# Copyright (c) 2023, AgiBot Inc.
# All rights reserved.

aimrt:
  log:
    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
    backends:
      - type: console
  executor:
    executors:
      - name: sched_fifo_thread
        type: asio_thread
        options:
          thread_num: 1
          thread_sched_policy: SCHED_FIFO:80 # SCHED_OTHER | SCHED_FIFO:xx | SCHED_RR:xx
          thread_bind_cpu: [0, 1] # cpu index
          timeout_alarm_threshold_us: 100
      - name: sched_other_thread
        type: asio_thread
        options:
          thread_num: 1
          thread_sched_policy: SCHED_OTHER # SCHED_OTHER | SCHED_FIFO:xx | SCHED_RR:xx
          thread_bind_cpu: [2, 3] # cpu index
          timeout_alarm_threshold_us: 100
      - name: sched_rr_thread
        type: asio_thread
        options:
          thread_num: 1
          thread_sched_policy: SCHED_RR:80 # SCHED_OTHER | SCHED_FIFO:xx | SCHED_RR:xx
          thread_bind_cpu: [4, 5, 6] # cpu index
          timeout_alarm_threshold_us: 100
  module:
    pkgs:
      - path: ./libexecutor_pkg.so
        enable_modules: [RealTimeModule]
    modules:
      - name: RealTimeModule
        log_lvl: INFO
