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

aimrt:
  plugin:
    plugins:
      - name: zenoh_plugin
        path: ./libaimrt_zenoh_plugin.so
        options: 
          native_cfg_path: ./cfg/zenoh_native_config.json5     
  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: zenoh
        options: 
          timeout_executor: timeout_handle
          clients_options:
            - func_name: "(.*)"
              shm_enabled: true
    clients_options:
      - func_name: "(.*)"
        enable_backends: [zenoh]
  module:
    pkgs:
      - path: ./libpb_rpc_client_pkg.so
        enable_modules: [NormalRpcCoClientModule]
    modules:
      - name: NormalRpcCoClientModule
        log_lvl: INFO

# Module custom configuration
NormalRpcCoClientModule:
  rpc_frq: 0.5
