# Optional absolute path override for the companion repo.
# By default the scripts assume:
#   OmniSocketGo -> current repo
#   robot-command-center -> sibling directory next to OmniSocketGo
# Example:
# ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"

CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
CONTROL_SIDE_OMNISOCKET_RELAY_VIA="81.70.156.140:10909"

ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
ROBOT_SIDE_OMNISOCKET_RELAY_VIA="106.55.173.235:10909"

CONTROL_WS_ALLOWED_ORIGINS="http://127.0.0.1:5173,http://localhost:5173"
VITE_API_BASE_URL="http://127.0.0.1:8001"

PYTHON3_BIN="python3"
PYTHON_VENV_PATH="${OMNISOCKETGO_ROOT}/.venv"

BACKEND_HOST="0.0.0.0"
BACKEND_PORT="8001"

FRONTEND_HOST="0.0.0.0"
FRONTEND_PORT="5173"

ROS_DISTRO="jazzy"
ROBOT_RECEIVER_TRANSPORT="unix_dgram"
ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
ROBOT_RECEIVER_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
ROBOT_RECEIVER_PEER_ID="ros-bridge-ctrl"
ROBOT_RECEIVER_EXPECTED_SENDER=""
ROBOT_RECEIVER_LOCAL_SOCKET_PATH="/tmp/omnisocket-b-side-cmd.sock"
ROBOT_RECEIVER_OUTPUT_TOPIC="/hric/robot/cmd_vel"
ROBOT_RECEIVER_FRAME_ID="pelvis"
ROBOT_RECEIVER_WATCHDOG_TIMEOUT="0.5"
ROBOT_RECEIVER_PUBLISH_RATE_HZ="100.0"

OMNI_VIDEO_PEER_ID="peer-b-video"
OMNI_VIDEO_TARGET_PEER="peer-a-video"
OMNI_CAMERA_DEVICE="/dev/video26"
OMNI_CAMERA_PROFILE="night"
OMNI_CAMERA_BRIGHTNESS=""
OMNI_CAMERA_CUSTOM_CTRL=""
OMNI_CAMERA_VERIFY="0"
OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS="64"
OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS="192"
OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS="1000"
OMNI_CONTROL_PEER_ID="peer-b-ctrl"
OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
OMNI_CONTROL_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
OMNI_CONTROL_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
OMNI_CONTROL_UNIX_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS="3000"

# A-side backend video freshness guard. Used by scripts/dev/start-backend.sh.
OMNI_VIDEO_MAX_FRAME_AGE_MS="1000"

B_SIDE_OMNID_USE_SUDO="1"