Apollo 10.0
自动驾驶开放平台
mkz_standard_debug.pb.txt
浏览该文件的文档.
1cyber_modules {
2 key: "AudioDetection"
3 value: {
4 dag_files: "modules/audio/dag/audio.dag"
5 }
6}
7cyber_modules {
8 key: "Camera"
9 value: {
10 dag_files: "modules/drivers/camera/dag/camera.dag"
11 dag_files: "modules/drivers/video/dag/video.dag"
12 }
13}
14cyber_modules {
15 key: "Canbus"
16 value: {
17 dag_files: "modules/canbus/dag/canbus.dag"
18 }
19}
20cyber_modules {
21 key: "Control"
22 value: {
23 dag_files: "modules/control/control_component/dag/control.dag"
24 }
25}
26cyber_modules {
27 key: "GPS"
28 value: {
29 dag_files: "modules/drivers/gnss/dag/gnss.dag"
30 }
31}
32cyber_modules {
33 key: "Guardian"
34 value: {
35 dag_files: "modules/guardian/dag/guardian.dag"
36 }
37}
38cyber_modules {
39 key: "Localization"
40 value: {
41 dag_files: "modules/localization/dag/dag_streaming_msf_localization.dag"
42 }
43}
44cyber_modules {
45 key: "Perception"
46 value: {
47 dag_files: "modules/perception/multi_sensor_fusion/dag/multi_sensor_fusion.dag"
48 dag_files: "modules/prediction/dag/prediction_navi.dag"
49 dag_files: "modules/perception/camera_detection_multi_stage/dag/camera_detection_multi_stage_front.dag"
50 dag_files: "modules/perception/camera_location_estimation/dag/camera_location_estimation_front.dag"
51 dag_files: "modules/perception/camera_location_refinement/dag/camera_location_refinement_front.dag"
52 dag_files: "modules/perception/camera_tracking/dag/camera_tracking_front.dag"
53 dag_files: "modules/perception/camera_detection_multi_stage/dag/camera_detection_multi_stage_rear.dag"
54 dag_files: "modules/perception/camera_location_estimation/dag/camera_location_estimation_rear.dag"
55 dag_files: "modules/perception/camera_location_refinement/dag/camera_location_refinement_rear.dag"
56 dag_files: "modules/perception/camera_tracking/dag/camera_tracking_rear.dag"
57 dag_files: "modules/perception/pointcloud_preprocess/dag/pointcloud_preprocess.dag"
58 dag_files: "modules/perception/pointcloud_map_based_roi/dag/pointcloud_map_based_roi.dag"
59 dag_files: "modules/perception/pointcloud_ground_detection/dag/pointcloud_ground_detection.dag"
60 dag_files: "modules/perception/lidar_detection/dag/lidar_detection.dag"
61 dag_files: "modules/perception/lidar_detection_filter/dag/lidar_detection_filter.dag"
62 dag_files: "modules/perception/lidar_tracking/dag/lidar_tracking.dag"
63 dag_files: "modules/perception/radar_detection/dag/radar_detection_front.dag"
64 }
65}
66cyber_modules {
67 key: "Traffic Light"
68 value: {
69 dag_files: "modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
70 }
71}
72cyber_modules {
73 key: "Planning"
74 value: {
75 dag_files: "modules/planning/planning_component/dag/planning.dag"
76 dag_files: "modules/external_command/process_component/dag/external_command_process.dag"
77 }
78}
79cyber_modules {
80 key: "Storytelling"
81 value: {
82 dag_files: "modules/storytelling/dag/storytelling.dag"
83 }
84}
85cyber_modules {
86 key: "Prediction"
87 value: {
88 dag_files: "modules/prediction/dag/prediction.dag"
89 }
90}
91cyber_modules {
92 key: "Radar"
93 value: {
94 dag_files: "modules/drivers/radar/conti_radar/dag/conti_radar.dag"
95 }
96}
97cyber_modules {
98 key: "Transform"
99 value: {
100 dag_files: "modules/transform/dag/static_transform.dag"
101 }
102}
103cyber_modules {
104 key: "Velodyne"
105 value: {
106 dag_files: "modules/drivers/velodyne/dag/velodyne.dag"
107 }
108}
109cyber_modules {
110 key: "Microphone"
111 value: {
112 dag_files: "modules/drivers/microphone/dag/microphone.dag"
113 }
114}
115modules {
116 key: "Recorder"
117 value: {
118 start_command: "/apollo/scripts/record_bag.py --start --all"
119 stop_command: "/apollo/scripts/record_bag.py --stop --stop_signal SIGINT"
120 process_monitor_config {
121 command_keywords: "cyber_recorder record"
122 }
123 }
124}
125monitored_components {
126 key: "Recorder"
127 value: {
128 process {
129 command_keywords: "cyber_recorder record"
130 }
131 resource {
132 disk_spaces {
133 # For logs.
134 path: "data"
135 insufficient_space_warning: 8
136 insufficient_space_error: 2
137 }
138 disk_spaces {
139 # For records.
140 path: "/media/apollo/internal_nvme"
141 insufficient_space_warning: 128
142 insufficient_space_error: 32
143 }
144 }
145 }
146}
147monitored_components {
148 key: "GPS"
149 value: {
150 process {
151 command_keywords: "mainboard"
152 command_keywords: "modules/drivers/gnss/dag/gnss.dag"
153 }
154 # We also have a special GPSMonitor to check message status.
155 }
156}
157monitored_components {
158 key: "Localization"
159 value: {
160 # Special LocalizationMonitor.
161 }
162}
163# Disbale ESD-CAN for a while as in some cars we are using B-CAN.
164# monitored_components {
165# key: "ESD-CAN"
166# value: {
167# # Special EsdCanMonitor.
168# }
169# }
170monitored_components {
171 key: "Lidar 128"
172 value: {
173 channel {
174 name: "/apollo/sensor/lidar128/compensator/PointCloud2"
175 }
176 }
177}