settings.py

from pydantic import Field

from avlite.c60_apps.c64_settings_schema import SettingsSchema


class PluginSettingsSchema(SettingsSchema):
    use_autoware_msgs: bool = Field(default=True, description="Use Autoware message types instead of JSON strings.")
    localization_topic: str = Field(default="/localization/kinematic_state", description="Localization input topic.")
    perception_topic: str = Field(
        default="/perception/object_recognition/tracking/objects",
        description="Perception input topic.",
    )
    trajectory_topic: str = Field(default="/planning/scenario_planning/trajectory", description="External trajectory input topic.")
    control_cmd_topic: str = Field(default="/control/command/control_cmd", description="External control input topic.")
    trajectory_out_topic: str = Field(default="/avlite/planning/trajectory", description="AVLite trajectory output topic.")
    replan_tick_topic: str = Field(
        default="/avlite/planning/replan_tick",
        description="Empty heartbeat published each planner replan tick (FPS accounting).",
    )
    control_out_topic: str = Field(default="/avlite/control/control_cmd", description="AVLite control output topic.")
    map_frame: str = Field(default="map", description="ROS map frame id.")
    base_frame: str = Field(default="base_link", description="ROS base link frame id.")
    collection_hz: float = Field(default=20.0, description="ROS data collection rate (Hz).")
    sim_dt: float = Field(
        default=0.02,
        description=(
            "Fixed simulation integration step (s) when pace_sim is true. "
            "When pacing is off, integration uses clamped wall-clock Δt; this value still caps the max step."
        ),
    )
    perception_dt: float = Field(
        default=0.1,
        description=(
            "Target perception period (s). Used when pace_perception is true; "
            "ignored for rate when pacing is off (best-effort)."
        ),
    )
    replan_dt: float = Field(
        default=0.1,
        description=(
            "Target replan period (s). Used when pace_replan is true; "
            "ignored for rate when pacing is off (best-effort)."
        ),
    )
    control_dt: float = Field(
        default=0.02,
        description=(
            "Target control recompute period (s). Used when pace_control is true; "
            "when off, control runs best-effort and the last command is held between recomputes."
        ),
    )
    pace_perception: bool = Field(
        default=True,
        description="If true, throttle perception to perception_dt; if false, run best-effort every opportunity.",
    )
    pace_replan: bool = Field(
        default=True,
        description="If true, throttle replanning to replan_dt; if false, run best-effort every opportunity.",
    )
    pace_control: bool = Field(
        default=True,
        description=(
            "If true, recompute control at control_dt; if false, recompute best-effort "
            "and hold the last command on simulate steps in between."
        ),
    )
    pace_sim: bool = Field(
        default=True,
        description=(
            "If true, integrate the world with fixed sim_dt; if false, use a free-run timer "
            "and integrate with clamped wall-clock Δt."
        ),
    )
    call_replan_topic: str = Field(default="/avlite/exec/call_replan", description="Bool topic: enable planning replan.")
    call_control_topic: str = Field(default="/avlite/exec/call_control", description="Bool topic: enable control loop.")
    spawn_agent_topic: str = Field(default="/avlite/world/spawn_agent", description="JSON spawn command to world worker.")
    reset_agents_topic: str = Field(default="/avlite/world/reset_agents", description="Bool topic: clear agents in world worker.")
    teleport_ego_topic: str = Field(
        default="/avlite/world/teleport_ego",
        description="JSON teleport command to world worker.",
    )
    compute_planner: str = Field(
        default="GreedyLatticePlanner",
        description="Compute planner class for the ROS planner worker subprocess.",
    )
    compute_controller: str = Field(
        default="StanleyController",
        description="Compute controller class for the ROS controller worker subprocess.",
    )
    inprocess_world: bool = Field(
        default=False,
        description="Deprecated: world always runs in the world worker subprocess.",
    )
    world_gt_topic: str = Field(
        default="/avlite/world/ground_truth",
        description="Ground-truth agent feed from world worker to perception worker.",
    )
    lidar_topic: str = Field(
        default="/avlite/world/lidar",
        description="Simulated LiDAR point cloud from world worker (JSON String).",
    )
    global_plan_topic: str = Field(
        default="/avlite/planning/global_plan",
        description="Global plan update from main process to planner worker (JSON String).",
    )
    perception_viz_topic: str = Field(
        default="/avlite/perception/pm_snapshot",
        description="Full perception PM snapshot for main-process visualizer (JSON String).",
    )


# Settings singleton. The plugin loader derives and assigns the YAML filepath from
# the plugin directory name, so none is declared here.
PluginSettings = PluginSettingsSchema()