68 lines
3.6 KiB
Plaintext
68 lines
3.6 KiB
Plaintext
# sanad_api_r1 — copy to .env and fill in. docker compose reads it automatically.
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# ── fleet server (REQUIRED — YS Lootah gives you these two) ──────────────────
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SERVER_URL=https://fleet.example.com
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DEVICE_TOKEN=REPLACE_WITH_DEVICE_TOKEN
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# ── identity ─────────────────────────────────────────────────────────────────
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# This robot's fleet id, sent in the telemetry body as "sn". Set the real R1 id.
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SN=r1_0000
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# ── DDS (reading robot state) ────────────────────────────────────────────────
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# The R1 backpack link is eth10 (SanadR1 default). Use the interface that sees
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# the robot's DDS traffic. Domain 0 unless your robot is configured otherwise.
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DDS_INTERFACE=eth10
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DDS_DOMAIN=0
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# Which NIC's MAC to report as the robot identity (defaults to DDS_INTERFACE).
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# MAC_INTERFACE=eth10
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# ── status / position options ────────────────────────────────────────────────
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# Read the loco FSM for a richer status (READ-ONLY GET RPC, never commands
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# motion). 0 = derive status from battery + joint motion only (safe default).
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R1_READ_FSM=0
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# Position source: none (default) | rosbridge. The R1 localizes with stereo VSLAM
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# on the ROS side; set 'rosbridge' + ROSBRIDGE_URL to report x,y from /odom.
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R1_POSITION_SOURCE=none
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ROSBRIDGE_URL=ws://127.0.0.1:9090
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# ── fault thresholds ─────────────────────────────────────────────────────────
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LOW_SOC=15
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MOTOR_TEMP_MAX=85
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# ── cadence / transport ──────────────────────────────────────────────────────
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POLL_INTERVAL=2
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VERIFY_TLS=1
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HTTP_TIMEOUT=10
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# ── robot identity card (shown on the dashboard) ─────────────────────────────
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ROBOT_BRAND=unitree
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ROBOT_TYPE=humanoid
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ROBOT_MODEL=r1
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# Optional: Sanad data dir whose size is reported in storage (as /host/<path>
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# when the installer's read-only /:/host mount is used). Empty = omit.
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STORAGE_DATA_PATH=
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# ── map sync (uploaded ONCE per content; status shown in telemetry "map") ────
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# The installer mounts the robot's real maps dir at /data/maps (probed on the
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# robot: rtabmap*.db / slam_toolbox yaml+pgm sets). Fallback = agent's own dir.
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MAPS_DIR=/data/maps
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DATA_DIR=/data/web_data
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STATE_DIR=/data/state
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MAP_SELECT=all
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MAP_UPLOAD_MODE=multipart
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MAP_POLL_INTERVAL=30
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# ── logs + alerts ─────────────────────────────────────────────────────────────
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# agent log lines shipped to /{sn}/logs every LOGS_INTERVAL; new faults POSTed
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# to /{sn}/alert immediately (rising edge).
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LOGS_INTERVAL=60
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# ── project logs (shared alongside agent logs) ───────────────────────────────
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# auto (default) = find a RUNNING Sanad project container (sanadr1, sanad-p4,
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# sanad*) via the /host mount and tail its docker json-log, labeled
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# "<name>-logs" in the shipped lines; telemetry shows project_logs (null=none).
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# Or pin a container name / an explicit log file (PROJECT_LOG_PATH, via /host).
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PROJECT_LOG_CONTAINER=auto
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PROJECT_LOG_PATH=
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PROJECT_LOG_LABEL=
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