131 lines
3.2 KiB
YAML
131 lines
3.2 KiB
YAML
# TODO: these port numbers are hardcoded in c, fix this
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# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
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# all ZMQ pub sub:
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# frame syncing packet
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frame: [8002, true]
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# accel, gyro, and compass
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sensorEvents: [8003, true]
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# GPS data, also global timestamp
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gpsNMEA: [8004, true]
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# CPU+MEM+GPU+BAT temps
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thermal: [8005, true]
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# List(CanData), list of can messages
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can: [8006, true]
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live100: [8007, true]
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# random events we want to log
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#liveEvent: [8008, true]
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model: [8009, true]
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features: [8010, true]
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health: [8011, true]
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live20: [8012, true]
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#liveUI: [8014, true]
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encodeIdx: [8015, true]
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liveTracks: [8016, true]
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sendcan: [8017, true]
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logMessage: [8018, true]
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liveCalibration: [8019, true]
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androidLog: [8020, true]
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carState: [8021, true]
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# 8022 is reserved for sshd
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carControl: [8023, true]
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plan: [8024, true]
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liveLocation: [8025, true]
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gpsLocation: [8026, true]
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ethernetData: [8027, true]
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navUpdate: [8028, true]
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qcomGnss: [8029, true]
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lidarPts: [8030, true]
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procLog: [8031, true]
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gpsLocationExternal: [8032, true]
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ubloxGnss: [8033, true]
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clocks: [8034, true]
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liveMpc: [8035, true]
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liveLongitudinalMpc: [8036, true]
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plusFrame: [8037, false]
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navStatus: [8038, true]
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gpsLocationTrimble: [8039, true]
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trimbleGnss: [8041, true]
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ubloxRaw: [8042, true]
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gpsPlannerPoints: [8043, true]
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gpsPlannerPlan: [8044, true]
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applanixRaw: [8046, true]
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orbLocation: [8047, true]
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trafficEvents: [8048, true]
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liveLocationTiming: [8049, true]
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orbslamCorrection: [8050, true]
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liveLocationCorrected: [8051, true]
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orbObservation: [8052, true]
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applanixLocation: [8053, true]
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liveLocationKalman: [8054, true]
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uiNavigationEvent: [8055, true]
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orbOdometry: [8057, true]
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orbFeatures: [8058, true]
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orbKeyFrame: [8059, true]
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uiLayoutState: [8060, true]
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testModel: [8040, false]
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testLiveLocation: [8045, false]
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testJoystick: [8056, false]
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# manager -- base process to manage starting and stopping of all others
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# subscribes: health
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# publishes: thermal
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# **** processes that communicate with the outside world ****
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# boardd -- communicates with the car
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# subscribes: sendcan
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# publishes: can, health, ubloxRaw
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# sensord -- publishes the IMU and GPS
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# publishes: sensorEvents, gpsNMEA
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# visiond -- talks to the cameras, runs the model, saves the videos
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# subscribes: liveCalibration, sensorEvents, live100
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# publishes: frame, encodeIdx, model, liveCalibration
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# **** stateful data transformers ****
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# plannerd -- decides where to drive the car
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# subscribes: carState, model, live20
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# publishes: plan
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# controlsd -- actually drives the car
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# subscribes: can, thermal, plan
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# publishes: carState, carControl, sendcan, live100
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# radard -- processes the radar data
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# blocks: CarParams
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# subscribes: can, live100, model
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# publishes: live20, liveTracks
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# **** LOGGING SERVICE ****
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# loggerd
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# subscribes: EVERYTHING
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# **** NON VITAL SERVICES ****
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# ui
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# subscribes: live100, live20, liveCalibration, model, (raw frames)
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# uploader
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# communicates through file system with loggerd
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# logmessaged -- central logging service, can log to cloud
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# publishes: logMessage
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# logcatd -- fetches logcat info from android
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# publishes: androidLog
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# proclogd -- fetches process information
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# publishes: procLog
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# tombstoned -- reports native crashes
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