adore.env

# ADORe Environment Variables

## This file provides the ability of modifying the behavior of the ADORe CLI.
## Review the environmental variables and their corresponding documentation
## for a complete explanation of all behavioral changes to the ADORe CLI.

## All variables set in this file will be part of the ADORe CLI environmenet


set -a

# SOURCE_DIRECTORY is set by the ADORe CLI environment before this file is
# sourced and points to the root of the ADORe project on the host filesystem.
# It is not defined here and should not be overridden.

# General Configuration
# =====================
# MAX_COMMIT_FILE_SIZE_kB:
#   - Maximum allowed file size (in kilobytes) for the pre-commit hook.
#
# SUBMODULES_PATH:
#   - Path to project submodules. Defaults to the current working directory.
#
# ROS_HOME:
#   - Path to the ROS home directory for logging and runtime files.
# -----------------------------------------------------------------------------
MAX_COMMIT_FILE_SIZE_kB=5000
SUBMODULES_PATH=$(pwd)
LOG_DIRECTORY=${SOURCE_DIRECTORY}/.log
ROS_HOME=${SOURCE_DIRECTORY}/.log/.ros
ROS_DOMAIN_ID=0
FASTDDS_BUILTIN_TRANSPORTS=UDPv4
#ROS_AUTOMATIC_DISCOVERY_RANGE=localhost

# The ADORe CLI includes x11 integration to run graphical applications. It will
# auto-detect if a display is connected otherwise default to a virtual xvfb
# display.
# VIRTUAL_DISPLAY: Disable auto-detection and force virtual display creation
# - Set to "true" to always create virtual display on :99 (bypasses auto-detection)
# - Set to "false" or leave unset to auto-detect physical displays
# - Default: false (auto-detect physical displays, create virtual only if none found)
VIRTUAL_DISPLAY=false

# Zenoh Configuration
# ===================
# The ADORe CLI runs a native zenoh router and optionally the zenoh_message_bridge
# node as host processes. Logs are written to ${LOG_DIRECTORY}/zenoh/.
#
# ZENOH_ROUTER_ENABLE: Start a local zenoh router on the host at CLI start.
# - Set to "true" to start rmw_zenohd alongside the CLI container.
# - Set to "false" or leave unset to skip the router.
# - Default: false
# - Note: Required when RMW_IMPLEMENTATION=rmw_zenoh_cpp or ZENOH_BRIDGE_ENABLE=true.
ZENOH_ROUTER_ENABLE=true

# ZENOH_ROUTER_CONFIG: Path to the zenoh router config file.
# - Default: ${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/zenoh_message_bridge/zenoh_router_config.json5
ZENOH_ROUTER_CONFIG=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/zenoh_message_bridge/zenoh_router_config.json5

# ZENOH_BRIDGE_CONFIG: Path to the zenoh session config file for the bridge node.
# - Configures the zenoh session (mode, endpoints, scouting) used by the bridge node.
# - Default: ${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/zenoh_message_bridge/zenoh_bridge_config.json5
ZENOH_BRIDGE_CONFIG=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/zenoh_message_bridge/zenoh_bridge_config.json5

# ZENOH_BRIDGE_ENABLE: Start the zenoh_message_bridge ROS node on the host.
# - Bridges specific FastDDS topics to/from zenoh as defined in bridge_config.yaml/zenoh_bridge_config.yaml.
# - Requires ZENOH_ROUTER_ENABLE=true or an external router to be reachable.
# - Set to "true" to launch the bridge node alongside the CLI container.
# - Set to "false" or leave unset to disable.
# - Default: false
ZENOH_BRIDGE_ENABLE=false

# ZENOH_BRIDGE_ROUTER: Zenoh router endpoint the bridge node connects to.
# - Default: tcp/localhost:7447
# This config parameter overrides the ZENOH_ROUTER_CONFIG
ZENOH_BRIDGE_ROUTER=tcp/localhost:7447

# MQTT Bridge Configuration
# =========================
# The ADORe CLI optionally runs the mqtt_message_bridge ROS node as a host
# process. Logs are written to ${LOG_DIRECTORY}/mqtt/.
#
# MQTT_BRIDGE_ENABLE: Start the mqtt_message_bridge ROS node on the host.
# - Bridges specific FastDDS topics to/from an MQTT broker as defined in
#   the bridge_config.yaml/mqtt_bridge_config.yaml for the mqtt_message_bridge package.
# - Requires a reachable MQTT broker (local or remote).
# - Set to "true" to launch the bridge node alongside the CLI container.
# - Set to "false" or leave unset to disable.
# - Default: false
MQTT_BRIDGE_ENABLE=false

# MQTT_BROKER_HOST: Hostname or IP of the MQTT broker the bridge connects to.
# - Default: localhost
#MQTT_BROKER_HOST=localhost

# MQTT_BROKER_PORT: Port of the MQTT broker.
# - Default: 1883
#MQTT_BROKER_PORT=1883

# MQTT_BRIDGE_CONFIG: Path to the mqtt_message_bridge config file.
# - Single source of truth for the bridge connection (host, port, TLS, certs,
#   topic mappings). Relative cert names resolve against MQTT_BRIDGE_CERT_DIR and
#   env_file resolves relative to this file.
# - Default: ${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/bridge_config.yaml
MQTT_BRIDGE_CONFIG=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/bridge_config.yaml

# MQTT_BRIDGE_CERT_DIR: Directory holding the broker CA and client certs.
# - Relative cert names in MQTT_BRIDGE_CONFIG resolve against this directory.
# - Default: ${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/certs
MQTT_BRIDGE_CERT_DIR=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/mqtt_message_bridge/certs

# MQTT_LOCAL_BROKER_ENABLE: Start a local Mosquitto broker in Docker on the host.
# - Set to "true" to launch eclipse-mosquitto alongside the CLI container.
# - Set to "false" or leave unset to use an external broker.
# - Default: false
MQTT_LOCAL_BROKER_ENABLE=false

# gRPC Bridge Configuration
# =========================
# The ADORe CLI optionally runs the grpc_message_bridge ROS node as a host
# process. It is a gRPC CLIENT that dials a remote endpoint over an
# OAuth2-authenticated channel and bridges ROS2 topics to/from it. Logs are
# written to ${LOG_DIRECTORY}/grpc/.
#
# GRPC_BRIDGE_ENABLE: Start the grpc_message_bridge ROS node on the host.
# - Default: false
GRPC_BRIDGE_ENABLE=false

# GRPC_BRIDGE_CONFIG: Path to the stream/topic mapping config.
GRPC_BRIDGE_CONFIG=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/grpc_message_bridge/config/bridge_config.yaml

# GRPC_BRIDGE_PROTO_PATH: Generated python stubs added to PYTHONPATH at runtime.
# - Produced by the package build from the proto submodule.
GRPC_BRIDGE_PROTO_PATH=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/grpc_message_bridge/proto/generated

# GRPC_ENDPOINT: host:port of the remote gRPC service the bridge dials.
#GRPC_ENDPOINT=some_grpc_service.com:443

# AUTH_ENDPOINT: OAuth2 token URL. Leave unset for an insecure local channel.
#AUTH_ENDPOINT=https://some_oath_provider.com/auth/token

# GRPC_BRIDGE_SECRETS: Optional env file holding CLIENT_ID and CLIENT_SECRET.
# - Sourced by the start script if present; keeps OAuth secrets out of adore.env.
GRPC_BRIDGE_SECRETS=${SOURCE_DIRECTORY}/ros2_workspace/src/adore_interfaces/grpc_message_bridge/.secrets.env

# GRPC_BRIDGE_HOST / GRPC_BRIDGE_PORT: local grpc server bind for server-side streams.
#GRPC_BRIDGE_HOST=0.0.0.0
#GRPC_BRIDGE_PORT=50051

# RMW_IMPLEMENTATION: ROS2 middleware to use.
# - rmw_fastrtps_cpp: FastDDS (default, no router needed)
# - rmw_cyclonedds_cpp: CycloneDDS (no router needed)
# - rmw_zenoh_cpp: Zenoh (requires ZENOH_ROUTER_ENABLE=true)
RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# Build Configuration
# ===================
# FORCE_SINGLE_CORE_BUILD:
# adore libraries in `libraries` and ros nodes in `ros2_workspace` are built in
# parallel using colcon and -j$(nproc - 1). This can crash systems that do not
# meet the minimum build specs for ADORe. Disable parallel builds with this
# environmental variable.
#   - Set to "true" to force sequential builds regardless of available RAM.
#   - Set to "false" to use automatic RAM-based parallel build detection.
#   - Default: false
# -----------------------------------------------------------------------------
FORCE_SINGLE_CORE_BUILD=false

# ROS Topic Benchmark Configuration
# ===================
# RUN the topic benchmark with `make benchmark`
# Scenario file to launch for benchmarking (located in adore_scenarios/simulation_scenarios/)
export ROS_BENCHMARK_SCENARIO="simulation_test.launch.py"

# Minimum acceptable message rate in Hz - benchmark fails if average rate is below this value
export ROS_BENCHMARK_MIN_RATE=10

# Maximum acceptable jitter in seconds (difference between max and min message intervals)
# Benchmark fails if jitter exceeds this threshold
export ROS_BENCHMARK_MAX_JITTER=0.04

# Maximum acceptable standard deviation in seconds for message timing consistency
# Benchmark fails if standard deviation exceeds this threshold
export ROS_BENCHMARK_MAX_STD=0.014


# ADORE API Configuration
# =====================
# ENABLE_ADORE_API:
#   - Set to "true" to enable the ADORE API (default if unset or empty).
#   - Set to "false" to disable the ADORE API.
#
# ADORE_API_PORT:
#   - The port on which the ADORE API server will listen.
# -----------------------------------------------------------------------------
ENABLE_ADORE_API=true
ADORE_API_PORT=8888

# SUMO Bridge Configuration
# =========================
# SUMO_BRIDGE_ENABLE: Start the sumo_bridge ROS 2 node on the host.
# - Set to "true" to launch the bridge node alongside the CLI container.
# - Set to "false" or leave unset to disable.
# - Default: false
SUMO_BRIDGE_ENABLE=false

# SUMO_BRIDGE_CONFIG_FILE: SUMO scenario config filename.
# - Filename only, resolved relative to SUMO_CONFIG_DIRECTORY.
# - Default: demo_sumo_bridge.sumocfg
SUMO_CONFIG_FILE="${SUMO_BRIDGE_CONFIG_FILE:-demo_sumo_bridge.sumocfg}"

# SUMO_CONFIG_DIRECTORY: Path relative to SOURCE_DIRECTORY containing SUMO config files.
# - Default: ros2_workspace/src/adore_interfaces/sumo_bridge/sumo_configs
SUMO_CONFIG_DIRECTORY="ros2_workspace/src/adore_interfaces/sumo_bridge/sumo_configs"

# SUMO_HOME: Path to the SUMO installation directory.
# - Default: /usr/share/sumo
SUMO_HOME="/usr/share/sumo"

# Rsyslog Configuration
# =====================
# The ADORe CLI includes rsyslog server. The rsyslog output directory for log
# files is: `.log/rsyslog`. The ADORe CLI rsyslog provides a rsyslog server
# which can be configured with the 'RSYSLOG_PORT' and 'RSYSLOG_PROTOCOL'
# environmental variables. Rsyslog can also be configured to forward messages
# with the 'RSYSLOG_FORWARD_HOST', 'RSYSLOG_FORWARD_PORT', and
# 'RSYSLOG_FORWARD_PROTOCOL'
#
# Rsyslog messages with tags "ros2" and "telemetry" will be stored and forwarded
#   example(from within the ADORe CLI run): logger --tag ros2 "Hello, World!"

# RSYSLOG_BANNER: Show rsyslog configuration banner on start/attach
# - Set to "false" to suppress the banner
# - Default: true
RSYSLOG_BANNER=false


# RSYSLOG_PORT: Port for local rsyslog server to listen on
# - Set to a port number (e.g., 514) to enable syslog reception
# - Leave empty or unset to disable local syslog server entirely
# - Default: unset (syslog server disabled)
RSYSLOG_PORT=514

# RSYSLOG_PROTOCOL: Protocol for local rsyslog server input
# - Options: "udp" or "tcp"
# - Determines whether to use UDP or TCP for incoming syslog messages
# - Only used when RSYSLOG_PORT is set
# - Default: udp
RSYSLOG_PROTOCOL=udp

# RSYSLOG_FORWARD_HOST: Remote syslog server to forward logs to
# - Set to hostname or IP address to enable log forwarding
# - Leave empty or unset to disable forwarding
# - Default: unset (no forwarding)
RSYSLOG_FORWARD_HOST=10.34.192.60

# RSYSLOG_FORWARD_PORT: Port on remote syslog server for forwarding
# - Port number to use when forwarding to RSYSLOG_FORWARD_HOST
# - Only used when RSYSLOG_FORWARD_HOST is set
# - Default: 514
RSYSLOG_FORWARD_PORT=2514

# RSYSLOG_FORWARD_PROTOCOL: Protocol for log forwarding
# - Options: "udp" or "tcp"
# - Only used when RSYSLOG_FORWARD_HOST is set
# - Default: udp
RSYSLOG_FORWARD_PROTOCOL=udp

set +a