Make configs self contained
We used to need some debug bypass flags to make logs readable. That's
not cool.
This fixes some rates too to keep things up.
Change-Id: Ie3a87cf458f2c27882a71b54de165d048f475223
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/BUILD b/y2022/BUILD
index 9e80b5f..477608d 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -41,6 +41,7 @@
"//y2022/localizer:imu_main",
"//y2022/localizer:localizer_main",
"//y2022/vision:image_decimator",
+ "//aos/events/logging:log_cat",
],
data = [
":aos_config",
diff --git a/y2022/y2022_imu.json b/y2022/y2022_imu.json
index 06a7955..21750a0 100644
--- a/y2022/y2022_imu.json
+++ b/y2022/y2022_imu.json
@@ -19,41 +19,95 @@
"name": "/imu/aos",
"type": "aos.starter.Status",
"source_node": "imu",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
"frequency": 50,
"num_senders": 20,
+ "logger_nodes": [
+ "roborio",
+ "logger"
+ ],
"destination_nodes": [
{
"name": "roborio",
"priority": 5,
- "time_to_live": 5000000
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
},
{
"name": "logger",
"priority": 5,
- "time_to_live": 5000000
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
}
]
},
{
+ "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 100,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 100,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
"name": "/imu/aos",
"type": "aos.starter.StarterRpc",
"source_node": "imu",
"frequency": 10,
"num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio",
+ "logger"
+ ],
"destination_nodes": [
{
"name": "roborio",
"priority": 5,
- "time_to_live": 5000000
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
},
{
"name": "logger",
"priority": 5,
- "time_to_live": 5000000
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
}
]
},
{
+ "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
"name": "/imu/aos",
"type": "aos.message_bridge.ServerStatistics",
"source_node": "imu",
@@ -64,7 +118,7 @@
"name": "/imu/aos",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "imu",
- "frequency": 10,
+ "frequency": 20,
"num_senders": 2
},
{
@@ -118,6 +172,10 @@
"name": "/logger/aos",
"type": "aos.starter.StarterRpc",
"source_node": "logger",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
"destination_nodes": [
{
"name": "imu",
@@ -143,6 +201,10 @@
"name": "/logger/aos",
"type": "aos.starter.Status",
"source_node": "logger",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
"destination_nodes": [
{
"name": "imu",
@@ -168,6 +230,10 @@
"name": "/roborio/aos",
"type": "aos.starter.StarterRpc",
"source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
"destination_nodes": [
{
"name": "imu",
@@ -269,7 +335,7 @@
"name": "/localizer",
"type": "frc971.controls.LocalizerOutput",
"source_node": "imu",
- "frequency": 200,
+ "frequency": 400,
"max_size": 200,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
@@ -302,7 +368,7 @@
"type": "aos.message_bridge.RemoteMessage",
"source_node": "imu",
"logger": "NOT_LOGGED",
- "frequency": 200,
+ "frequency": 400,
"num_senders": 2,
"max_size": 200
},
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
index df1d56e..80bb5b3 100644
--- a/y2022/y2022_logger.json
+++ b/y2022/y2022_logger.json
@@ -30,11 +30,24 @@
{
"name": "logger",
"priority": 2,
- "time_to_live": 500000000
+ "time_to_live": 500000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
}
]
},
{
+ "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Position",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 400,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
"name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.Output",
"source_node": "roborio",
@@ -46,11 +59,24 @@
{
"name": "logger",
"priority": 2,
- "time_to_live": 500000000
+ "time_to_live": 500000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
}
]
},
{
+ "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Output",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 400
+ },
+ {
"name": "/pi1/aos",
"type": "aos.message_bridge.Timestamp",
"source_node": "pi1",
@@ -140,7 +166,7 @@
"name": "/logger/aos",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "logger",
- "frequency": 10,
+ "frequency": 20,
"max_size": 2000,
"num_senders": 2
},
@@ -148,8 +174,13 @@
"name": "/logger/aos",
"type": "aos.starter.Status",
"source_node": "logger",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
"frequency": 50,
"num_senders": 20,
+ "max_size": 2000,
+ "logger_nodes": [
+ "roborio"
+ ],
"destination_nodes": [
{
"name": "roborio",
@@ -175,6 +206,10 @@
"name": "/logger/aos",
"type": "aos.starter.StarterRpc",
"source_node": "logger",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio"
+ ],
"frequency": 10,
"num_senders": 2,
"destination_nodes": [
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index 4e47b07..6eddf9a 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -21,6 +21,12 @@
"source_node": "pi{{ NUM }}",
"frequency": 50,
"num_senders": 20,
+ "max_size": 2000,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio",
+ "logger"
+ ],
"destination_nodes": [
{
"name": "roborio",
@@ -40,6 +46,11 @@
"source_node": "pi{{ NUM }}",
"frequency": 10,
"num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio",
+ "logger"
+ ],
"destination_nodes": [
{
"name": "roborio",
@@ -64,7 +75,7 @@
"name": "/pi{{ NUM }}/aos",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "pi{{ NUM }}",
- "frequency": 10,
+ "frequency": 20,
"num_senders": 2
},
{
@@ -118,6 +129,10 @@
"name": "/imu/aos",
"type": "aos.message_bridge.Timestamp",
"source_node": "imu",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "pi{{ NUM }}"
+ ],
"destination_nodes": [
{
"name": "pi{{ NUM }}",
@@ -215,11 +230,24 @@
{
"name": "pi{{ NUM }}",
"priority": 5,
- "time_to_live": 5000000
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
}
]
},
{
+ "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/localizer/frc971-controls-LocalizerOutput",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 400,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
"name": "/logger/aos",
"type": "aos.starter.StarterRpc",
"source_node": "logger",
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index fa3406e..93e0483 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -4,7 +4,8 @@
"name": "/roborio/aos",
"type": "aos.JoystickState",
"source_node": "roborio",
- "frequency": 75,
+ "frequency": 100,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes" : [
"imu"
],
@@ -12,11 +13,24 @@
{
"name": "imu",
"priority": 5,
- "time_to_live": 50000000
+ "time_to_live": 50000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
}
]
},
{
+ "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
"name": "/roborio/aos",
"type": "aos.RobotState",
"source_node": "roborio",
@@ -44,6 +58,11 @@
"source_node": "roborio",
"frequency": 50,
"num_senders": 20,
+ "max_size": 2000,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
"destination_nodes": [
{
"name": "logger",
@@ -72,6 +91,10 @@
"frequency": 10,
"max_size": 400,
"num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
"destination_nodes": [
{
"name": "logger",
@@ -104,7 +127,7 @@
"name": "/roborio/aos",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "roborio",
- "frequency": 15,
+ "frequency": 20,
"max_size": 2000,
"num_senders": 2
},
@@ -228,16 +251,42 @@
{
"name": "imu",
"priority": 5,
- "time_to_live": 50000000
+ "time_to_live": 50000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
},
{
"name": "logger",
"priority": 5,
- "time_to_live": 50000000
+ "time_to_live": 50000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
}
]
},
{
+ "name": "/roborio/aos/remote_timestamps/imu/superstructure/y2022-control_loops-superstructure-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 400,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/superstructure/y2022-control_loops-superstructure-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 400,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
"name": "/superstructure",
"type": "y2022.control_loops.superstructure.Output",
"source_node": "roborio",
@@ -309,7 +358,7 @@
"name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.Position",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 400,
"max_size": 112,
"num_senders": 2
},
@@ -317,7 +366,7 @@
"name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.Output",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 400,
"max_size": 80,
"num_senders": 2,
"logger": "LOCAL_AND_REMOTE_LOGGER",
@@ -341,7 +390,7 @@
"type": "aos.message_bridge.RemoteMessage",
"source_node": "roborio",
"logger": "NOT_LOGGED",
- "frequency": 200,
+ "frequency": 400,
"num_senders": 2,
"max_size": 200
},
@@ -349,7 +398,7 @@
"name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.Status",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 400,
"max_size": 1616,
"num_senders": 2
},
@@ -380,7 +429,7 @@
"type": "aos.message_bridge.RemoteMessage",
"source_node": "roborio",
"logger": "NOT_LOGGED",
- "frequency": 200,
+ "frequency": 400,
"num_senders": 2,
"max_size": 200
},