HAPO-天职大配置文件

sh/HAPO/agx1/ADS_decision.xml

@@ -2,20 +2,21 @@
 	<node name="ADCIntelligentVehicle-Replay">
 		<param name="vin" value="LMWHP1S28J1005878" />
 		<param name="iccid" value="898600MFSSYYG1234018" />
-		<param name="vehType" value="bus" />
+		<param name="vehType" value="hapo" />
 		<param name="server" value="60.247.58.116" />
 		<param name="port" value="5600" />
 		<param name="id" value="1" />
-		<param name="speed" value="false" />
+		<param name="speed" value="true" />
 		<param name="roadmode0" value="15" />
-		<param name="roadmode5" value="12" />
+		<param name="roadmode5" value="10" />
+		<param name="roadmode11" value="15" />
 		<param name="roadmode13" value="8" />
 		<param name="roadmode14" value="8" />
-		<param name="roadmode15" value="12" />
+		<param name="roadmode15" value="8" />
 		<param name="roadmode16" value="8" />
 		<param name="roadmode17" value="8" />
 		<param name="roadmode18" value="8" />
-		<param name="zhuchetime" value="15" />
+		<param name="zhuchetime" value="8" />
 		<param name="epsoff" value="0" />
                 <param name="parklat" value="39.1364494" />
                 <param name="parklng" value="117.0868970" />
@@ -25,6 +26,11 @@
 		<param name="lightlat" value="39.1362522" />
 		<param name="LidarRotation" value="95" />
 		<param name="LidarRangeUnit" value="5.0" />
+		<param name="lidarGpsXiuzheng" value="3.7" />
+		<param name="radarGpsXiuzheng" value="3.7" />
+		<param name="frontGpsXiuzheng" value="3.7" />
+		<param name="gpsOffset_X" value="0" />
+		<param name="gpsOffset_Y" value="2.2" />
 	</node>
 </xml>
 

sh/HAPO/agx1/IVSysMan.xml

@@ -1,24 +1,29 @@
 <xml>	
-	<module app="driver_can_nvidia_agx" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
-	<module app="driver_lidar_rs16" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
-        <module app="driver_lidar_rs16" dir="/home/nvidia/code/ADS/modularization/deploy/app" args="-r 90" autostart="true"  group="Driver"/>
-	<module app="driver_map_trace" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
-	<module app="driver_map_xodrload" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
-	<module app="driver_cloud_grpc_client" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
-	<module app="driver_rpc_server" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
-	<module app="detection_lidar_cnn_segmentation" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
-	<module app="detection_radar_delphi_esr" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
-        <module app="detection_chassis" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
-	<module app="detection_gps_hcp2" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
-        <module app="controller_midcar" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
-	<module app="decition_brain" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
-	<module app="view_gps" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
-	<module app="view_pointcloud" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
-	<module app="view_radar" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
-	<module app="ivmapmake" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
-	<module app="view_ivlog" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
-	<module app="ui_ads_hmi" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
-	<module app="adciv_record" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
-	<module app="tool_xodrobj" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
-	<module app="ivlog_record" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="driver_can_nvidia_agx" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
+	<module app="driver_lidar_rs16" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args="-r 138 -p 6699 -m lidarpc_left" autostart="true"  group="Driver"/>
+        <module app="driver_lidar_rs16" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args="-r 38 -p 6698 -m lidarpc_right" autostart="true"  group="Driver"/>
+	<module app="driver_map_trace" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="1true"  group="Driver"/>
+	<module app="driver_map_xodrload" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_cloud_grpc_client" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_rpc_server" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_rpc_client" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="fusion_pointcloud_bus" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Fusion"/>	
+	<module app="detection_lidar_cnn_segmentation" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_lidar_cnntogrid" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_radar_delphi_esr" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+        <module app="detection_chassis" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_gps_hcp2" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+        <module app="controller_hapo" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
+	<module app="decition_brain" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
+	<module app="view_gps" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_pointcloud" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="v2xTcpClient" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="view_radar" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="ivmapmake" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_ivlog" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="ui_ads_hmi" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="adciv_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="ivlog_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="tool_xodrobj" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="ivlog_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
 </xml>

sh/HAPO/agx1/adciv_record.xml

@@ -1,9 +1,10 @@
 <xml>	
 	<node name="bqev_record">
-		<param name="savedir" value="/home/a/ivd" />
-		<param name="spacekeep(M)" value="20000" />
+		<param name="savedir" value="/home/nvidia/ivd" />
+		<param name="spacekeep(M)" value="2000" />
 		<param name="filemax" value = "10" />
-		<param name="filesizelim(M)" value="20000" />
+		<param name="compress" value = "true" />
+		<param name="filesizelim(M)" value="200" />
 		<param name="MEMNAME001" value="usbpic" />
 		<param name="MEMNAME002" value="brainstate" />
 		<param name="MEMNAME003" value="deciton" />
@@ -16,6 +17,8 @@
 		<param name="MEMNAME009" value="lidar_obs" />
 		<param name="MEMNAME010" value="chassis" />
 		<param name="MEMNAME011" value="cansend" />
+		<param name="MEMNAME011" value="v2x" />
+		<param name="MEMNAME011" value="v2xStEn" />
 
 	</node>
 </xml>

sh/HAPO/agx1/detection_chassis.xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="detection_chassis">
+		<param name="vehicletype" value="HAPO" />
+	</node>
+</xml>
+

sh/HAPO/agx1/detection_lidar_cnn_segmentation.xml

@@ -0,0 +1,8 @@
+<xml>	
+	<node name="detection_ndt_matching_gpu_multi.xml">
+		<param name="prototxt" value="/home/nvidia/models/lidar/model.prototxt" />
+		<param name="caffemodel" value="/home/nvidia/models/lidar/model.caffemodel" />
+		<param name="input" value="lidar_pc" />
+		<param name="output" value="lidar_track" />
+	</node>
+</xml>

sh/HAPO/agx1/detection_radar_delphi_esr.xml

@@ -0,0 +1,8 @@
+<xml>	
+	<node name="detection_radar_delphi_esr">
+		<param name="canrecv" value="canrecv0" />
+		<param name="cansend" value="cansend0" />
+		<param name="radar" value="radar" />
+		<param name="modulename" value="detection_radar_delphi_esr" />
+	</node>
+</xml>

sh/HAPO/agx1/driver_lidar_merge.yaml

@@ -0,0 +1,16 @@
+lidar:
+  - left
+  - right
+left:
+  memname: lidarpc_left
+  offset:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+right:
+  memname: lidarpc_right
+  offset:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+output: lidar_pc

sh/HAPO/agx1/driver_rpc_client.yaml

@@ -0,0 +1,9 @@
+server : 192.168.1.103:10001
+message:
+  - hcp2_gpsimu 
+hcp2_gpsimu:
+  msgname: hcp2_gpsimu 
+  buffersize: 10000
+  buffercount: 3
+
+

sh/HAPO/agx1/driver_rpc_server.yaml

@@ -0,0 +1,19 @@
+port : 63001
+message:
+  - corner_radar_left
+  - corner_radar_right
+corner_radar_left:
+  msgname: corner_radar_left
+  buffersize: 100000
+  buffercount: 3
+corner_radar_right:
+  msgname: corner_radar_right
+  buffersize: 100000
+  buffercount: 3
+ultra:
+  msgname: ultra
+  buffersize: 100000
+  buffercount: 3
+
+
+

sh/HAPO/agx1/fusion_pointcloud_bus.yaml

@@ -0,0 +1,38 @@
+lidar:
+  - left
+  - right
+  - ignore
+left:
+  memname: lidarpc_left
+  offset:
+    x: -1
+    y: 2.3
+    z: -1.0
+  maximum:
+    x: 100
+    y: 100.0
+    z: 100
+  minimum:
+    x: -100
+    y: -100.0
+    z: -100
+right:
+  memname: lidarpc_right
+  offset:
+    x: 1
+    y: 2.3
+    z: -1.0
+  maximum:
+    x: 100
+    y: 100.0
+    z: 100
+  minimum:
+    x: -100
+    y: -100.0
+    z: -100
+ignore:
+  xmin: -1.2
+  ymin: -5
+  xmax: 1.2
+  ymax: 2.5
+output: lidar_pc

sh/HAPO/agx1/v2xTcpClient.xml

@@ -0,0 +1,48 @@
+<xml>	
+	<node name="v2xTcpClient">
+		<param name="carVIN" value="catarc001" />
+		<param name="hostIP" value="47.95.196.28" />
+		<param name="hostPort" value="12123" />
+		<param name="stationCount" value="20" />
+		<param name="lat0" value="0" />
+		<param name="lon0" value="0" />
+		<param name="lat1" value="0" />
+		<param name="lon1" value="0" />
+		<param name="lat2" value="39.1221963" />
+		<param name="lon2" value="117.0272492" />
+		<param name="lat3" value="39.1216422" />
+		<param name="lon3" value="117.0272508" />
+		<param name="lat4" value="39.1209112" />
+		<param name="lon4" value="117.0272539" />
+		<param name="lat5" value="0" />
+		<param name="lon5" value="0" />
+		<param name="lat6" value="0" />
+		<param name="lon6" value="0" />
+		<param name="lat7" value="0" />
+		<param name="lon7" value="0" />
+		<param name="lat8" value="0" />
+		<param name="lon8" value="0" />
+		<param name="lat9" value="0" />
+		<param name="lon9" value="0" />
+		<param name="lat10" value="0" />
+		<param name="lon10" value="0" />
+		<param name="lat11" value="0" />
+		<param name="lon11" value="0" />
+		<param name="lat12" value="0" />
+		<param name="lon12" value="0" />
+		<param name="lat13" value="0" />
+		<param name="lon13" value="0" />
+		<param name="lat14" value="0" />
+		<param name="lon14" value="0" />
+		<param name="lat15" value="0" />
+		<param name="lon15" value="0" />
+		<param name="lat16" value="0" />
+		<param name="lon16" value="0" />
+		<param name="lat17" value="0" />
+		<param name="lon17" value="0" />
+		<param name="lat18" value="0" />
+		<param name="lon18" value="0" />
+		<param name="lat19" value="0" />
+		<param name="lon19" value="0" />
+	</node>
+</xml>

sh/HAPO/agx1/view_radar (copy).xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="view_radar">
+		<param name="radar0" value="radar" />
+	</node>
+</xml>
+

sh/HAPO/agx1/view_radar.xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="view_radar">
+		<param name="radar0" value="radar" />
+	</node>
+</xml>
+