---
platform:
  url-device-auth: http://139.9.199.227:30991/device/auth
  url-task-poll: http://139.9.199.227:30991/device/task/poll
  url-task: http://139.9.199.227:30991/device/task
full-collect: true
bag-number: 120
config-refresh-interval: 60
disk-usage: 90
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
    - /planner_s4
    - /control
hosts:
  - name: node1
    ip: 192.168.1.102
    topics:
      - /camera_image # /camera_output
      - /cicv_amr_trajectory #  /planner_s4
      - /pj_control_pub # /control
  #      - /data_read
  - name: node2
    ip: 192.168.1.103
    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