Skip to content

cli.md

Latest commit

 

History

History
52 lines (42 loc) · 2.54 KB

cli.md

File metadata and controls

52 lines (42 loc) · 2.54 KB
Raw

dimos host

Command Does
dimos host start Start this machine's Host in the background (-f: here, in the foreground)
dimos host stop Stop it
dimos host restart Restart it, e.g. after changing its settings
dimos host sync Check out this machine's commit on every other Host and restart them into it
dimos host status Whether it runs, and what it advertises
dimos host ls Every Host this one can see (-p tcp/host:7447: probe one more, --json)
dimos host describe <host> One Host's tags, revision and active runs
dimos host doctor Check the setup; --fix repairs what it can
dimos host config Show this Host's settings; key=value sets one, key= removes it
dimos host install Install the dimos-host systemd user unit, so start uses it (--config key=value: set first, --start: and start it)
dimos host uninstall Remove the unit
dimos host id This machine's Host ID

To start a Host at boot: dimos host install --start --config listen=iface/<name>, then sudo loginctl enable-linger $USER.

Settings

dimos host config key=value writes HOST__<KEY> to the checkout's .env, which the Host reads; dimos host config alone shows them. Run dimos host restart after changing them.

Setting Default
HOST__NAME hostname shown in ls, usable as hosted(host=...)
HOST__TAGS extra tags, go2,site=athens
HOST__LISTEN tcp/127.0.0.1:7447 router endpoints, or iface/<name>[:<port>]
HOST__CONNECT routers to always link to
HOST__AUTODISCOVERY false scout for other Hosts and link to them
HOST__GOSSIP true link directly to the Hosts a linked Host knows of
HOST__STARTUP_TIMEOUT 180 seconds a fragment may take to start
HOST__STOP_TIMEOUT 15 seconds a fragment may take to stop
HOST__RUN_LOSS_GRACE 30 seconds without the blueprint root before a run stops

By default a Host listens only on this machine. Open it with zenoh endpoints or interfaces:

dimos host config listen=iface/wlan0                     # wlan0's addresses, port 7447
dimos host config listen=tcp/127.0.0.1:7447,iface/eth0   # loopback first, then eth0

The Host's own fragments dial the first one.

On a Go2, go2-nav and go2-dds dial the Host router on tcp/127.0.0.1:7447. Keep it first and add the Jetson's robot-side interface, which the Go2 forwards 7447 to:

dimos host install --start --config listen=tcp/127.0.0.1:7447,iface/enP8p1s0