Send fewer things to logger node
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Icf8428dff784afdc4ee20faf335dfbd7279f7915
diff --git a/y2023/y2023_imu.json b/y2023/y2023_imu.json
index 5aae0a9..1982c6e 100644
--- a/y2023/y2023_imu.json
+++ b/y2023/y2023_imu.json
@@ -7,7 +7,11 @@
"frequency": 100,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "imu"
+ "logger",
+ "pi1",
+ "pi2",
+ "pi3",
+ "pi4"
],
"destination_nodes": [
{
@@ -121,67 +125,16 @@
"name": "/imu/aos",
"type": "aos.starter.Status",
"source_node": "imu",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
"frequency": 50,
"num_senders": 20,
- "max_size": 2048,
- "logger_nodes": [
- "logger"
- ],
- "destination_nodes": [
- {
- "name": "logger",
- "priority": 5,
- "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
+ "max_size": 2048
},
{
"name": "/imu/aos",
"type": "aos.starter.StarterRpc",
"source_node": "imu",
"frequency": 10,
- "num_senders": 2,
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "logger"
- ],
- "destination_nodes": [
- {
- "name": "logger",
- "priority": 5,
- "time_to_live": 5000000,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "imu"
- ]
- }
- ]
- },
- {
- "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
- "type": "aos.message_bridge.RemoteMessage",
- "frequency": 20,
- "source_node": "imu",
- "max_size": 208
+ "num_senders": 2
},
{
"name": "/imu/aos",
@@ -252,64 +205,6 @@
"max_size": 208
},
{
- "name": "/logger/aos",
- "type": "aos.starter.StarterRpc",
- "source_node": "logger",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "imu"
- ],
- "destination_nodes": [
- {
- "name": "imu",
- "priority": 5,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "logger"
- ],
- "time_to_live": 5000000
- }
- ]
- },
- {
- "name": "/logger/aos/remote_timestamps/imu/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",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "imu"
- ],
- "destination_nodes": [
- {
- "name": "imu",
- "priority": 5,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "logger"
- ],
- "time_to_live": 5000000
- }
- ]
- },
- {
- "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
- "type": "aos.message_bridge.RemoteMessage",
- "source_node": "logger",
- "logger": "NOT_LOGGED",
- "frequency": 50,
- "num_senders": 2,
- "max_size": 200
- },
- {
"name": "/roborio/aos",
"type": "aos.starter.StarterRpc",
"source_node": "roborio",
diff --git a/y2023/y2023_logger.json b/y2023/y2023_logger.json
index 8c7f245..47977ad 100644
--- a/y2023/y2023_logger.json
+++ b/y2023/y2023_logger.json
@@ -53,86 +53,6 @@
"max_size": 200
},
{
- "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,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi1"
- ]
- }
- ]
- },
- {
- "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,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi2"
- ]
- }
- ]
- },
- {
- "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,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi3"
- ],
- "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,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi4"
- ],
- "time_to_live": 5000000
- }
- ]
- },
- {
"name": "/logger/aos",
"type": "aos.timing.Report",
"source_node": "logger",
@@ -194,50 +114,10 @@
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
"imu",
- "pi1",
- "pi2",
- "pi3",
- "pi4",
"roborio"
],
"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": "imu",
"priority": 1,
"time_to_live": 5000000,
@@ -267,42 +147,6 @@
"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/roborio/logger/aos/aos-message_bridge-Timestamp",
"type": "aos.message_bridge.RemoteMessage",
"source_node": "logger",
@@ -333,22 +177,6 @@
"num_senders": 18
},
{
- "name": "/localizer",
- "type": "frc971.IMUValuesBatch",
- "source_node": "imu",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "logger"
- ],
- "destination_nodes": [
- {
- "name": "logger",
- "priority": 3,
- "time_to_live": 500000000
- }
- ]
- },
- {
"name": "/logger/constants",
"type": "y2023.Constants",
"source_node": "logger",
@@ -476,21 +304,9 @@
"port": 9971
},
{
- "name": "pi1"
- },
- {
- "name": "pi2"
- },
- {
- "name": "pi3"
- },
- {
"name": "imu"
},
{
- "name": "pi4"
- },
- {
"name": "roborio"
}
]
diff --git a/y2023/y2023_pi_template.json b/y2023/y2023_pi_template.json
index 8167ba0..eee4ebb 100644
--- a/y2023/y2023_pi_template.json
+++ b/y2023/y2023_pi_template.json
@@ -21,51 +21,14 @@
"source_node": "pi{{ NUM }}",
"frequency": 50,
"num_senders": 20,
- "max_size": 2000,
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "logger"
- ],
- "destination_nodes": [
- {
- "name": "logger",
- "priority": 5,
- "time_to_live": 5000000,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi{{ NUM }}"
- ]
- }
- ]
+ "max_size": 2000
},
{
"name": "/pi{{ NUM }}/aos",
"type": "aos.starter.StarterRpc",
"source_node": "pi{{ NUM }}",
"frequency": 10,
- "num_senders": 2,
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "logger"
- ],
- "destination_nodes": [
- {
- "name": "logger",
- "priority": 5,
- "time_to_live": 5000000,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi{{ NUM }}"
- ]
- }
- ]
- },
- {
- "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/aos/aos-starter-StarterRpc",
- "type": "aos.message_bridge.RemoteMessage",
- "frequency": 20,
- "source_node": "pi{{ NUM }}",
- "max_size": 208
+ "num_senders": 2
},
{
"name": "/pi{{ NUM }}/aos",
@@ -178,8 +141,7 @@
"max_size": 1024,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "imu",
- "logger"
+ "imu"
],
"destination_nodes": [
{
@@ -190,15 +152,6 @@
"pi{{ NUM }}"
],
"time_to_live": 5000000
- },
- {
- "name": "logger",
- "priority": 4,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "pi{{ NUM }}"
- ],
- "time_to_live": 5000000
}
]
},
@@ -210,87 +163,6 @@
"max_size": 208
},
{
- "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/frc971-vision-TargetMap",
- "type": "aos.message_bridge.RemoteMessage",
- "frequency": 80,
- "source_node": "pi{{ NUM }}",
- "max_size": 208
- },
- {
- "name": "/logger/aos",
- "type": "aos.starter.StarterRpc",
- "source_node": "logger",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "pi{{ NUM }}"
- ],
- "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",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "pi{{ NUM }}"
- ],
- "destination_nodes": [
- {
- "name": "pi{{ NUM }}",
- "priority": 5,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "logger"
- ],
- "time_to_live": 5000000
- }
- ]
- },
- {
- "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/aos/aos-starter-Status",
- "type": "aos.message_bridge.RemoteMessage",
- "frequency": 100,
- "source_node": "pi{{ NUM }}",
- "max_size": 208
- },
- {
- "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
- "type": "aos.message_bridge.RemoteMessage",
- "source_node": "pi{{ NUM }}",
- "logger": "NOT_LOGGED",
- "frequency": 15,
- "num_senders": 2,
- "max_size": 200
- },
- {
- "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
- "type": "aos.message_bridge.RemoteMessage",
- "source_node": "logger",
- "logger": "NOT_LOGGED",
- "frequency": 50,
- "num_senders": 2,
- "max_size": 200
- },
- {
"name": "/pi{{ NUM }}/constants",
"type": "y2023.Constants",
"source_node": "pi{{ NUM }}",
@@ -456,9 +328,6 @@
"port": 9971
},
{
- "name": "logger"
- },
- {
"name": "imu"
}
]