Forward timestamps back from the pi to the roboRIO
This makes it so log reading can actually estimate the time offest of
the pi's and replay log files with pi data in them.
Change-Id: I15b9c53f5a49ef93bd562f208fa2b6b0fbec05c7
diff --git a/y2020/BUILD b/y2020/BUILD
index 4643ae8..59642fe 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -210,6 +210,7 @@
src = "y2020_roborio.json",
flatbuffers = [
":setpoint_fbs",
+ "//aos/events/logging:logger_fbs",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
diff --git a/y2020/y2020_pi_template.json b/y2020/y2020_pi_template.json
index 4b04c6c..8217acd 100644
--- a/y2020/y2020_pi_template.json
+++ b/y2020/y2020_pi_template.json
@@ -36,12 +36,16 @@
"source_node": "pi{{ NUM }}",
"frequency": 10,
"num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": ["roborio"],
"max_size": 200,
"destination_nodes": [
{
"name": "roborio",
"priority": 1,
- "time_to_live": 5000000
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"]
}
]
},
diff --git a/y2020/y2020_roborio.json b/y2020/y2020_roborio.json
index 0ab9664..9f71f06 100644
--- a/y2020/y2020_roborio.json
+++ b/y2020/y2020_roborio.json
@@ -11,33 +11,7 @@
"name": "/roborio/aos",
"type": "aos.RobotState",
"source_node": "roborio",
- "frequency": 200,
- "destination_nodes": [
- {
- "name": "pi1",
- "priority": 2,
- "timestamp_logger": "LOCAL_LOGGER",
- "time_to_live": 10000000
- },
- {
- "name": "pi2",
- "priority": 2,
- "timestamp_logger": "LOCAL_LOGGER",
- "time_to_live": 10000000
- },
- {
- "name": "pi3",
- "priority": 2,
- "timestamp_logger": "LOCAL_LOGGER",
- "time_to_live": 10000000
- },
- {
- "name": "pi4",
- "priority": 2,
- "timestamp_logger": "LOCAL_LOGGER",
- "time_to_live": 10000000
- }
- ]
+ "frequency": 200
},
{
"name": "/roborio/aos",
@@ -69,6 +43,30 @@
"num_senders": 2
},
{
+ "name": "/roborio/aos/remote_timestamps/pi1",
+ "type": "aos.logger.MessageHeader",
+ "logger": "NOT_LOGGED",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi2",
+ "type": "aos.logger.MessageHeader",
+ "logger": "NOT_LOGGED",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi3",
+ "type": "aos.logger.MessageHeader",
+ "logger": "NOT_LOGGED",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi4",
+ "type": "aos.logger.MessageHeader",
+ "logger": "NOT_LOGGED",
+ "source_node": "roborio"
+ },
+ {
"name": "/roborio/aos",
"type": "aos.message_bridge.Timestamp",
"source_node": "roborio",
@@ -79,21 +77,29 @@
{
"name": "pi1",
"priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
},
{
"name": "pi2",
"priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
},
{
"name": "pi3",
"priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
},
{
"name": "pi4",
"priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
}
]
@@ -177,16 +183,29 @@
{
"name": "pi1",
"priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
},
{
"name": "pi2",
"priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
},
{
"name": "pi3",
"priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi4",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": ["roborio"],
"time_to_live": 5000000
}
]