Merge "Create y2022 configs"
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
new file mode 100644
index 0000000..1c71234
--- /dev/null
+++ b/y2022/y2022_logger.json
@@ -0,0 +1,483 @@
+{
+ "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": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Position",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 2,
+ "time_to_live": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/pi1/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi1",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi2/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi2",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi3/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi3",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi4/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi4",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi5/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi5",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.timing.Report",
+ "source_node": "logger",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "logger",
+ "frequency": 400,
+ "num_senders": 20
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "logger",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "logger",
+ "frequency": 10,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "logger",
+ "frequency": 15,
+ "num_senders": 2,
+ "max_size": 400,
+ "destination_nodes": [
+ {
+ "name": "pi1",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi2",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi3",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi4",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi5",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "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",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi2/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/pi3/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/pi4/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/pi5/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": "/pi1/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi1",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi2/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi2",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi3/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi3",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi4/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi4",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi5/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi5",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "logger"
+ },
+ "rename": {
+ "name": "/logger/aos"
+ }
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "args": ["--rmem=8388608"],
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "image_logger",
+ "executable_name": "logger_main",
+ "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress"],
+ "nodes": [
+ "logger"
+ ]
+ }
+ ],
+ "nodes": [
+ {
+ "name": "logger",
+ "hostname": "logger",
+ "hostnames": [
+ "pi-971-6",
+ "pi-9971-6",
+ "ASchuh-T480s",
+ "aschuh-3950x"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "pi1"
+ },
+ {
+ "name": "pi2"
+ },
+ {
+ "name": "pi3"
+ },
+ {
+ "name": "roborio"
+ },
+ {
+ "name": "pi4"
+ },
+ {
+ "name": "pi5"
+ }
+ ]
+}
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
new file mode 100644
index 0000000..81b96d2
--- /dev/null
+++ b/y2022/y2022_pi_template.json
@@ -0,0 +1,271 @@
+{
+ "channels": [
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.timing.Report",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 200,
+ "num_senders": 20
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.starter.Status",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 15,
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio"
+ ],
+ "max_size": 200,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 25,
+ "max_size": 620000,
+ "num_senders": 18
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "web_proxy",
+ "executable_name": "web_proxy_main",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "camera_reader",
+ "executable_name": "camera_reader",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/aos"
+ }
+ },
+ {
+ "match": {
+ "name": "/camera*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/camera"
+ }
+ }
+ ],
+ "nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "hostname": "pi{{ NUM }}",
+ "hostnames": [
+ "pi-971-{{ NUM }}",
+ "pi-7971-{{ NUM }}",
+ "pi-8971-{{ NUM }}",
+ "pi-9971-{{ NUM }}"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "logger"
+ },
+ {
+ "name": "roborio"
+ }
+ ]
+}
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
new file mode 100644
index 0000000..24144a8
--- /dev/null
+++ b/y2022/y2022_roborio.json
@@ -0,0 +1,456 @@
+{
+ "channels": [
+ {
+ "name": "/roborio/aos",
+ "type": "aos.JoystickState",
+ "source_node": "roborio",
+ "frequency": 75
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.RobotState",
+ "source_node": "roborio",
+ "frequency": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.timing.Report",
+ "source_node": "roborio",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "roborio",
+ "frequency": 500,
+ "max_size": 344,
+ "num_senders": 20
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "frequency": 10,
+ "max_size": 400,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "roborio",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "roborio",
+ "frequency": 15,
+ "max_size": 2000,
+ "num_senders": 2
+ },
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+ {
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+ {
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+ },
+ {
+ "name": "pi5"
+ }
+ ]
+}