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