{
    "WebCore" : {
        "serverPort" : 8282,
        "fileRoot": "/usr/local/var/www/bodyservice",
        "requestLogging": false
    },
    "bodyBoard" : {
        "pelvisDevice" : "/dev/ttyTHS1",
        "pelvisOffset" : 2.742,
        "pelvisFlipped" : true,
        "pelvisVelLimit" : 10.0,
        "pelvisAccLimit" : 30.0,
        "torsoDevice" : "/dev/ttyTHS1",
        "torsoOffset" : 0.052,
        "torsoFlipped" : true,
        "torsoVelLimit" : 10.0,
        "torsoAccLimit" : 30.0,
        "neckDevice" : "/dev/ttyTHS0",
        "neckOffset" : 0.061,
        "neckFlipped" : true,
        "neckVelLimit" : 10.0,
        "neckAccLimit" : 30.0,
        "headTouchMapping" : [3, 5, 4, 0, 2, 1],
        "hatchLowThreshold": 1.0,
        "hatchHighThreshold": 1.5,
        "lowBattCapHiThresh": 0.42,
        "lowBattCapLowThresh": 0.35,
        "battMinTemp": 0.0,
        "battMaxTemp": 47.0,
        "motorCmdTimeout": 500,
        "ledCmdTimeout": 5000
    },
    "BodyService" : {
        "registryPort": 8181,
        "serverPort": 8282,
        "backlightDutyFile": "/sys/class/backlight/backlight.9/brightness",
        "backlightPeriodFile": "/sys/class/backlight/backlight.9/max_brightness",
        "fanControl": false,
        "fanPWMFile": "/sys/class/hwmon/hwmon5/pwm1",
        "fanPWMMax": 255,
        "fanOnTemp" : 70,
        "fanOffTemp" : 60,
        "mainBoardTempFile": "/sys/class/thermal/thermal_zone0/temp",
        "cpuThermalZone": "/sys/class/thermal/thermal_zone1",
        "fanCurrentFile": "/sys/class/hwmon/hwmon6/in3_input",
        "fanCurrentResistor": 0.5,
        "pmicTempFile": "/sys/class/hwmon/hwmon6/temp1_input",
        "cpuDCDC1TempFile": "/sys/class/hwmon/hwmon6/temp2_input",
        "cpuDCDC2TempFile": "/sys/class/hwmon/hwmon6/temp3_input",
        "coreDCDCTempFile": "/sys/class/hwmon/hwmon6/temp4_input",
        "gpuDCDC1TempFile": "/sys/class/hwmon/hwmon6/temp5_input",
        "gpuDCDC2TempFile": "/sys/class/hwmon/hwmon6/temp6_input",
        "minCommandRate": 4.0,
        "maxCommandRate": 40.0,
        "commandOKCount": 25,
        "cpuTempHiThresh": 90,
        "cpuTempLowThres": 85,
        "kinematic_model": "/usr/local/etc/jibo-kinematic-model.json"
    },
    "motionLimiter" : {
        "maxTorque": 70,
        "maxTime": 0.250,
        "velAlphaDn": 0.80,
        "velAlphaUp": 0.05,
        "kVelLim": 0.25,
        "logFile": "/tmp/motion-limiter.log",
        "logEnable": false,
        "disable": false,
        "unindexedAcc": 10.0,
        "unindexedVel": 1.0
    },
    "imu" : {
        "driver": {
            "deviceName": "/dev/spidev1.0",
            "calibrationFile": "/var/jibo/imu/imu-cal.json"
        },
        "fallDetector": {
            "low_g_start_thresh": 2.0,
            "low_g_end_thresh": 4.0,
            "high_g_start_thresh": 30.0,
            "high_g_end_thresh": 25.0,
            "max_low_high_sep": 0.1,
            "min_low": 0.1,
            "max_high": 0.1,
            "min_falling": 1.0
        },
        "gyroOffset": {
            "avg_samples": 250,
            "still_seconds": 2.0,
            "thresh_acc": 0.20,
            "thresh_rot": 0.05
        },
        "movingDetector": {
            "a_acc": 0.01,
            "a_rot": 0.02,
            "thresh_acc": 0.30,
            "thresh_rot": 0.25
        },
        "upEstimator": {
            "alpha": 0.5
        },
        "upMovingDetector": {
            "a_acc": 0.50,
            "a_rot": 0.05,
            "thresh_acc": 0.15,
            "thresh_rot": 0.05
        },
        "tip_start_thresh": 0.7,
        "tip_end_thresh": 0.9
    },
    "ErrorTracker":{
        "views": [
            {
                "name": "BodyService",
                "errors": [
                    "NECK_THERMISTOR_HIGH_FAULT",
                    "NECK_THERMISTOR_LOW_FAULT",
                    "NECK_ENCODER_FAULT",
                    "NECK_STALL_FAULT",
                    "NECK_BOARD_TIMEOUT",
                    "NECK_POWER_FAULT_COUNT",
                    "NECK_STALL_FAULT_COUNT",
                    "NECK_ENCODER_FAULT_COUNT",
                    "NECK_ENCODER_BACKWARDS_FAULT_COUNT",
                    "NECK_THERMISTOR_FAULT_COUNT",
                    "NECK_POWER_FAULT",
                    "NECK_ENCODER_BACKWARDS_FAULT",
                    
                    "TORSO_THERMISTOR_HIGH_FAULT",
                    "TORSO_THERMISTOR_LOW_FAULT",
                    "TORSO_ENCODER_FAULT",
                    "TORSO_STALL_FAULT",
                    "TORSO_BOARD_TIMEOUT",
                    "TORSO_POWER_FAULT_COUNT",
                    "TORSO_STALL_FAULT_COUNT",
                    "TORSO_ENCODER_FAULT_COUNT",
                    "TORSO_ENCODER_BACKWARDS_FAULT_COUNT",
                    "TORSO_THERMISTOR_FAULT_COUNT",
                    "TORSO_POWER_FAULT",
                    "TORSO_ENCODER_BACKWARDS_FAULT",
                    
                    "PELVIS_THERMISTOR_HIGH_FAULT",
                    "PELVIS_THERMISTOR_LOW_FAULT",
                    "PELVIS_ENCODER_FAULT",
                    "PELVIS_STALL_FAULT",
                    "PELVIS_BOARD_TIMEOUT",
                    "PELVIS_POWER_FAULT_COUNT",
                    "PELVIS_STALL_FAULT_COUNT",
                    "PELVIS_ENCODER_FAULT_COUNT",
                    "PELVIS_ENCODER_BACKWARDS_FAULT_COUNT",
                    "PELVIS_THERMISTOR_FAULT_COUNT",
                    "PELVIS_POWER_FAULT",
                    "PELVIS_ENCODER_BACKWARDS_FAULT",
                    
                    "NOT_UPRIGHT_LOCKOUT",
                    "NO_BATTERY_LOCKOUT",
                    "FALLING_LOCKOUT",
                    "CPU_TEMP_HIGH",
                    "BATTERY_TEMP_LOW",
                    "BATTERY_TEMP_HIGH",
                    "BATTERY_LOW",
                    "FALL_DETECTED",
                    "BB_PACKET_INVALID",
                    "BB_PACKET_WRONG_DEST",
                    "BB_PACKET_WRONG_SRC"
                ]
            }
        ]
    },
    "logging": {
        "loggers": {
            "root": {
                "level": "notice"
            }
        }
    }
}