task that
+will run the counter. The `CounterService` class will also have a method
+to handle the `requests` from the client. The `requests` method is a
+coroutine that triggers the `request_handler` method in the service,
+in that case to reset the counter to zero.
+
+```python
+class CounterServer:
+    def __init__(self, event_service: EventServiceGrpc) -> None:
+        """Initialize the service.
+        Args:
+            event_service: The event service to use for communication.
+        """
+        self._event_service = event_service
+        self._event_service.add_request_reply_handler(self.request_reply_handler)
+
+        self._counter: int = 0
+        self._rate: float = 1.0
+
+    async def request_reply_handler(self, event: Event, message: Message) -> None:
+        """The callback for handling request/reply messages."""
+        if event.uri.path == "/reset_counter":
+            self._counter = 0
+
+        return Empty()
+
+    async def run(self) -> None:
+        """Run the main task."""
+        while True:
+            await self._event_service.publish("/counter", Int32Value(value=self._counter))
+            self._counter += 1
+            await asyncio.sleep(1.0 / self._rate)
+    
+    async def serve(self) -> None:
+        await asyncio.gather(self._event_service.serve(), self.run())
+```
+
+### Create the client
+
+For the client, we will create a `client.py` program that will implement a thin wrapper
+class `CounterClient` around the `EventClient` class. The `CounterClient` will
+have a method to `subscribe` to the events stream coming from the `/counter` path.
+
+```python
+class CounterClient:
+    def __init__(self, service_config: EventServiceConfig) -> None:
+        """Initialize the client.
+        Args:
+            service_config: The service config.
+        """
+        self._event_client = EventClient(service_config)
+
+    async def subscribe(self) -> None:
+        """Run the main task."""
+        async for event, message in self._event_client.subscribe(
+            request=SubscribeRequest(uri=Uri(path="/counter"), every_n=1), decode=True
+        ):
+            print(f"Received message: {message}")
+```
+
+In the same program, we will create a `main` function that will instantiate the
+`EventServiceConfig` and the `CounterClient`. The `main` function will have a
+couple high level commands to `subscribe` to the `/counter` path and to `request`
+the service to reset the counter to zero.
+
+```python
+async def command_subscribe(client: CounterClient) -> None:
+    """Subscribe to the counter service."""
+    await client.subscribe()
+
+
+async def command_reset(client: CounterClient) -> None:
+    """Reset the counter."""
+    await client._event_client.request_reply("/reset_counter", Empty())
+```
+
+## Run the example
+
+### 1. Run the service
+
+In a first terminal, run the service:
+
+```bash
+python counter.py --service-config service_config.json
+```
+
+you should see the following output:
+
+```bash
+Starting server on port 5001
+Server started
+```
+
+### 2. Subscribe to the service
+
+In a second terminal, run the client:
+
+```bash
+python client.py --service-config service_config.json subscribe
+```
+
+you should see the following output and the counter value increasing:
+
+```bash
+Received message: value: 3
+
+Received message: value: 4
+
+Received message: value: 5
+
+Received message: value: 6
+
+...
+...
+```
+
+### 3. Reset the counter
+
+In a third terminal, run the client:
+
+```bash
+python client.py --service-config service_config.json reset
+```
+
+you should see the following output:
+
+```bash
+Received message: 
+Received message: value: 1
+
+Received message: value: 2
+
+Received message: value: 3
+...
+...
+```

From 2702ce68e046d1ba898d30a9e1aa9243f167e26c Mon Sep 17 00:00:00 2001
From: edgar <edgar.riba@gmail.com>
Date: Wed, 27 Sep 2023 00:12:31 +0200
Subject: [PATCH 09/14] add the service propagation example

---
 .../examples/service_propagation/README.md    | 291 ++++++++++++++++++
 1 file changed, 291 insertions(+)
 create mode 100644 website/docs/examples/service_propagation/README.md

diff --git a/website/docs/examples/service_propagation/README.md b/website/docs/examples/service_propagation/README.md
new file mode 100644
index 000000000..afa02bdc0
--- /dev/null
+++ b/website/docs/examples/service_propagation/README.md
@@ -0,0 +1,291 @@
+---
+id: service-propagation
+title: Service Propagation
+---
+
+In this example, we will show how create a subsystem of services that can be
+composed together to create a more complex system and leverage bidirectional
+communication between services to propagate information.
+
+In particular, we will create an `Agent` service that will have several
+tasks running concurrently sampling data from different tasks. The `Agent`
+service will publish the data from the tasks at fixed rate to a `/sample` path
+that will be subscribed by a `Supervisor` service.
+
+At the same time, the `Agent` service will listen to a `/update_residual` path
+to receive the residual value from another the `Supervisor` service.
+
+```python
+class AgentServer:
+    def __init__(self, event_service: EventServiceGrpc) -> None:
+        """Initialize the service.
+        Args:
+            event_service: The event service to use for communication.
+        """
+        self._event_service = event_service
+        self._event_service.add_request_reply_handler(self.request_reply_handler)
+
+        args: dict[str, float] = {}
+        for arg in self._event_service.config.args:
+            key, value = arg.split("=")
+            args[key] = value
+
+        # the rate in hertz to send commands
+        self._rate = float(args["rate"])
+        self._num_tasks = int(args["num_tasks"])
+
+        self._remainder: int = 1e6
+
+    async def request_reply_handler(self, event: Event, message) -> None:
+        """The callback for handling request/reply messages."""
+        if event.uri.path == "/update_residual":
+            self._remainder = message.value
+            self._event_service.logger.info(f"Remainder: {self._remainder}")
+
+        return Empty()
+
+    async def run_task(self, task_id: int) -> None:
+        """Run the main task."""
+        while True:
+            if self._remainder <= 0:
+                await asyncio.sleep(0.01)
+                continue
+
+            message = Struct()
+            message["sample"] = random.random()
+            message["task_id"] = task_id
+
+            await self._event_service.publish("/sample", message)
+            await asyncio.sleep(1.0 / self._rate)
+            print(f"Published sample {message['sample']} from task {task_id}")
+
+    async def serve(self) -> None:
+        """Run the service."""
+        tasks: list[asyncio.Task] = [asyncio.create_task(self.run_task(i)) for i in range(self._num_tasks)]
+        await asyncio.gather(self._event_service.serve(), *tasks)
+```
+
+In addition, we will create a `SupervisorServer` service that will be subscribed to the `/sample`
+path of the `Agent` service. The `SupervisorServer` will listen to the samples and send a request
+update to the `StorageServer` service when the sample is above a certain confidence threshold.
+
+```python
+class SupervisorServer:
+    def __init__(self, event_service: EventServiceGrpc, config_list: EventServiceConfigList) -> None:
+        """Initialize the service.
+        Args:
+            event_service: The event service to use for communication.
+        """
+        self._event_service = event_service
+
+        self._clients: dict[str, EventClient] = {
+            config.name: EventClient(config)
+            for config in config_list.configs
+            if config.name != event_service.config.name
+        }
+
+        args: dict[str, float] = {}
+        for arg in self._event_service.config.args:
+            key, value = arg.split("=")
+            args[key] = value
+
+        # the rate in hertz to send commands
+        self._confidence = float(args["confidence"])
+
+    async def subscribe(self, subscripton) -> None:
+        """Run the main task."""
+        # create the event client
+        service_name = subscripton.uri.query.split("=")[-1]
+        client = self._clients[service_name]
+
+        async for event, message in client.subscribe(subscripton, decode=True):
+            if message["sample"] > self._confidence:
+                residual = await self._clients["storage"].request_reply("/update_storage", Empty(), decode=True)
+                self._event_service.logger.info(f"Residual: {residual}")
+                await client.request_reply("/update_residual", residual)
+
+    async def serve(self) -> None:
+        """Run the service."""
+        tasks: list[asyncio.Task] = []
+        for subscription in self._event_service.config.subscriptions:
+            tasks.append(asyncio.create_task(self.subscribe(subscription)))
+        await asyncio.gather(self._event_service.serve(), *tasks)
+```
+
+The last service we will create is a `StorageServer` service that will be listening
+to the `/update_storage` path. The `StorageServer` will keep track of the storage
+capacity and will remove from storage at fixed rate.
+
+```python
+class StorageServer:
+    def __init__(self, event_service: EventServiceGrpc) -> None:
+        """Initialize the service.
+        Args:
+            event_service: The event service to use for communication.
+        """
+        self._event_service = event_service
+        self._event_service.add_request_reply_handler(self.request_reply_handler)
+
+        self._storage: int = 0
+
+        args: dict[str, float] = {}
+        for arg in self._event_service.config.args:
+            key, value = arg.split("=")
+            args[key] = value
+
+        # the maximum storage capacity
+        self._max_storage = int(args["max_storage"])
+
+        # the batch size to remove from storage
+        self._batch_size = int(args["batch_size"])
+
+    async def request_reply_handler(self, event: Event, message: Empty) -> None:
+        """The callback for handling request/reply messages."""
+        if event.uri.path == "/update_storage":
+            self._storage += 1
+            residual: int = self._max_storage - self._storage
+            self._event_service.logger.info(
+                f"Storage: {self._storage}/{self._max_storage} ({residual} remaining)")
+            return Int32Value(value=residual)
+
+        return Empty()
+
+    async def remove_from_storage(self) -> None:
+        """Remove from storage."""
+        while True:
+
+            if self._storage < self._batch_size:
+                await asyncio.sleep(0.05)
+                continue
+
+            self._storage -= self._batch_size
+
+            self._event_service.logger.info(f"Removed from storage: {self._batch_size}/{self._max_storage}")
+
+            await asyncio.sleep(0.1)
+
+    async def serve(self) -> None:
+        tasks: list[asyncio.Task] = [
+            asyncio.create_task(self._event_service.serve()),
+            asyncio.create_task(self.remove_from_storage()),
+        ]
+        await asyncio.gather(*tasks)
+```
+
+### Requirements
+
+This example only requires the farm-ng-core package.
+
+```bash
+pip3 install farm-ng-core
+```
+
+:::tip
+We highgly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html),
+[**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/) and
+[**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
+:::
+
+### Service configuration
+
+The service configuration is defined in the `service_config.json` file which describes how each service
+ instance is connected to each other and how they are configured. As an example, the `agent-1` service
+is configured as follows:
+
+```json
+{
+  "name": "agent-1",
+  "args": [
+    "rate=1.0",
+    "num_tasks=3"
+  ],
+  "subscriptions": [
+    {
+      "uri": "event://supervisor-1/sample?service=agent-1"
+    }
+  ]
+}
+```
+
+## Run the example
+
+### 1. Run the storage service
+
+```bash
+python storage.py --service-config service_config.json --service-name storage
+```
+
+### 2. Run the supervisor services
+
+```bash
+python supervisor.py --service-config service_config.json --service-name supervisor-1
+python supervisor.py --service-config service_config.json --service-name supervisor-2
+```
+
+### 3. Run the agent services
+
+```bash
+python agent.py --service-config service_config.json --service-name agent-1
+python agent.py --service-config service_config.json --service-name agent-2
+python agent.py --service-config service_config.json --service-name agent-3
+```
+
+### Expected output
+
+In the `storage` service terminal, you should see the capacity of the storage
+which is decreasing as the `agent` services are publishing samples. As soon as
+the storage capacity is full, the `agent` services will stop publishing samples
+until the `supervisor` services request the `agent` services to update the
+residual value.
+
+```bash
+Storage: 37/500 (463 remaining)
+Storage: 38/500 (462 remaining)
+Storage: 39/500 (461 remaining)
+Storage: 40/500 (460 remaining)
+Storage: 41/500 (459 remaining)
+Storage: 42/500 (458 remaining)
+Storage: 43/500 (457 remaining)
+Storage: 44/500 (456 remaining)
+Storage: 45/500 (455 remaining)
+Storage: 46/500 (454 remaining)
+Storage: 47/500 (453 remaining)
+Storage: 48/500 (452 remaining)
+```
+
+In the `supervisor` service terminal, you should see the residual value
+decreasing as the `agent` services are publishing samples. As soon as the
+residual value is zero, the `supervisor` services will request the `agent`
+services to update the residual value.
+
+```bash
+INFO:supervisor-1:Residual: value: 455
+
+Residual: value: 454
+
+INFO:supervisor-1:Residual: value: 454
+
+Residual: value: 453
+
+INFO:supervisor-1:Residual: value: 453
+
+Residual: value: 452
+```
+
+Finally, in the `agent` service terminal, you should see the samples being
+published at fixed rate. As soon as the residual value is zero, the `agent`
+services will stop publishing samples until the `supervisor` services request
+the `agent` services to update the residual value.
+
+```bash
+Published sample 0.7213814924044664 from task 1
+Published sample 0.19269278385883515 from task 2
+Published sample 0.41566478402029516 from task 3
+Published sample 0.6616156115367178 from task 4
+Published sample 0.699833473381781 from task 5
+Published sample 0.1892017291616711 from task 6
+Published sample 0.6031618279156414 from task 7
+Published sample 0.6306753264890216 from task 8
+Published sample 0.9169593227439662 from task 9
+```

From e45cffb5c79c56d46312cd5c47fbdf16dce92c64 Mon Sep 17 00:00:00 2001
From: Kyle Coble <kwc57@cornell.edu>
Date: Tue, 26 Sep 2023 18:43:18 -0400
Subject: [PATCH 10/14] Update motor state stream example

---
 .../docs/examples/motor_state/motor-state.md  | 21 ++++++++++++-------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/website/docs/examples/motor_state/motor-state.md b/website/docs/examples/motor_state/motor-state.md
index 1f8d89f1b..9cad4a8ee 100644
--- a/website/docs/examples/motor_state/motor-state.md
+++ b/website/docs/examples/motor_state/motor-state.md
@@ -3,10 +3,15 @@ id: motor-state
 title: Motor State
 ---
 
-# Amiga Motor State Stream
+# Amiga Motor State Stream Example
 
-Currently this is a very basic example showing how to access and
-decode the `MotorState` values streamed by the canbus service.
+Currently this is a very basic example showing how to access and decode the
+`MotorState` values streamed by the canbus service.
+
+:::info
+There will be no `/motor_states` stream if your amiga is e-stopped by a physical e-stop press.
+The e-stop cuts the power to the motors, so they do not send their state on the CAN bus.
+:::
 
 ## Setup
 
@@ -27,14 +32,14 @@ pip install -r requirements.txt
 
 ## Run example
 
-Specify the file (download before)
+Specify the `host` field with the IP address of your amiga
+in the `service_config.json` file.
+As a debugging step, ensure you can ping the amiga at that IP address.
 
 ```bash
-python main.py --canbus-port 50060 # --address
-# <YOUR_AMIGA_IP_ADDRESS>
+python main.py --service-config service_config.json
 ```
 
 ## Expected output
 
-You should see a printed stream of the current `MotorState` for
-all detected motors in your terminal.
+You should see a printed stream of the current `MotorState` for all detected motors in your terminal.

From c5951e614c65a3d7f21c2d678654420497978846 Mon Sep 17 00:00:00 2001
From: Kyle Coble <kwc57@cornell.edu>
Date: Tue, 26 Sep 2023 18:44:57 -0400
Subject: [PATCH 11/14] Add vehicle twist example

---
 website/docs/examples/vehicle_twist/README.md | 65 +++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 website/docs/examples/vehicle_twist/README.md

diff --git a/website/docs/examples/vehicle_twist/README.md b/website/docs/examples/vehicle_twist/README.md
new file mode 100644
index 000000000..9b1624593
--- /dev/null
+++ b/website/docs/examples/vehicle_twist/README.md
@@ -0,0 +1,65 @@
+---
+id: vehicle-twist
+title: Vehicle Twist
+---
+
+# Amiga Vehicle Twist example
+
+Currently this is a very basic example showing how to send `Twist2d` proto messages
+to the canbus service to control the amiga.
+
+## Setup
+
+Create first a virtual environment
+
+```bash
+cd farm-ng-amiga
+python3 -m venv venv
+source venv/bin/activate
+```
+
+## Install
+
+```bash
+cd py/examples/vehicle_twist
+pip install -r requirements.txt
+```
+
+## Run example
+
+Specify the `host` field with the IP address of your amiga
+in the `service_config.json` file.
+As a debugging step, ensure you can ping the amiga at that IP address.
+
+```bash
+python main.py --service-config service_config.json
+```
+
+:::warning
+WARNING: When the dashboard is in auto mode, this will cause the Amiga to drive.
+Make sure the area is clear before using this.
+
+You can also test this by sending the commands when the Amiga dashboard is
+not in `AUTO READY` or `AUTO ACTIVE` and see the commands being sent
+with the red needle on the auto page.
+:::
+
+### Drive the amiga
+
+Use the `WASD` keys to drive the amiga in the window that pops up after when run the script.
+
+`w` & `s` will increment the linear velocity up / down respectively.
+
+`a` & `d` will increment the angular velocity left / right respectively.
+
+:::caution
+The commanded speed will persist!
+:::
+
+Use space bar to set all velocities back to 0.
+
+Use `q` to quit the application.
+
+## Expected output
+
+You should see a printed stream of the `Twist2d` messages you are sending to the canbus service.

From 2be6ace001ea4beb41b4b941af77989c6d768e3f Mon Sep 17 00:00:00 2001
From: Kyle Coble <kwc57@cornell.edu>
Date: Tue, 26 Sep 2023 18:52:32 -0400
Subject: [PATCH 12/14] Formatting & some typos

---
 .../examples/camera_calibration/README.md     | 16 ++++++---
 website/docs/examples/camera_client/README.md |  7 ++--
 .../docs/examples/camera_pointcloud/README.md | 34 ++++++++++++-------
 .../docs/examples/camera_settings/README.md   | 21 ++++++++----
 .../docs/examples/file_converter/README.md    |  8 +++--
 website/docs/examples/file_reader/README.md   |  3 +-
 .../docs/examples/service_client/README.md    | 10 +++---
 .../docs/examples/service_counter/README.md   | 13 ++++---
 .../examples/service_propagation/README.md    |  2 +-
 9 files changed, 73 insertions(+), 41 deletions(-)

diff --git a/website/docs/examples/camera_calibration/README.md b/website/docs/examples/camera_calibration/README.md
index 696879531..d99c25a88 100644
--- a/website/docs/examples/camera_calibration/README.md
+++ b/website/docs/examples/camera_calibration/README.md
@@ -52,7 +52,7 @@ By default, the camera address is assumed top be `localhost`.
 
 ```bash
 # usage: amiga-camera-calibration [-h] --service-config SERVICE_CONFIG
-# 
+#
 # optional arguments:
 #   -h, --help            show this help message and exit
 #   --service-config SERVICE_CONFIG
@@ -61,9 +61,14 @@ By default, the camera address is assumed top be `localhost`.
 
 ### 6. Code overview
 
-In this example we use the `EventClient` with the `request_rreply` method to receive the camera camera calibration. The `request_reply` method is a coroutine that returns a `Future` object. The `Future` object is used to retrieve the result of the request.
+In this example we use the `EventClient` with the `request_reply`
+method to receive the camera camera calibration.
+The `request_reply` method is a coroutine that returns a `Future` object.
+The `Future` object is used to retrieve the result of the request.
 
-The path to the calibration service is `/calibration` and the request message is `Empty`. The response message is `OakCalibration`, which is automatically decoded by the `request_reply` method using the `decode=True` argument.
+The path to the calibration service is `/calibration` and the request message is `Empty`.
+The response message is `OakCalibration`, which is automatically decoded by the `request_reply`
+method using the `decode=True` argument.
 
 ```python
 async def main(service_config_path: Path) -> None:
@@ -76,7 +81,8 @@ async def main(service_config_path: Path) -> None:
     config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
 
     # get the calibration message
-    calibration: oak_pb2.OakCalibration = await EventClient(config).request_reply("/calibration", Empty(), decode=True)
+    calibration: oak_pb2.OakCalibration =
+        await EventClient(config).request_reply("/calibration", Empty(), decode=True)
     print(calibration)
 
 
@@ -89,6 +95,6 @@ if __name__ == "__main__":
 ```
 
 :::tip
-We highgly recommend to have some basic knowledge about
+We highly recommend to have some basic knowledge about
 [**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
 :::
diff --git a/website/docs/examples/camera_client/README.md b/website/docs/examples/camera_client/README.md
index 006b8c3ce..f661000e4 100644
--- a/website/docs/examples/camera_client/README.md
+++ b/website/docs/examples/camera_client/README.md
@@ -56,14 +56,15 @@ the `WifiClient` (coming soon)
 python3 main.py --help
 
 # usage: amiga-camera-stream [-h] --service-config SERVICE_CONFIG
-# 
+#
 # optional arguments:
 #   -h, --help            show this help message and exit
 #   --service-config SERVICE_CONFIG
 #                         The camera config.
 ```
 
-To customize the run, you need to update the `service_config.json` by modifying the `host` and `port` fields.
+To customize the run, you need to update the `service_config.json`
+by modifying the `host` and `port` fields.
 
 ### 5. Code overview
 
@@ -105,6 +106,6 @@ if __name__ == "__main__":
 ```
 
 :::tip
-We highgly recommend to have some basic knowledge about
+We highly recommend to have some basic knowledge about
 [**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
 :::
diff --git a/website/docs/examples/camera_pointcloud/README.md b/website/docs/examples/camera_pointcloud/README.md
index 576f9889c..613418e5d 100644
--- a/website/docs/examples/camera_pointcloud/README.md
+++ b/website/docs/examples/camera_pointcloud/README.md
@@ -48,7 +48,7 @@ python3 main.py --service-config service_config.json
 
 ```bash
 # usage: amiga-camera-pointcloud [-h] --service-config SERVICE_CONFIG [--save-disparity] [--save-pointcloud]
-# 
+#
 # optional arguments:
 #   -h, --help            show this help message and exit
 #   --service-config SERVICE_CONFIG
@@ -59,11 +59,14 @@ python3 main.py --service-config service_config.json
 
 ### 6. Code overview
 
-In this example we use 
+In this example we use
 
-In this example we get the camera calibration from the camera service that jointly with the `disparity` image we will be used to generate the `pointcloud`.
+In this example we get the camera calibration from the camera service that jointly with
+the `disparity` image we will be used to generate the `pointcloud`.
 
-First, we use the `EventClient` to request the camera calibration from the camera service. The camera calibration is a `oak_pb2.CameraCalibration` message that contains the camera intrinsics and extrinsics.
+First, we use the `EventClient` to request the camera calibration from the camera service.
+The camera calibration is a `oak_pb2.CameraCalibration` message that
+contains the camera intrinsics and extrinsics.
 
 ```python
 # create a client to the camera service
@@ -72,7 +75,8 @@ config: EventServiceConfig = proto_from_json_file(args.service_config, EventServ
 camera_client = EventClient(config)
 
 # get the calibration message
-calibration_proto: oak_pb2.OakCalibration = await camera_client.request_reply("/calibration", Empty(), decode=True)
+calibration_proto: oak_pb2.OakCalibration =
+                    await camera_client.request_reply("/calibration", Empty(), decode=True)
 
 # NOTE: The OakCalibration message contains the camera calibration data for all the cameras.
 # Since we are interested in the disparity image, we will use the calibration data for the right camera
@@ -83,8 +87,9 @@ camera_data: oak_pb2.CameraData = calibration_proto.camera_data[0]
 camera_matrix: Tensor = get_camera_matrix(camera_data)
 ```
 
-Below is the code to compute the camera matrix from the calibration data. Notice that we cast the `intrinsic_matrix` to a `Tensor` and reshape it to a 3x3 matrix for later easy integration with the
-kornia library.
+Below is the code to compute the camera matrix from the calibration data.
+Notice that we cast the `intrinsic_matrix` to a `Tensor` and reshape it to
+a 3x3 matrix for later easy integration with the kornia library.
 
 ```python
 def get_camera_matrix(camera_data: oak_pb2.CameraData) -> Tensor:
@@ -104,9 +109,12 @@ def get_camera_matrix(camera_data: oak_pb2.CameraData) -> Tensor:
     return tensor([[fx, 0, cx], [0, fy, cy], [0, 0, 1]])
 ```
 
-Next, we use the `EventClient` to subsribe to the `disparity` path from the camera service. The `disparity` image is a `oak_pb2.OakImage` message that contains the `disparity` image data.
-To compute the `pointcloud` we first need to decode the `disparity` image data to a `Tensor` and then compute the `pointcloud` from the `disparity` image using the kornia method `depth_from_disparity`
-and `depth_to_3d_v2`.
+Next, we use the `EventClient` to subsribe to the `disparity` path from the camera service.
+The `disparity` image is a `oak_pb2.OakImage` message that contains the `disparity` image data.
+
+To compute the `pointcloud` we first need to decode the `disparity` image data to a `Tensor`
+and then compute the `pointcloud` from the `disparity` image
+using the kornia method `depth_from_disparity` and `depth_to_3d_v2`.
 
 ```python
 async for event, message in camera_client.subscribe(
@@ -132,6 +140,7 @@ async for event, message in camera_client.subscribe(
 
     points_xyz = points_xyz[valid_mask].reshape(-1, 3)  # Nx3
 ```
+
 Below is the code to decode the `disparity` image data to a `Tensor`.
 
 ```python
@@ -154,9 +163,10 @@ def decode_disparity(message: oak_pb2.OakFrame, decoder: ImageDecoder) -> Tensor
     return disparity_t[..., 0].float()  # HxW
 ```
 
-Additionally, we can save the `disparity` image and the `pointcloud` to disk by using the `--save-disparity` and `--save-pointcloud` flags respectively.
+Additionally, we can save the `disparity` image and the `pointcloud` to disk by
+using the `--save-disparity` and `--save-pointcloud` flags respectively.
 
 :::tip
-We highgly recommend to have some basic knowledge about
+We highly recommend to have some basic knowledge about
 [**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
 :::
diff --git a/website/docs/examples/camera_settings/README.md b/website/docs/examples/camera_settings/README.md
index 9838667ad..d3779479b 100644
--- a/website/docs/examples/camera_settings/README.md
+++ b/website/docs/examples/camera_settings/README.md
@@ -47,8 +47,9 @@ python3 main.py --service-config service_config.json --camera-settings camera_se
 ### 5. Customize run
 
 ```bash
-# usage: amiga-camera-settings [-h] --service-config SERVICE_CONFIG [--camera-settings CAMERA_SETTINGS] [--stream-name {rgb,mono}]
-# 
+# usage: amiga-camera-settings [-h] --service-config SERVICE_CONFIG
+#                              [--camera-settings CAMERA_SETTINGS] [--stream-name {rgb,mono}]
+#
 # optional arguments:
 #   -h, --help            show this help message and exit
 #   --service-config SERVICE_CONFIG
@@ -61,13 +62,19 @@ python3 main.py --service-config service_config.json --camera-settings camera_se
 
 ### 6. Code overview
 
-In this example we use the `EventClient` with the `request_reply` method to receive and set the camera settings. The `request_reply` method is a coroutine that returns a `Future` object. The `Future` object is used to retrieve the result of the request.
+In this example we use the `EventClient` with the `request_reply` method to receive and
+set the camera settings. The `request_reply` method is a coroutine that returns a `Future` object.
+The `Future` object is used to retrieve the result of the request.
 
-To get the settings, the path to the camera service is `/camera_settings/<stream_name>` and the request message is `Empty`. The reply message is `oak_pb2.CameraSettings` and contains the current camera settings.
+To get the settings, the path to the camera service is
+`/camera_settings/<stream_name>` and the request message is `Empty`.
+The reply message is `oak_pb2.CameraSettings` and contains the current camera settings.
 
-To set the settings, the path to the camera service is `/camera_settings/<stream_name>` and the request message is `oak_pb2.CameraSettings`.
+To set the settings, the path to the camera service is `/camera_settings/<stream_name>`
+and the request message is `oak_pb2.CameraSettings`.
 
-You can explore the files `service_config.json` to customize the camera service configuration and `camera_settings.json` to customize the camera settings.
+You can explore the files `service_config.json` to customize the camera service configuration
+and `camera_settings.json` to customize the camera settings.
 
 ```python
 async def main(service_config_path: Path, settings_config_path: Path, stream_name: str) -> None:
@@ -115,6 +122,6 @@ if __name__ == "__main__":
 ```
 
 :::tip
-We highgly recommend to have some basic knowledge about
+We highly recommend to have some basic knowledge about
 [**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
 :::
diff --git a/website/docs/examples/file_converter/README.md b/website/docs/examples/file_converter/README.md
index eda1be8c5..02e8b8ded 100644
--- a/website/docs/examples/file_converter/README.md
+++ b/website/docs/examples/file_converter/README.md
@@ -48,10 +48,11 @@ python main.py --file-name events_09162022160753_000000.bin
  Use the `--help` flag to see all possible arguments for using this tool.
 
 ```bash
-# usage: Event file converter example. [-h] --file-name FILE_NAME [--output-path OUTPUT_PATH] [--camera-name CAMERA_NAME]
+# usage: Event file converter example. [-h] --file-name FILE_NAME
+#                                      [--output-path OUTPUT_PATH] [--camera-name CAMERA_NAME]
 #                                      [--view-name {rgb,left,right,disparity}] [--disparity-scale DISPARITY_SCALE]
 #                                      [--video-to-jpg]
-# 
+#
 # optional arguments:
 #   -h, --help            show this help message and exit
 #   --file-name FILE_NAME
@@ -64,7 +65,8 @@ python main.py --file-name events_09162022160753_000000.bin
 #                         The name of the camera view to visualize. Default: rbg.
 #   --disparity-scale DISPARITY_SCALE
 #                         Scale for amplifying disparity color mapping. Default: 1.
-#   --video-to-jpg        Use this flag to convert video .bin files to a series of jpg images. Default is mp4.
+#   --video-to-jpg        Use this flag to convert video .bin files to a series of jpg images.
+#                         Default is mp4.
 ```
 
  For instance, you can change the camera that is played back from the default of `oak0`. E.g.,
diff --git a/website/docs/examples/file_reader/README.md b/website/docs/examples/file_reader/README.md
index 7ece4d21d..55cc33ca0 100644
--- a/website/docs/examples/file_reader/README.md
+++ b/website/docs/examples/file_reader/README.md
@@ -75,7 +75,8 @@ Optionally, you can change the camera that is played back from
 the default of `oak0`. E.g., and the view `rgb`. E.g.
 
 ```bash
-python main.py --file-name <path-from-above>/events_12052022115852.bin --camera-name oak1 --view-name rgb
+python main.py --file-name <path-from-above>/events_12052022115852.bin \
+               --camera-name oak1 --view-name rgb
 ```
 
 Congratulations two videos should now pop up and play! One should
diff --git a/website/docs/examples/service_client/README.md b/website/docs/examples/service_client/README.md
index 0c9b52322..d84aa01a4 100644
--- a/website/docs/examples/service_client/README.md
+++ b/website/docs/examples/service_client/README.md
@@ -1,5 +1,5 @@
 ---
-id: service-client 
+id: service-client
 title: Service Client
 ---
 
@@ -21,12 +21,14 @@ This example only requires the farm-ng-core package.
 pip3 install farm-ng-core
 
 ```
+
 :::tip
-We highgly recommend to have some basic knowledge about
-[**`asyncio`**](https://docs.python.org/3/library/asyncio.html), [**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/) and [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
+We highly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html),
+[**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/),
+and [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
 :::
 
-
 ### Define your protobuf messages
 
 The farm-ng-core Event Service uses protobuf messages and leverages
diff --git a/website/docs/examples/service_counter/README.md b/website/docs/examples/service_counter/README.md
index 694489ee4..beee1f914 100644
--- a/website/docs/examples/service_counter/README.md
+++ b/website/docs/examples/service_counter/README.md
@@ -1,5 +1,5 @@
 ---
-id: service-counter 
+id: service-counter
 title: Service Counter
 ---
 
@@ -20,9 +20,12 @@ This example only requires the farm-ng-core package.
 pip3 install farm-ng-core
 
 ```
+
 :::tip
-We highgly recommend to have some basic knowledge about
-[**`asyncio`**](https://docs.python.org/3/library/asyncio.html), [**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/) and [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
+We highly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html),
+[**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/),
+and [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).
 :::
 
 ### Create the service
@@ -65,7 +68,7 @@ class CounterServer:
             await self._event_service.publish("/counter", Int32Value(value=self._counter))
             self._counter += 1
             await asyncio.sleep(1.0 / self._rate)
-    
+
     async def serve(self) -> None:
         await asyncio.gather(self._event_service.serve(), self.run())
 ```
@@ -160,7 +163,7 @@ python client.py --service-config service_config.json reset
 you should see the following output:
 
 ```bash
-Received message: 
+Received message:
 Received message: value: 1
 
 Received message: value: 2
diff --git a/website/docs/examples/service_propagation/README.md b/website/docs/examples/service_propagation/README.md
index afa02bdc0..3211d7a17 100644
--- a/website/docs/examples/service_propagation/README.md
+++ b/website/docs/examples/service_propagation/README.md
@@ -181,7 +181,7 @@ pip3 install farm-ng-core
 ```
 
 :::tip
-We highgly recommend to have some basic knowledge about
+We highly recommend to have some basic knowledge about
 [**`asyncio`**](https://docs.python.org/3/library/asyncio.html),
 [**`gRPC`**](https://grpc.io/docs/what-is-grpc/introduction/) and
 [**`protobuf`**](https://developers.google.com/protocol-buffers/docs/pythontutorial).

From a0ad62c861faf248b957331bc5820d7b6daea890 Mon Sep 17 00:00:00 2001
From: Kyle Coble <kwc57@cornell.edu>
Date: Tue, 26 Sep 2023 19:30:47 -0400
Subject: [PATCH 13/14] Rename so examples are all README (helps w/ links)

---
 website/docs/examples/motor_state/{motor-state.md => README.md} | 0
 website/docs/examples/vnc_viewer/{vnc_viewer.md => README.md}   | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename website/docs/examples/motor_state/{motor-state.md => README.md} (100%)
 rename website/docs/examples/vnc_viewer/{vnc_viewer.md => README.md} (100%)

diff --git a/website/docs/examples/motor_state/motor-state.md b/website/docs/examples/motor_state/README.md
similarity index 100%
rename from website/docs/examples/motor_state/motor-state.md
rename to website/docs/examples/motor_state/README.md
diff --git a/website/docs/examples/vnc_viewer/vnc_viewer.md b/website/docs/examples/vnc_viewer/README.md
similarity index 100%
rename from website/docs/examples/vnc_viewer/vnc_viewer.md
rename to website/docs/examples/vnc_viewer/README.md

From 8533d56b642ac9a195a971213f2ad4cc93fb3e3f Mon Sep 17 00:00:00 2001
From: Kyle Coble <kwc57@cornell.edu>
Date: Tue, 26 Sep 2023 19:31:02 -0400
Subject: [PATCH 14/14] Update examples sidebar

---
 website/sidebars.js | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/website/sidebars.js b/website/sidebars.js
index 1dc9a85d1..848e0b849 100644
--- a/website/sidebars.js
+++ b/website/sidebars.js
@@ -134,13 +134,18 @@ const sidebars = {
     "Brain Examples" : [
         "examples/import_log_file/import-log-file",
         "examples/file_reader/file-reader",
-        "examples/file_converter/file-converter",
         "examples/file_reader_can/file-reader-can",
+        "examples/file_converter/file-converter",
         "examples/camera_client/camera-client",
         "examples/camera_calibration/camera-calibration",
-        "examples/people_detection/people-detection",
+        "examples/camera_settings/camera-settings",
+        "examples/camera_pointcloud/camera-pointcloud",
         "examples/motor_state/motor-state",
-        "examples/vnc_viewer/vnc-viewer"
+        "examples/vehicle_twist/vehicle-twist",
+        "examples/vnc_viewer/vnc-viewer",
+        "examples/service_client/service-client",
+        "examples/service_counter/service-counter",
+        "examples/service_propagation/service-propagation",
     ],
     "Brain App Tutorials" : {
         "00 - Tutorial Introduction" :[