# 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="192.168.41.144:10909"  # Local LAN hub
CONTROL_SIDE_OMNISOCKET_RELAY_VIA=""                         # No relay

ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="192.168.41.144:10909"    # Local LAN hub
ROBOT_SIDE_OMNISOCKET_RELAY_VIA=""                           # Direct LAN
# 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="1000"
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_HEAD_DEVICE="/dev/video26"
OMNI_CAMERA_WAIST_DEVICE="/dev/video18"
OMNI_CAMERA_SOURCE="ros2"
OMNI_CAMERA_ACTIVE="head"
OMNI_PROC_MANAGER_SERVICE="proc_manager.service"
OMNI_PROC_MANAGER_AUTO_START="0"
OMNI_CAMERA_START_SERVICES="1"
OMNI_CAMERA_HEAD_SERVICE="orbbec_head.service"
OMNI_CAMERA_WAIST_SERVICE="orbbec_waist.service"
OMNI_ROS2_HEAD_RGB_TOPIC="/ob_camera_head/color/image_raw"
OMNI_ROS2_WAIST_RGB_TOPIC="/ob_camera_waist/color/image_raw"
OMNI_ROS2_HEAD_SHM="/dev/shm/omnisocket-rgb-head"
OMNI_ROS2_WAIST_SHM="/dev/shm/omnisocket-rgb-waist"
OMNI_ROS2_MAX_FRAME_BYTES="8294400"
OMNI_ROS2_BRIDGE_AUTO_START="1"
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_ACK_PEER_ID="peer-b-ctrl-ack"
OMNI_CONTROL_ACK_TARGET_PEER="peer-a-ctrl-ack"
BLITZ_CONTROL_ACK_SAMPLE_MOD="10"
BLITZ_VIDEO_STAGE_LOG_ENABLED="1"
BLITZ_VIDEO_STAGE_LOG_SAMPLE_MOD="10"
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"