# Parameters for the robot's nodes, keyed by node name. The MCP token and other secrets do not
# belong here: they stay in an env file readable only by the service user.
camera:
  ros__parameters:
    width: 1296                        # the OV5647's full-field binned mode: whole field of view
    height: 972
    format: RGB888
    FrameDurationLimits: [66666, 66666]   # 15 fps: ~20% of a core, vs ~40% at 30; plenty for 4 Hz faces
    jpeg_quality: 80

hermes_face:
  ros__parameters:
    rotation: 270                      # mounted pose, microSD end up (the panel is portrait)
    x_offset: 0
    y_offset: 80                       # the 240x240 glass sits 80 rows into the controller's RAM
    fps: 30.0
    phosphor: P7
    style: phosphor
    initial_state: sleeping            # no agent connected until hermes_mcp's heartbeat says so
    agent_timeout_s: 10.0
    gaze_follow: true
    audio_drive: true

hermes_face_detector:
  ros__parameters:
    rate_hz: 4.0
    recognize: true                    # only recognises people enrolled with hermes_vision.people
    publish_debug: false

hermes_audio_state:
  ros__parameters:
    rate_hz: 30.0

hermes_mcp:
  ros__parameters:
    bind: 10.55.0.2                    # the USB link; the firewall accepts 8765 only from 10.55.0.1 on usb0
    port: 8765
    head: false                        # no servos fitted yet: turn_head and head_position stay unregistered
    speakers: false                    # no speakers fitted yet: reported honestly in robot://status
    connected_grace_s: 30.0            # an authenticated client heard within this long keeps the heartbeat going
    look_timeout_s: 3.0