61 lines
2.2 KiB
Bash
61 lines
2.2 KiB
Bash
# Boot-time settings for the robot-side autostart chain.
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# Override machine-specific values in robot-boot.env.local.
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BLITZ_BOOT_DELAY_SEC="30"
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BLITZ_RUN_ROOT="/var/log/blitz-robot"
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BLITZ_LOG_FILE="/var/log/blitz-robot/startup.log"
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BLITZ_RUNTIME_DIR="/run/blitz-robot"
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BLITZ_RUN_CONTEXT_FILE="${BLITZ_RUNTIME_DIR}/run-context.env"
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BLITZ_RUN_ID_FILE="${BLITZ_RUNTIME_DIR}/run-id"
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BLITZ_CURRENT_RUN_LINK="${BLITZ_RUN_ROOT}/current"
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BLITZ_5G_DIAL_DIR="${OMNISOCKETGO_ROOT}/scripts/boot"
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BLITZ_5G_SERIAL_PORT="/dev/ttyUSB2"
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BLITZ_5G_INTERFACE=""
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BLITZ_5G_MODEM_SUBNET="192.168.224.0/22"
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BLITZ_5G_GATEWAY="192.168.225.1"
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BLITZ_5G_SKIP_DHCP="0"
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BLITZ_5G_REMOVE_DEFAULT_ROUTE="1"
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BLITZ_5G_ROUTE_TARGETS="106.55.173.235"
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BLITZ_5G_INFO_JSON="${OMNISOCKETGO_ROOT}/scripts/boot/modem_network_info.json"
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BLITZ_5G_SERIAL_WAIT_SEC="60"
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BLITZ_5G_ROUTE_WAIT_SEC="30"
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# Leave empty to fall back to the host part of ROBOT_SIDE_OMNISOCKET_SERVER_ADDR.
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BLITZ_TIME_SERVER_IP="81.70.156.140"
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BLITZ_ROS_USER="nvidia"
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BLITZ_ROS_SOCKET_WAIT_SEC="20"
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BLITZ_WATCHDOG_INTERVAL_SEC="5"
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BLITZ_HEALTH_STALE_SEC="15"
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BLITZ_OMNID_THREAD_HEARTBEAT_TIMEOUT_SEC="15"
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BLITZ_KCP_STATS_INTERVAL_MS="1000"
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BLITZ_CONTROL_LATENCY_LOG_ENABLED="1"
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BLITZ_CONTROL_LATENCY_LOG_SAMPLE_MOD="100"
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BLITZ_CONTROL_ACK_SAMPLE_MOD="10"
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BLITZ_VIDEO_STAGE_LOG_ENABLED="1"
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BLITZ_VIDEO_STAGE_LOG_SAMPLE_MOD="10"
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BLITZ_5G_LINK_LOG_INTERVAL_SEC="5"
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BLITZ_JSONL_FLUSH_INTERVAL_MS="1000"
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BLITZ_JSONL_FLUSH_BYTES="262144"
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BLITZ_JSONL_ROTATE_BYTES="134217728"
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BLITZ_JSONL_ROTATE_FILES="8"
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# Log one normal relay packet out of every N packets. Drop events still log immediately.
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OMNI_RELAY_PACKET_LOG_SAMPLE_EVERY="200"
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BLITZ_INCIDENT_COMMAND_TIMEOUT_SEC="5"
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BLITZ_INCIDENT_TOTAL_TIMEOUT_SEC="30"
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BLITZ_NETWORK_FAIL_THRESHOLD="3"
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BLITZ_NETWORK_RECOVERY_COOLDOWN_SEC="30"
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BLITZ_GPS_MONITOR_ENABLED="1"
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BLITZ_GPS_DEVICE_GLOB="/dev/ttyCH341USB*"
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BLITZ_GPS_CHECK_INTERVAL_SEC="10"
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BLITZ_GPS_RESTART_UNITS="gpsd.socket gpsd.service"
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BLITZ_WATCHDOG_ALLOW_FAULT_INJECTION="0"
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OMNI_CAMERA_DEVICE="/dev/v4l/by-path/platform-a80aa10000.usb-usb-0:3.2:1.4-video-index0"
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# Boot units run b_side_omnid as root directly, so nested sudo must stay off.
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B_SIDE_OMNID_USE_SUDO="0"
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OMNI_CONTROL_ACK_PEER_ID="peer-b-ctrl-ack"
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OMNI_CONTROL_ACK_TARGET_PEER="peer-a-ctrl-ack"
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