Add the node name as a prefix to every channel's canonical name
This makes everything very explicit and clears all ambiguity around
channel naming.
Signed-off-by: Sanjay Narayanan <sanjay.narayanan@bluerivertech.com>
Change-Id: I9c0f6e7dd136e74f73e2ab5ee175be259a6e88bd
diff --git a/y2024_swerve/y2024_swerve_imu.json b/y2024_swerve/y2024_swerve_imu.json
index 56e2734..c87faf5 100644
--- a/y2024_swerve/y2024_swerve_imu.json
+++ b/y2024_swerve/y2024_swerve_imu.json
@@ -220,7 +220,7 @@
"max_size": 200
},
{
- "name": "/can/cana",
+ "name": "/imu/can/cana",
"type": "frc971.can_logger.CanFrame",
"source_node": "imu",
"frequency": 9000,
@@ -237,7 +237,7 @@
"max_size": 65536
},
{
- "name": "/localizer",
+ "name": "/imu/localizer",
"type": "frc971.IMUValuesBatch",
"source_node": "imu",
"frequency": 2200,
@@ -519,12 +519,30 @@
},
{
"match": {
+ "name": "/can*",
+ "source_node": "imu"
+ },
+ "rename": {
+ "name": "/imu/can"
+ }
+ },
+ {
+ "match": {
"name": "/hardware_monitor*",
"source_node": "imu"
},
"rename": {
"name": "/imu/hardware_monitor"
}
+ },
+ {
+ "match": {
+ "name": "/localizer*",
+ "source_node": "imu"
+ },
+ "rename": {
+ "name": "/imu/localizer"
+ }
}
],
"nodes": [
diff --git a/y2024_swerve/y2024_swerve_roborio.json b/y2024_swerve/y2024_swerve_roborio.json
index f216b57..e5e40dd 100644
--- a/y2024_swerve/y2024_swerve_roborio.json
+++ b/y2024_swerve/y2024_swerve_roborio.json
@@ -134,7 +134,7 @@
"max_size": 208
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.swerve.Position",
"source_node": "roborio",
"frequency": 250,
@@ -142,7 +142,7 @@
"max_size": 480
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.swerve.CanPosition",
"source_node": "roborio",
"frequency": 250,
@@ -150,7 +150,7 @@
"max_size": 656
},
{
- "name": "/can",
+ "name": "/roborio/can",
"type": "frc971.can_logger.CanFrame",
"source_node": "roborio",
"frequency": 6000,
@@ -158,7 +158,7 @@
"max_size": 200
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.drivetrain.CANPosition",
"source_node": "roborio",
"frequency": 220,
@@ -166,20 +166,20 @@
"max_size": 400
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.drivetrain.SplineGoal",
"source_node": "roborio",
"frequency": 10
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.drivetrain.Goal",
"source_node": "roborio",
"max_size": 224,
"frequency": 250
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.swerve.Output",
"source_node": "roborio",
"frequency": 400,
@@ -198,7 +198,7 @@
]
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.drivetrain.Status",
"source_node": "roborio",
"frequency": 400,
@@ -206,7 +206,7 @@
"num_senders": 2
},
{
- "name": "/drivetrain",
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.drivetrain.LocalizerControl",
"source_node": "roborio",
"frequency": 250,
@@ -228,7 +228,7 @@
]
},
{
- "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
+ "name": "/roborio/aos/remote_timestamps/imu/roborio/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
"type": "aos.message_bridge.RemoteMessage",
"source_node": "roborio",
"logger": "NOT_LOGGED",
@@ -237,17 +237,17 @@
"max_size": 200
},
{
- "name": "/autonomous",
+ "name": "/roborio/autonomous",
"type": "aos.common.actions.Status",
"source_node": "roborio"
},
{
- "name": "/autonomous",
+ "name": "/roborio/autonomous",
"type": "frc971.autonomous.Goal",
"source_node": "roborio"
},
{
- "name": "/autonomous",
+ "name": "/roborio/autonomous",
"type": "frc971.autonomous.AutonomousMode",
"source_node": "roborio",
"frequency": 250
@@ -354,6 +354,33 @@
"rename": {
"name": "/roborio/aos"
}
+ },
+ {
+ "match": {
+ "name": "/autonomous*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/autonomous"
+ }
+ },
+ {
+ "match": {
+ "name": "/can*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/can"
+ }
+ },
+ {
+ "match": {
+ "name": "/drivetrain*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/drivetrain"
+ }
}
],
"nodes": [