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