# sanad_api_g1 — copy to .env and fill in. docker compose reads it automatically.

# ── fleet server (REQUIRED — YS Lootah gives you these two) ──────────────────
SERVER_URL=https://fleet.example.com
DEVICE_TOKEN=REPLACE_WITH_DEVICE_TOKEN

# ── identity ─────────────────────────────────────────────────────────────────
# This robot's fleet id — used as {sn} in POST /api/v1/fleet/ingest/{sn}/map.
SN=g1_7892
# web_nav3 robot name: the maps subdir (<MAPS_DIR>/<ROBOT>/*.db) + X-Robot-Name.
# Must match web_nav3's robot_config.yaml robot_name (default: sanad).
ROBOT=sanad

# ── where the map files live on the HOST (bind-mounted read-only) ────────────
# Point these at the robot's web_nav3 install. Defaults assume a Package_4
# robot (nav container -> /home/unitree/marcus_nav2_test). For the workstation
# dev copy use .../Project/G1/Nav2_Projects/web_nav3/{maps,web/data}.
MAPS_HOST_DIR=/home/unitree/marcus_nav2_test/maps
DATA_HOST_DIR=/home/unitree/marcus_nav2_test/web/data
STATE_HOST_DIR=./data/state

# Optional legacy per-robot places file (older sanad setups). Leave blank if
# each map already has its own places under DATA_DIR/<robot>/places/.
# LEGACY_PLACES=/data/legacy/places.json

# ── behaviour ────────────────────────────────────────────────────────────────
# Which maps to upload: all | active | newest.  active/newest need WEB_NAV3_URL.
MAP_SELECT=all
# Optional — only used to learn which map is ACTIVE (MAP_SELECT=active).
WEB_NAV3_URL=http://127.0.0.1:8765

# Wire format the server accepts on the map endpoint:
#   multipart  -> multipart/form-data: file field `db` + form field `meta` (JSON)
#   base64json -> JSON body with the .db as `db_base64` + the same meta fields
MAP_UPLOAD_MODE=multipart
# Endpoint path template ({sn} substituted). Change only if the server differs.
MAP_ENDPOINT=/api/v1/fleet/ingest/{sn}/map

# Scan cadence for the loop (seconds). Maps rarely change, so 30s is plenty.
POLL_INTERVAL=30
# Verify the fleet server's TLS cert (1 recommended; 0 only for self-signed dev).
VERIFY_TLS=1
HTTP_TIMEOUT=30

# ── logs + alerts ─────────────────────────────────────────────────────────────
LOGS_INTERVAL=60

# ── project logs (shared alongside agent logs) ───────────────────────────────
# auto (default) = find a RUNNING Sanad project container (sanadr1, sanad-p4,
# sanad*) via the /host mount and tail its docker json-log, labeled
# "<name>-logs" in the shipped lines; telemetry shows project_logs (null=none).
# Or pin a container name / an explicit log file (PROJECT_LOG_PATH, via /host).
PROJECT_LOG_CONTAINER=auto
PROJECT_LOG_PATH=
PROJECT_LOG_LABEL=

# ── remote dashboard (register the Sanad web UI for the fleet to embed) ───────
# The agent probes these ports on the robot, finds the Sanad dashboard, and
# POSTs its URL to /{sn}/remote (kind=web) — no changes to the Sanad app.
REMOTE_ENABLE=1
REMOTE_PORTS=8001,8014,8011,8012,8013,8000,8080
REMOTE_KIND=web
# REMOTE_HOST=            # default: the robot's primary LAN IP (fleet-reachable)
# REMOTE_URL=            # pin an explicit URL (e.g. a public reverse-tunnel) — wins over discovery
REMOTE_INTERVAL=60

# ── control panel (READ-ONLY loco mode; remote SWITCH is off by design) ───────
# The agent reads the Sanad dashboard's /api/controller/status (no DDS, no
# motion) and reports the current mode (zero_torque/damp/lock/running) + the
# switchable set in telemetry.control. CONTROL_ENABLE stays 0: remote mode-
# SWITCHING is deliberately NOT built (it commands motion and can drop the robot;
# switching is done in person on the Sanad dashboard). Leave URL blank to use the
# auto-discovered dashboard port.
CONTROL_STATUS_URL=
CONTROL_ENABLE=0

# ── log-driven alerts (Gemini billing + any robot ERROR) ─────────────────────
# The agent scans the robot's project (sanadr1) logs; each NEW matching signature
# fires an alert (deduped per ALERT_LOG_COOLDOWN). "CODE=regex" entries split by ;;
# ALERT_LOG_PATTERNS=GEMINI_BILLING=prepayment credits.{0,40}deplet|Please go to AI Studio|Failed to connect to Gemini;;ROBOT_ERROR=\bERROR\b|Traceback|Exception|CRITICAL
ALERT_LOG_COOLDOWN=300
ALERT_SCAN_INTERVAL=10