72 lines
2.7 KiB
Bash
72 lines
2.7 KiB
Bash
# 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="$HOME/Documents/robot-command-center"
|
|
|
|
CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909" # D
|
|
CONTROL_SIDE_OMNISOCKET_RELAY_VIA="106.55.173.235:10909" # C
|
|
|
|
ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909" # D
|
|
ROBOT_SIDE_OMNISOCKET_RELAY_VIA="" # 直连 D
|
|
# Log one normal relay packet out of every N packets. Drop events still log immediately.
|
|
OMNI_RELAY_PACKET_LOG_SAMPLE_EVERY="200"
|
|
|
|
CONTROL_WS_ALLOWED_ORIGINS="http://127.0.0.1:5173,http://localhost:5173"
|
|
VITE_API_BASE_URL="http://127.0.0.1:8001"
|
|
|
|
PYTHON3_BIN="python3"
|
|
PYTHON_VENV_PATH="${OMNISOCKETGO_ROOT}/.venv"
|
|
|
|
BACKEND_HOST="0.0.0.0"
|
|
BACKEND_PORT="8001"
|
|
OMNISOCKET_TELEMETRY_PEER_ID="peer-a-telemetry"
|
|
OMNISOCKET_TELEMETRY_INTERVAL_MS="1000"
|
|
OMNISOCKET_TELEMETRY_STALE_AFTER_MS="3000"
|
|
OMNI_NETWORK_SUMMARY_LOG_ENABLED="1"
|
|
OMNI_NETWORK_SUMMARY_LOG_PATH="${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl"
|
|
OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="5000"
|
|
OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC="3"
|
|
|
|
FRONTEND_HOST="0.0.0.0"
|
|
FRONTEND_PORT="5173"
|
|
|
|
ROS_DISTRO="jazzy"
|
|
ROBOT_RECEIVER_TRANSPORT="unix_dgram"
|
|
ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
|
|
ROBOT_RECEIVER_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
|
|
ROBOT_RECEIVER_PEER_ID="ros-bridge-ctrl"
|
|
ROBOT_RECEIVER_EXPECTED_SENDER=""
|
|
ROBOT_RECEIVER_LOCAL_SOCKET_PATH="/tmp/omnisocket-b-side-cmd.sock"
|
|
ROBOT_RECEIVER_OUTPUT_TOPIC="/hric/robot/cmd_vel"
|
|
ROBOT_RECEIVER_FRAME_ID="pelvis"
|
|
ROBOT_RECEIVER_WATCHDOG_TIMEOUT="0.5"
|
|
ROBOT_RECEIVER_PUBLISH_RATE_HZ="100.0"
|
|
|
|
OMNI_VIDEO_PEER_ID="peer-b-video"
|
|
OMNI_VIDEO_TARGET_PEER="peer-a-video"
|
|
OMNI_GPSD_HOST="127.0.0.1"
|
|
OMNI_CAMERA_DEVICE="/dev/v4l/by-path/platform-a80aa10000.usb-usb-0:3.2:1.4-video-index0"
|
|
OMNI_CAMERA_PROFILE="day"
|
|
OMNI_CAMERA_BRIGHTNESS=""
|
|
OMNI_CAMERA_CUSTOM_CTRL=""
|
|
OMNI_CAMERA_VERIFY="0"
|
|
OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
|
|
OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
|
|
OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS="256"
|
|
OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS="1024"
|
|
OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS="5000"
|
|
OMNI_VIDEO_FRAME_STALL_RECONNECT_MS="30000"
|
|
OMNI_CONTROL_PEER_ID="peer-b-ctrl"
|
|
OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
|
|
OMNI_CONTROL_SERVER_ADDR="${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="30000"
|
|
|
|
# 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"
|