# 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: work_thread_pool
        type: asio_thread
        options:
          thread_num: 4
      - name: timeout_handle
        type: time_wheel
        options:
          bind_executor: work_thread_pool
  rpc:
    backends:
      - type: local
        options:
          timeout_executor: timeout_handle
    clients_options:
      - func_name: "(.*)"
        enable_backends: [local]
    servers_options:
      - func_name: "(.*)"
        enable_backends: [local]
  module:
    pkgs:
      - path: ./ros2_rpc_client_pkg.dll
        enable_modules: [NormalRpcCoClientModule]
      - path: ./ros2_rpc_server_pkg.dll
        enable_modules: [NormalRpcCoServerModule]
    modules:
      - name: NormalRpcCoClientModule
        log_lvl: INFO
      - name: NormalRpcCoServerModule
        log_lvl: INFO

# Module custom configuration
NormalRpcCoClientModule:
  rpc_frq: 0.5

NormalRpcCoServerModule:
