[inet_http_server]
port = *:8293
# username = user
# password = 123

[supervisord]
nodaemon = false


; The rpcinterface:supervisor section must remain in the config file for
; RPC (supervisorctl/web interface) to work.  Additional interfaces may be
; added by defining them in separate [rpcinterface:x] sections.
[rpcinterface:supervisor]
supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface

[supervisorctl]
serverurl = http://localhost:8293

[program:monitor]
command=uv run trap_monitor
numprocs=1
directory=%(here)s
autostart=false

[program:video]
# command=uv run trap_video_source  --homography ../DATASETS/hof3/homography.json   --video-src ../DATASETS/hof3/hof3-cam-demo-twoperson.mp4  --calibration ../DATASETS/hof3/calibration.json --video-loop
command=uv run trap_video_source  --homography ../DATASETS/hof3-cam-baumer-cropped/homography.json   --video-src gige://../DATASETS/hof3-cam-baumer-cropped/gige_config.json --calibration ../DATASETS/hof3-cam-baumer-cropped/calibration.json
directory=%(here)s

[program:tracker]
command=uv run trap_tracker --smooth-tracks
# command=uv run trap_lidar --min-box-area 0 --viz --smooth-tracks
# environment=DISPLAY=":0"
directory=%(here)s
autostart=false

[program:lidar]
command=uv run trap_lidar --min-box-area 0.1 --viz
environment=DISPLAY=":0"
directory=%(here)s
autostart=false

[program:track_writer]
command=uv run trap_track_writer --output-dir EXPERIMENTS/raw/hof-lidar
# environment=DISPLAY=":0"
directory=%(here)s
autostart=false
stopwaitsecs=60

[program:stage]
# command=uv run trap_stage
command=uv run trap_stage --verbose --camera-fps 12 --homography ../DATASETS/hof3/homography.json --calibration ../DATASETS/hof3/calibration.json --cache-path /tmp/history_cache-hof3.pcl --tracker-output-dir EXPERIMENTS/raw/hof3/
directory=%(here)s

[program:settings]
command=uv run trap_settings
autostart=true
environment=DISPLAY=":0"
directory=%(here)s

[program:predictor]
# command=uv run trap_prediction --eval_device cuda:0  --model_dir EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/    --num-samples 1      --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof3-m2-ud-split-nostep-conv12-f2.0-map-2024-12-29_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
command=uv run trap_prediction --eval_device cuda:0  --model_dir SETTINGS/2025-11-dortmund/models/models_20251111_19_06_29_dortmund-nostep-nosmooth-noise2-offsets1-f2.0-map-2025-11-11/    --num-samples 1      --map_encoding --eval_data_dict SETTINGS/2025-11-dortmund/trajectron/dortmund-nostep-nosmooth-noise2-offsets1-f2.0-map-2025-11-12_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode --conf SETTINGS/2025-11-dortmund/trajectron.json
# command=uv run trap_prediction --eval_device cuda:0  --model_dir EXPERIMENTS/models/models_20251106_11_51_00_hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets2-f2.0-map-2025-11-06/    --num-samples 1      --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets2-f2.0-map-2025-11-06_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
#  uv run trajectron_train --continue_training_from EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/ --eval_every 5 --train_data_dict hof3-nostep-conv12-f2.0-map-2024-12-27_train.pkl --eval_data_dict hof3-nostep-conv12-f2.0-map-2024-12-27_val.pkl --offline_scene_graph no --preprocess_workers 8 --log_dir EXPERIMENTS/models --log_tag _hof3-conv12-f2.0-map-2024-12-27 --train_epochs 10 --conf EXPERIMENTS/config.json  --data_dir EXPERIMENTS/trajectron-data --map_encoding
directory=%(here)s

[program:render_cv]
command=uv run trap_render_cv 
directory=%(here)s
environment=DISPLAY=":0"
autostart=false
; can be long to quit if rendering to video file
stopwaitsecs=60

[program:render_cv]
command=uv run trap_render_cv 
directory=%(here)s
environment=DISPLAY=":0"
autostart=false
; can be long to quit if rendering to video file
stopwaitsecs=60

[program:laserspace]
command=cargo run --release  tcp://127.0.0.1:99174 ../trap/SETTINGS/2025-11-dortmund/laserspace.json
directory=%(here)s/../laserspace
environment=DISPLAY=":0"
autostart=false
; can be long to quit if rendering to video file
stopwaitsecs=60


# during development auto restart some services when the code changes
[program:superfsmon]
command=superfsmon trap/stage.py stage
directory=%(here)s
autostart=false