cyber_modules {
  key: "Transform"
  value: {
    dag_files: "/apollo/modules/transform/dag/static_transform.dag"
    required_for_safety: false
    process_group: "static_transform"
  }
}

cyber_modules {
  key: "GnssDriver"
  value: {
    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
    required_for_safety: false
    process_group: "gnss"
  }
}

cyber_modules {
  key: "RtkLocalization"
  value: {
    dag_files: "/apollo/modules/localization/dag/dag_streaming_msf_localization.dag"
    required_for_safety: false
    process_group: "localization"
  }
}

cyber_modules {
  key: "IndoorLocalization"
  value: {
    dag_files: "/apollo/modules/slam_local_indoor/dag/laser_multiscan_registration.dag"
    dag_files: "/apollo/modules/slam_local_indoor/dag/laser_odometry.dag"
    dag_files: "/apollo/modules/slam_local_indoor/dag/localization_mapping.dag"
    required_for_safety: false
    process_group: "localization"
  }
}

cyber_modules {
  key: "LidarDrivers"
  value: {
    dag_files: "/apollo/modules/drivers/lidar/dag/lidar.dag"
    required_for_safety: false
    process_group: "lidar"
  }
}

cyber_modules {
  key: "RadarDrivers"
  value: {
    dag_files: "/apollo/modules/drivers/radar/dag/radar.dag"
    required_for_safety: false
    process_group: "radar"
  }
}

cyber_modules {
  key: "CameraDrivers"
  value: {
    dag_files: "/apollo/modules/drivers/camera/dag/camera.dag"
    required_for_safety: false
    process_group: "camera"
  }
}

cyber_modules {
  key: "LidarPerception"
  value: {
    dag_files: "/apollo/modules/perception/msg_adapter/dag/msg_adapter.dag"
    dag_files: "/apollo/modules/perception/pointcloud_preprocess/dag/pointcloud_preprocess.dag"
    dag_files: "/apollo/modules/perception/pointcloud_map_based_roi/dag/pointcloud_map_based_roi.dag"
    dag_files: "/apollo/modules/perception/pointcloud_ground_detection/dag/pointcloud_ground_detection.dag"
    dag_files: "/apollo/modules/perception/lidar_detection/dag/lidar_detection.dag"
    dag_files: "/apollo/modules/perception/lidar_segmentation/dag/lidar_segmentation.dag"
    dag_files: "/apollo/modules/perception/lidar_detection_filter/dag/lidar_detection_filter.dag"
    dag_files: "/apollo/modules/perception/lidar_tracking/dag/lidar_tracking.dag"
    required_for_safety: false
    process_group: "perception"
  }
}

cyber_modules {
  key: "Prediction"
  value: {
    dag_files: "/apollo/modules/prediction/dag/prediction.dag"
    required_for_safety: false
    process_group: "prediction"
  }
}

cyber_modules {
  key: "V2xTrafficLight"
  value: {
    dag_files: "/apollo/modules/traffic_light_wj/dag/traffic_light.dag"
    required_for_safety: false
    process_group: "traffic_light"
  }
}

modules {
  key: "V2xExporter"
  value: {
    start_command: "nohup hg_exporter &"
    stop_command: "ps -ef | grep hg_exporter | awk '{print $2}' | xargs kill -9"
    process_monitor_config {
      command_keywords: "hg_exporter"
    }
    required_for_safety: false
  }
}

cyber_modules {
  key: "PerceptionTrafficLight"
  value: {
    dag_files: "/apollo/modules/perception/traffic_light_region_proposal/dag/traffic_light_region_proposal.dag"
    dag_files: "/apollo/modules/perception/traffic_light_detection/dag/traffic_light_detection.dag"
    dag_files: "/apollo/modules/perception/traffic_light_recognition/dag/traffic_light_recognition.dag"
    dag_files: "/apollo/modules/perception/traffic_light_tracking/dag/traffic_light_tracking.dag"
    required_for_safety: false
    process_group: "traffic_light"
  }
}

cyber_modules {
  key: "Planning"
  value: {
    dag_files: "/apollo/modules/planning/planning_component/dag/planning.dag"
    required_for_safety: false
    process_group: "planning"
  }
}

cyber_modules {
  key: "ExternalCmd"
  value: {
    dag_files: "/apollo/modules/external_command/process_component/dag/external_command_process.dag"
    required_for_safety: false
  }
}

cyber_modules {
  key: "TaskManager"
  value: {
    dag_files: "/apollo/modules/task_manager/dag/task_manager.dag"
    required_for_safety: false
  }
}

cyber_modules {
  key: "Control"
  value: {
    dag_files: "/apollo/modules/control/control_component/dag/control.dag"
    required_for_safety: false
    process_group: "control"
  }
}

cyber_modules {
  key: "Canbus"
  value: {
    dag_files: "/apollo/modules/canbus/dag/canbus.dag"
    required_for_safety: false
    process_group: "canbus"
  }
}

cyber_modules {
  key: "Statistics"
  value: {
    dag_files: "/apollo/modules/statistics/resource/dag/resource_statistic.dag"
    dag_files: "/apollo/modules/statistics/process/dag/process_statistic.dag"
    dag_files: "/apollo/modules/statistics/latency/dag/latency_statistic.dag"
    required_for_safety: false
    process_group: "statistics"
  }
}

cyber_modules {
  key: "SafetyManager"
  value: {
    dag_files: "/apollo/modules/safety_manager/analyzer/dag/safety_analyzer.dag"
    dag_files: "/apollo/modules/safety_manager/checker/localization_checker/dag/localization_checker.dag"
    dag_files: "/apollo/modules/safety_manager/checker/channel_freq_checker/dag/channel_freq_checker.dag"
    dag_files: "/apollo/modules/safety_manager/checker/process_checker/dag/process_checker.dag"
    dag_files: "/apollo/modules/safety_manager/checker/latency_checker/dag/latency_checker.dag"
    dag_files: "/apollo/modules/safety_manager/checker/resource_checker/dag/recource_checker.dag"
    dag_files: "/apollo/modules/safety_manager/guardian/dag/guardian.dag"
    required_for_safety: false
    process_group: "safety_manager"
  }
}


modules {
  key: "Recorder"
  value: {
    start_command: "nohup /apollo/scripts/data_record.py --middle --with_compensator"
    stop_command: "/apollo/scripts/data_record.py --stop --stop_signal SIGINT"
    process_monitor_config {
      command_keywords: "cyber_recorder record"
    }
    required_for_safety: false
  }
}

modules {
  key: "DataCleaner"
  value: {
    start_command: "nohup data_cleaner -c /apollo/modules/tools/data_cleaner/data_cleaner.yaml &"
    stop_command: "ps -ef | grep data_cleaner | awk '{print $2}' | xargs kill -9"
    process_monitor_config {
      command_keywords: "data_cleaner"
    }
    required_for_safety: false
  }
}

modules {
  key: "Perf"
  value: {
    start_command: "nohup /apollo_workspace/edu_scripts/perf/nperf.sh &"
    stop_command: "pkill nperf.sh"
    process_monitor_config {
      command_keywords: "nperf.sh"
    }
    required_for_safety: false
  }
}

operations: Record
operations: Waypoint_Follow
operations: Auto_Drive
default_operation: Auto_Drive
