---
compress-bag: false
clean-before-start: false
monitor:
  url: http://36.110.106.142:12341/web_server/monitor/insert
platform:
  url-device-auth: http://1.202.169.139:8081/device/auth
  url-task-poll: http://1.202.169.139:8081/device/task/poll
  url-task: http://1.202.169.139:8081/device/task
full-collect: true
bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
config-refresh-interval: 60
disk:
  name: /dev/vdb # 磁盘名称
  used: 900000000000 # 磁盘占用阈值，单位bytes
#bag-data-dir: /userdata/cicv-data-closedloop/data/
#bag-copy-dir: /userdata/cicv-data-closedloop/copy/
#time-to-label-json-path: /userdata/cicv-data-closedloop/timeToLabel.json
#triggers-dir: /userdata/cicv-data-closedloop/triggers/
bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
time-window-send-gap: 6
tcp-port: 12340
rpc-port: 12341
ros:
  master-address: 192.168.1.102:11311
  nodes:
    - /camera_output
    - /ins
    - /lidar_pretreatment
    - /sensorfusion
    - /control
hosts:
  - name: node1
    ip: 192.168.1.102
    rosbag:
      path: "/opt/ros/melodic/bin/rosbag"
      envs:
        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib/libaicc"
        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
        - "USER=root"
        - "ROS_OS_OVERRIDE=openembedded"
        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
        - "HOME=/home/root"
        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
        - "ROS_ROOT=/opt/ros/melodic/share/ros"
        - "ROS_MASTER_URI=http://192.168.1.102:11311"
        - "ROS_VERSION=1"
        - "ROS_PYTHON_VERSION=2"
        - "ROS_IP=192.168.1.102"
        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin"
        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
        - "ROS_DISTRO=melodic"
    topics:
      - /camera_image # /camera_output
      - /cicv_amr_trajectory
      - /pj_control_pub # /control
      - /data_read
  - name: node2
    ip: 192.168.1.103
    rosbag:
      path: "/opt/ros/melodic/bin/rosbag"
      envs:
        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
        - "USER=root"
        - "ROS_OS_OVERRIDE=openembedded"
        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
        - "HOME=/home/root"
        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
        - "ROS_ROOT=/opt/ros/melodic/share/ros"
        - "ROS_MASTER_URI=http://192.168.1.102:11311"
        - "ROS_VERSION=1"
        - "ROS_PYTHON_VERSION=2"
        - "ROS_IP=192.168.1.103"
        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
        - "ROS_DISTRO=melodic"
    topics:
      - /points_concat  # /lidar_pretreatment
      - /tpperception # /sensorfusion
      - /cicv_location  # /ins
triggers:
  - label: rapidaccel
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: brake
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: EmergencyStop
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: AutoDLimit
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: lanechange
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: brakefault
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: takeover
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: TTC
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
