Apollo 10.0
自动驾驶开放平台
ipc1_mkz_standard_debug.pb.txt
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1cyber_modules {
2 key: "Camera"
3 value: {
4 dag_files: "modules/drivers/camera/dag/camera.dag"
5 dag_files: "modules/drivers/video/dag/video.dag"
6 }
7}
8cyber_modules {
9 key: "Canbus"
10 value: {
11 dag_files: "modules/canbus/dag/canbus.dag"
12 }
13}
14cyber_modules {
15 key: "GPS"
16 value: {
17 dag_files: "modules/drivers/gnss/dag/gnss.dag"
18 }
19}
20cyber_modules {
21 key: "Guardian"
22 value: {
23 dag_files: "modules/guardian/dag/guardian.dag"
24 }
25}
26cyber_modules {
27 key: "Localization"
28 value: {
29 dag_files: "modules/localization/dag/dag_streaming_rtk_localization.dag"
30 }
31}
32cyber_modules {
33 key: "Perception"
34 value: {
35 dag_files: "modules/perception/multi_sensor_fusion/dag/multi_sensor_fusion.dag"
36 dag_files: "modules/prediction/dag/prediction_navi.dag"
37 dag_files: "modules/perception/camera_detection_multi_stage/dag/camera_detection_multi_stage_front.dag"
38 dag_files: "modules/perception/camera_location_estimation/dag/camera_location_estimation_front.dag"
39 dag_files: "modules/perception/camera_location_refinement/dag/camera_location_refinement_front.dag"
40 dag_files: "modules/perception/camera_tracking/dag/camera_tracking_front.dag"
41 dag_files: "modules/perception/camera_detection_multi_stage/dag/camera_detection_multi_stage_rear.dag"
42 dag_files: "modules/perception/camera_location_estimation/dag/camera_location_estimation_rear.dag"
43 dag_files: "modules/perception/camera_location_refinement/dag/camera_location_refinement_rear.dag"
44 dag_files: "modules/perception/camera_tracking/dag/camera_tracking_rear.dag"
45 dag_files: "modules/perception/pointcloud_preprocess/dag/pointcloud_preprocess.dag"
46 dag_files: "modules/perception/pointcloud_map_based_roi/dag/pointcloud_map_based_roi.dag"
47 dag_files: "modules/perception/pointcloud_ground_detection/dag/pointcloud_ground_detection.dag"
48 dag_files: "modules/perception/lidar_detection/dag/lidar_detection.dag"
49 dag_files: "modules/perception/lidar_detection_filter/dag/lidar_detection_filter.dag"
50 dag_files: "modules/perception/lidar_tracking/dag/lidar_tracking.dag"
51 dag_files: "modules/perception/radar_detection/dag/radar_detection_front.dag"
52 }
53}
54cyber_modules {
55 key: "Traffic Light"
56 value: {
57 dag_files: "modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
58 }
59}
60cyber_modules {
61 key: "Radar"
62 value: {
63 dag_files: "modules/drivers/radar/conti_radar/dag/conti_radar.dag"
64 }
65}
66cyber_modules {
67 key: "Command"
68 value: {
69 dag_files: "modules/external_command/process_component/dag/external_command_process.dag"
70 }
71}
72cyber_modules {
73 key: "Transform"
74 value: {
75 dag_files: "modules/transform/dag/static_transform.dag"
76 }
77}
78cyber_modules {
79 key: "Velodyne"
80 value: {
81 dag_files: "modules/drivers/lidar/velodyne/dag/velodyne.dag"
82 }
83}
84modules {
85 key: "Recorder"
86 value: {
87 start_command: "/apollo/scripts/record_bag.py --start"
88 stop_command: "/apollo/scripts/record_bag.py --stop"
89 process_monitor_config {
90 command_keywords: "cyber_recorder record"
91 }
92 }
93}
94monitored_components {
95 key: "Recorder"
96 value: {
97 process {
98 command_keywords: "cyber_recorder record"
99 }
100 resource {
101 disk_spaces {
102 # For logs.
103 path: "data"
104 insufficient_space_warning: 8
105 insufficient_space_error: 2
106 }
107 disk_spaces {
108 # For records.
109 path: "/media/apollo/internal_nvme"
110 insufficient_space_warning: 128
111 insufficient_space_error: 32
112 }
113 }
114 }
115}
116monitored_components {
117 key: "GPS"
118 value: {
119 process {
120 command_keywords: "mainboard"
121 command_keywords: "modules/drivers/gnss/dag/gnss.dag"
122 }
123 # We also have a special GPSMonitor to check message status.
124 }
125}
126monitored_components {
127 key: "Localization"
128 value: {
129 # Special LocalizationMonitor.
130 }
131}
132# Disbale ESD-CAN for a while as in some cars we are using B-CAN.
133# monitored_components {
134# key: "ESD-CAN"
135# value: {
136# # Special EsdCanMonitor.
137# }
138# }
139monitored_components {
140 key: "Lidar 128"
141 value: {
142 channel {
143 name: "/apollo/sensor/lidar128/compensator/PointCloud2"
144 }
145 }
146}