commit 0e441178d7c2cb2870ba7fc817513341ff2be7ae
author Austin Schuh <austin.linux@gmail.com> Sun Nov 07 23:01:07 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Nov 07 23:37:20 2021 -0800
tree f946acee573f4ea918a7403071dbbd9469c4fac6
parent 39955c2e0e7e03d3ca3387b576d3917a7d289df2

Log IMU readings on the logger PI

We've got enough CPU now on the RIO to offboard the IMU readings, and
this makes the logger pi's log files more self standing.

Change-Id: Ib1cd1619cf4ede7703df28d3b99aa27c48d20be0
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/y2020_logger.json

diff --git a/y2020/y2020_logger.json b/y2020/y2020_logger.json
index 0281711..a068b10 100644
--- a/y2020/y2020_logger.json
+++ b/y2020/y2020_logger.json
@@ -1,6 +1,40 @@
 {
   "channels": [
     {
+      "name": "/roborio/aos",
+      "type": "aos.message_bridge.Timestamp",
+      "source_node": "roborio",
+      "logger": "LOCAL_AND_REMOTE_LOGGER",
+      "logger_nodes": [
+        "logger"
+      ],
+      "destination_nodes": [
+        {
+          "name": "logger",
+          "priority": 1,
+          "time_to_live": 5000000,
+          "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER",
+          "timestamp_logger_nodes" : ["roborio"]
+        }
+      ]
+   },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.IMUValuesBatch",
+      "source_node": "roborio",
+      "logger": "LOCAL_AND_REMOTE_LOGGER",
+      "logger_nodes": [
+        "logger"
+      ],
+      "destination_nodes": [
+        {
+          "name": "logger",
+          "priority": 2,
+          "time_to_live": 50000000
+        }
+      ]
+    },
+    {
       "name": "/pi1/aos",
       "type": "aos.message_bridge.Timestamp",
       "source_node": "pi1",
@@ -176,10 +210,28 @@
           "timestamp_logger_nodes": [
             "logger"
           ]
+        },
+        {
+          "name": "roborio",
+          "priority": 1,
+          "time_to_live": 5000000,
+          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+          "timestamp_logger_nodes": [
+            "logger"
+          ]
         }
       ]
     },
     {
+      "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
+      "type": "aos.message_bridge.RemoteMessage",
+      "source_node": "logger",
+      "logger": "NOT_LOGGED",
+      "frequency": 20,
+      "num_senders": 2,
+      "max_size": 200
+    },
+    {
       "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
       "type": "aos.message_bridge.RemoteMessage",
       "source_node": "logger",
@@ -235,7 +287,7 @@
       "destination_nodes": [
         {
           "name": "logger",
-          "priority": 1,
+          "priority": 3,
           "time_to_live": 5000000
         }
       ]
@@ -267,7 +319,7 @@
       "destination_nodes": [
         {
           "name": "logger",
-          "priority": 1,
+          "priority": 3,
           "time_to_live": 5000000
         }
       ]
@@ -299,7 +351,7 @@
       "destination_nodes": [
         {
           "name": "logger",
-          "priority": 1,
+          "priority": 3,
           "time_to_live": 5000000
         }
       ]
@@ -331,7 +383,7 @@
       "destination_nodes": [
         {
           "name": "logger",
-          "priority": 1,
+          "priority": 3,
           "time_to_live": 5000000
         }
       ]
@@ -363,7 +415,7 @@
       "destination_nodes": [
         {
           "name": "logger",
-          "priority": 1,
+          "priority": 3,
           "time_to_live": 5000000
         }
       ]
@@ -441,6 +493,9 @@
       "name": "pi3"
     },
     {
+      "name": "roborio"
+    },
+    {
       "name": "pi4"
     },
     {