data_storage.yaml

 #Data storage configuration file. You can refer to "2.3.1 Stream Transfer and Format Conversion" in document for more details.
stream:
  streamers:
    - streamer:
        tag: str_gnss_rov
        type: serial
        port: /dev/ttyUSB0
        baudrate: 921600
    - streamer:
        tag: str_gnss_ref
        type: ntrip-client
        ip: 101.132.190.162
        port: 8001
        username: ...
        passward: ...
        mountpoint: ...
    - streamer:
        tag: str_gnss_eph
        type: ntrip-client
        ip: 101.132.190.162
        port: 8001
        username: ...
        passward: ...
        mountpoint: ...
    - streamer:
        tag: str_gnss_ssr
        output_tags: [fmt_gnss_ssr]
        type: ntrip-client
        ip: 112.65.161.226
        port: 2101
        username: ...
        passward: ...
        mountpoint: ...
    - streamer:
        tag: str_imu
        type: tcp-client
        ip: 192.168.8.138
        port: 9011
        loop_duration: 0.001
        buffer_length: 32768
    - streamer:
        tag: str_camera
        type: tcp-client
        ip: 192.168.8.138
        port: 9021
        buffer_length: 361472  # 752 * 480 + 512
    - streamer:
        tag: str_gnss_rov_file
        input_tags: [str_gnss_rov]
        type: file
        path: <output-directory>/gnss_rover.bin
    - streamer:
        tag: str_gnss_ref_file
        input_tags: [str_gnss_ref]
        type: file
        path: <output-directory>/gnss_reference.bin
    - streamer:
        tag: str_gnss_eph_file
        input_tags: [str_gnss_eph]
        type: file
        path: <output-directory>/gnss_ephemeris.bin
    - streamer:
        tag: str_gnss_ssr_file
        input_tags: [str_gnss_ssr]
        type: file
        path: <output-directory>/gnss_ssr.bin
    - streamer:
        tag: str_imu_file
        input_tags: [str_imu]
        type: file
        path: <output-directory>/imu.bin
        loop_duration: 0.001
    - streamer:
        tag: str_camera_file
        input_tags: [str_camera]
        type: file
        path: <output-directory>/camera.bin
        buffer_length: 361472  # 752 * 480 + 512

  formators:
    - formator:
  replay:
    enable: false

estimate:


logging:
  enable: true
  min_log_level: 1
  log_to_stderr: true
  file_directory: <log-directory>