HAPO Agx2 config file

sh/HAPO/agx2/IVSysMan.xml

@@ -1,10 +1,14 @@
 <xml>	
-	<module app="driver_can_nvidia_agx" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
-	<module app="driver_rpc_client" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
-	<module app="detection_radar_delphi_srr" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
-	<module app="detection_mobileye" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
-	<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="ivlog_record" dir="/home/nvidia/code/ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="driver_can_nvidia_agx" dir="/home/nvidia/app" args=" " autostart="true"  group="Driver"/>
+	<module app="driver_rpc_client" dir="/home/nvidia/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_rpc_server" dir="/home/nvidia/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="detection_radar_delphi_srr" dir="/home/nvidia/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_mobileye" dir="/home/nvidia/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_ultra_forvision" dir="/home/nvidia/app" args=" " autostart="true"  group="Detection"/>
+	<module app="fusion_radar_merge" dir="/home/nvidia/app" args=" " autostart="true"  group="Fusion"/>
+	<module app="view_ivlog" dir="/home/nvidia/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_radar" dir="/home/nvidia/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_gps" dir="/home/nvidia/app" args=" " autostart="false"  group="Tool"/>
+	<module app="adciv_record" dir="/home/nvidia/app" args=" " autostart="true"  group="Tool"/>
+	<module app="ivlog_record" dir="/home/nvidia/app" args=" " autostart="true1"  group="Tool"/>
 </xml>

sh/HAPO/agx2/adciv_record.xml

@@ -0,0 +1,12 @@
+<xml>	
+	<node name="bqev_record">
+		<param name="savedir" value="/home/nvidia/ivd" />
+		<param name="spacekeep(M)" value="2000" />
+		<param name="filemax" value = "10" />
+		<param name="filesizelim(M)" value="200" />
+		<param name="MEMNAME001" value="hcp2_gpsimu" />
+		<param name="MEMNAME002" value="radar_merge" />
+		<param name="MEMNAME003" value="ultra" />
+
+	</node>
+</xml>

sh/HAPO/agx2/adciv_replay.xml

@@ -0,0 +1,15 @@
+<xml>	
+	<node name="bqev_replay">
+		<param name="MEMNAME001" value="usbpic" />
+		<param name="MEMNAME002" value="vehiclestate" />
+		<param name="MEMNAME003" value="decition" />
+		<param name="MEMNAME004" value="gpsimu" />
+		<param name="MEMNAME005" value="hmi" />
+		<param name="MEMNAME006" value="platform" />
+		<param name="MEMNAME007" value="radar" />
+		<param name="MEMNAME008" value="canstate" />
+<!--		<param name="MEMNAME009" value="lidar_pc" />-->
+		<param name="MEMNAME009" value="lidar_obs" />
+		<param name="MEMNAME010" value="cansend" />
+	</node>
+</xml>

sh/HAPO/agx2/detection_ultra_forvision.xml

@@ -0,0 +1,7 @@
+<xml>	
+	<node name="detection_ultra_forvision">
+		<param name="canrecv" value="canrecv1" />
+		<param name="cansend" value="cansend1" />
+		<param name="ultra" value="ultra" />
+	</node>
+</xml>

sh/HAPO/agx2/driver_rpc_client.yaml

@@ -0,0 +1,27 @@
+server : 192.168.1.102:63001
+message:
+  - corner_radar_left
+  - corner_radar_right
+  - mobileye
+  - ultra
+  - canrecv1
+corner_radar_left:
+  msgname: corner_radar_left
+  buffersize: 100000
+  buffercount: 3
+corner_radar_right:
+  msgname: corner_radar_right
+  buffersize: 100000
+  buffercount: 3
+mobileye:
+  msgname: mobileye
+  buffersize: 100000
+  buffercount: 3
+ultra:
+  msgname: ultra
+  buffersize: 100000
+  buffercount: 3
+canrecv1:
+  msgname: canrecv1
+  buffersize: 100000
+  buffercount: 3

sh/HAPO/agx2/driver_rpc_server.yaml

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

sh/HAPO/agx2/fusion_radar_merge.yaml

@@ -0,0 +1,46 @@
+radar:
+  - radar_esr_f
+  - radar_esr_r
+  - corner_radar_left_f
+  - corner_radar_left
+  - corner_radar_right_f
+  - corner_radar_right
+radar_esr_f:
+  memname: radar_esr_f
+  rotation: 30
+  offset:
+    x: 0.0
+    y: 0.0
+radar_esr_r:
+  memname: radar_esr_r
+  rotation: 30
+  offset:
+    x: 0.0
+    y: 0.0
+corner_radar_left_f:
+  memname: corner_radar_left_f
+  rotation: 30
+  offset:
+    x: 0.0
+    y: 0.0
+corner_radar_left:
+  memname: corner_radar_left
+  rotation: 150
+  offset:
+    x: 0.0
+    y: 0.0  
+corner_radar_right_f:
+  memname: corner_radar_right_f
+  rotation: 180
+  offset:
+    x: 0.0
+    y: 0.0  
+corner_radar_right:
+  memname: corner_radar_right
+  rotation: 210
+  offset:
+    x: 0.0
+    y: 0.0  
+timelimit: 50  #最大时间限制，超过这个时间，即使没有收集到所有数据，也进行合并 .单位ms
+output: radar_merge
+

sh/HAPO/agx2/view_radar.xml

@@ -0,0 +1,7 @@
+<xml>	
+	<node name="view_radar">
+		<param name="radar0" value="corner_radar_left" />
+		<param name="radar1" value="corner_radar_right" />
+		<param name="radar3" value="radar_merge" />
+	</node>
+</xml>