mkz_64beam.pb.txt

cyber_modules {
  key: "Camera"
  value: {
    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
    dag_files: "/apollo/modules/drivers/video/dag/video.dag"
  }
}
cyber_modules {
  key: "Canbus"
  value: {
    dag_files: "/apollo/modules/canbus/dag/canbus.dag"
  }
}
cyber_modules {
  key: "Control"
  value: {
    dag_files: "/apollo/modules/control/dag/control.dag"
  }
}
cyber_modules {
  key: "GPS"
  value: {
    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
  }
}
cyber_modules {
  key: "Guardian"
  value: {
    dag_files: "/apollo/modules/guardian/dag/guardian.dag"
  }
}
cyber_modules {
  key: "Localization"
  value: {
    dag_files: "/apollo/modules/localization/dag/dag_streaming_rtk_localization.dag"
  }
}
cyber_modules {
  key: "Perception"
  value: {
    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception.dag"
  }
}
cyber_modules {
  key: "Traffic Light"
  value: {
    dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag"
  }
}
cyber_modules {
  key: "Planning"
  value: {
    dag_files: "/apollo/modules/planning/dag/planning.dag"
  }
}
cyber_modules {
  key: "Storytelling"
  value: {
    dag_files: "/apollo/modules/storytelling/dag/storytelling.dag"
  }
}
cyber_modules {
  key: "Prediction"
  value: {
    dag_files: "/apollo/modules/prediction/dag/prediction.dag"
  }
}
cyber_modules {
  key: "Radar"
  value: {
    dag_files: "/apollo/modules/drivers/radar/conti_radar/dag/conti_radar.dag"
  }
}
cyber_modules {
  key: "Routing"
  value: {
    dag_files: "/apollo/modules/routing/dag/routing.dag"
  }
}
cyber_modules {
  key: "Transform"
  value: {
    dag_files: "/apollo/modules/transform/dag/static_transform.dag"
  }
}
cyber_modules {
  key: "Velodyne"
  value: {
    dag_files: "/apollo/modules/drivers/lidar/velodyne/dag/velodyne_64_16.dag"
  }
}
modules {
  key: "Recorder"
  value: {
    start_command: "/apollo/scripts/record_bag.py --start --all"
    stop_command: "/apollo/scripts/record_bag.py --stop --stop_signal SIGINT"
    process_monitor_config {
      command_keywords: "cyber_recorder record"
    }
  }
}
monitored_components {
  key: "Recorder"
  value: {
    process {
      command_keywords: "cyber_recorder record"
    }
    resource {
      disk_spaces {
        # For logs.
        path: "/apollo/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
      }
    }
  }
}
monitored_components {
  key: "GPS"
  value: {
    process {
      command_keywords: "mainboard"
      command_keywords: "/apollo/modules/drivers/gnss/dag/gnss.dag"
    }
    # We also have a special GPSMonitor to check message status.
  }
}
monitored_components {
  key: "Localization"
  value: {
    # Special LocalizationMonitor.
  }
}
# Disbale ESD-CAN for a while as in some cars we are using B-CAN.
# monitored_components {
#   key: "ESD-CAN"
#   value: {
#     # Special EsdCanMonitor.
#   }
# }
monitored_components {
  key: "Lidar 64"
  value: {
    channel {
      name: "/apollo/sensor/velodyne64/compensator/PointCloud2"
    }
  }
}