rtk.pb.txt

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cyber_modules {
  key: "Canbus"
  value: {
    dag_files: "modules/canbus/dag/canbus.dag"
  }
}
cyber_modules {
  key: "Control"
  value: {
    dag_files: "modules/control/control_component/dag/control.dag"
  }
}
cyber_modules {
  key: "GPS"
  value: {
    dag_files: "modules/drivers/gnss/dag/gnss.dag"
  }
}
cyber_modules {
  key: "Guardian"
  value: {
    dag_files: "modules/guardian/dag/guardian.dag"
  }
}
cyber_modules {
  key: "Localization"
  value: {
    dag_files: "modules/localization/dag/dag_streaming_rtk_localization.dag"
  }
}
modules {
  key: "RTK Recorder"
  value: {
    start_command: "nohup /apollo/scripts/rtk_recorder.sh start &"
    stop_command: "/apollo/scripts/rtk_recorder.sh stop"
    process_monitor_config {
      command_keywords: "record_play/rtk_recorder"
    }
    # RTK Recorder is not running in self-driving mode.
    required_for_safety: false
  }
}
modules {
  key: "RTK Player"
  value: {
    start_command: "nohup /apollo/scripts/rtk_player.sh start &"
    stop_command: "/apollo/scripts/rtk_player.sh stop"
    process_monitor_config {
      command_keywords: "record_play/rtk_player"
    }
  }
}
modules {
  key: "Data Recorder"
  value: {
    start_command: "/apollo/scripts/record_bag.py --start"
    stop_command: "/apollo/scripts/record_bag.py --stop --stop_signal SIGINT"
    process_monitor_config {
      command_keywords: "cyber_recorder record"
    }
  }
}
monitored_components {
  key: "Localization"
  value: {
    # Special LocalizationMonitor.
  }
}
monitored_components {
  key: "Data Recorder"
  value: {
    process {
      command_keywords: "cyber_recorder record"
    }
    resource {
      disk_spaces {
        # For logs.
        path: "data"
        insufficient_space_warning: 8
        insufficient_space_error: 2
      }
      disk_spaces {
        # For records.
        path: "/media/apollo/internal_nvme"
        insufficient_space_warning: 128
        insufficient_space_error: 32
      }
    }
  }
}