运行时配置

规划器首次启动时会创建运行时配置文件 ~/.config/Zivid/Motion/RuntimeConfiguration.yml 。可以修改此文件来更改规划器的某些运行时行为。

Fields

ApiLog

可以将 ContinuouslySaveSetObstaclesDetails 设置为 yes 以便单独保存每次 SetObstacles 调用的详细信息。但这会占用更多内存，并且磁盘上 API 日志文件的累计大小可能会很大。此功能通常仅应用于调试目的。
Folder 用于覆盖规划器导出 API 日志文件时存储的位置。如果未指定，API 日志文件将保存在默认文件夹中，即 <USER_HOME>/.cache/Zivid/Motion/State 。

Performance

FreeCpuThreads is used to override how many CPU threads are left free for you when the planner sizes its thread pool. On an 8-thread CPU, setting this to 2 gives the planner 6 threads. The planner always gets at least one thread. If unspecified, two threads are left free.

示例文件

以下是 RuntimeConfiguration.yml 文件的一个示例。

__version__: 1
RuntimeConfiguration:
  ApiLog:
    ContinuouslySaveSetObstaclesDetails: no
    Folder: __not_set__
  Performance:
    FreeCpuThreads: __not_set__