89 lines
4.7 KiB
Plaintext
89 lines
4.7 KiB
Plaintext
# sanad_api_go2 — copy to .env and fill in.
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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 Go2 id.
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SN=go2_0000
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# ── DDS (reading robot state — unitree_go family) ────────────────────────────
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# Interface that sees the Go2's DDS traffic (Jetson/onboard usually eth0).
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DDS_INTERFACE=eth0
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DDS_DOMAIN=0
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# MAC_INTERFACE=eth0
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# ── position options ─────────────────────────────────────────────────────────
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# none (default) | sportmode (rt/lf/sportmodestate) | rosbridge (/odom).
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GO2_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=50
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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=dog
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ROBOT_MODEL=go2
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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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# ── remote dashboard (register the Sanad web UI for the fleet to embed) ───────
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# The agent probes these ports on the robot, finds the Sanad dashboard, and
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# POSTs its URL to /{sn}/remote (kind=web) — no changes to the Sanad app.
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REMOTE_ENABLE=1
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REMOTE_PORTS=8001,8014,8011,8012,8013,8000,8080
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REMOTE_KIND=web
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# REMOTE_HOST= # default: the robot's primary LAN IP (fleet-reachable)
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# REMOTE_URL= # pin an explicit URL (e.g. a public reverse-tunnel) — wins over discovery
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REMOTE_INTERVAL=60
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# ── control panel (READ-ONLY loco mode; remote SWITCH is off by design) ───────
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# The agent reads the Sanad dashboard's /api/controller/status (no DDS, no
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# motion) and reports the current mode (zero_torque/damp/lock/running) + the
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# switchable set in telemetry.control. CONTROL_ENABLE stays 0: remote mode-
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# SWITCHING is deliberately NOT built (it commands motion and can drop the robot;
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# switching is done in person on the Sanad dashboard). Leave URL blank to use the
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# auto-discovered dashboard port.
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CONTROL_STATUS_URL=
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CONTROL_ENABLE=0
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# ── log-driven alerts (Gemini billing + any robot ERROR) ─────────────────────
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# The agent scans the robot's project (sanadr1) logs; each NEW matching signature
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# fires an alert (deduped per ALERT_LOG_COOLDOWN). "CODE=regex" entries split by ;;
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# 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
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ALERT_LOG_COOLDOWN=300
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ALERT_SCAN_INTERVAL=10
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