Clean up the channels in the swerve configuration
Move channels around so they live in the configuration file that matches
their source node. This keeps things organized.
Also, delete a redundant global map.
Signed-off-by: Sanjay Narayanan <sanjay.narayanan@bluerivertech.com>
Change-Id: Ia5209176e72ad397f4a2f3266f01433b8685ed76
diff --git a/y2024_swerve/y2024_swerve.json b/y2024_swerve/y2024_swerve.json
index 34ac436..c99aebf 100644
--- a/y2024_swerve/y2024_swerve.json
+++ b/y2024_swerve/y2024_swerve.json
@@ -1,16 +1,5 @@
{
"channel_storage_duration": 10000000000,
- "maps": [
- {
- "match": {
- "name": "/aos",
- "type": "aos.RobotState"
- },
- "rename": {
- "name": "/roborio/aos"
- }
- }
- ],
"imports": [
"y2024_swerve_roborio.json",
"y2024_swerve_imu.json",
diff --git a/y2024_swerve/y2024_swerve_imu.json b/y2024_swerve/y2024_swerve_imu.json
index c628127..56e2734 100644
--- a/y2024_swerve/y2024_swerve_imu.json
+++ b/y2024_swerve/y2024_swerve_imu.json
@@ -94,11 +94,21 @@
"frequency": 15,
"num_senders": 2,
"logger_nodes": [
+ "orin1",
"roborio"
],
"max_size": 400,
"destination_nodes": [
{
+ "name": "orin1",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ },
+ {
"name": "roborio",
"priority": 1,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
@@ -117,33 +127,11 @@
"max_size": 208
},
{
- "name": "/roborio/aos",
- "type": "aos.starter.StarterRpc",
- "source_node": "roborio",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "imu"
- ],
- "destination_nodes": [
- {
- "name": "imu",
- "priority": 5,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "roborio"
- ],
- "time_to_live": 5000000
- }
- ]
- },
- {
- "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
+ "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-message_bridge-Timestamp",
"type": "aos.message_bridge.RemoteMessage",
- "source_node": "roborio",
- "logger": "NOT_LOGGED",
"frequency": 20,
- "num_senders": 2,
- "max_size": 200
+ "source_node": "imu",
+ "max_size": 208
},
{
"name": "/imu/camera0",
@@ -558,4 +546,4 @@
"name": "orin1"
}
]
-}
\ No newline at end of file
+}
diff --git a/y2024_swerve/y2024_swerve_orin1.json b/y2024_swerve/y2024_swerve_orin1.json
index 21baa8c..64c015f 100644
--- a/y2024_swerve/y2024_swerve_orin1.json
+++ b/y2024_swerve/y2024_swerve_orin1.json
@@ -89,33 +89,6 @@
"max_size": 208
},
{
- "name": "/imu/aos",
- "type": "aos.message_bridge.Timestamp",
- "source_node": "imu",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "orin1"
- ],
- "destination_nodes": [
- {
- "name": "orin1",
- "priority": 1,
- "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
- "timestamp_logger_nodes": [
- "imu"
- ],
- "time_to_live": 5000000
- }
- ]
- },
- {
- "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-message_bridge-Timestamp",
- "type": "aos.message_bridge.RemoteMessage",
- "frequency": 20,
- "source_node": "imu",
- "max_size": 208
- },
- {
"name": "/orin1/camera0",
"type": "frc971.vision.CameraImage",
"source_node": "orin1",
diff --git a/y2024_swerve/y2024_swerve_roborio.json b/y2024_swerve/y2024_swerve_roborio.json
index 1330e43..f216b57 100644
--- a/y2024_swerve/y2024_swerve_roborio.json
+++ b/y2024_swerve/y2024_swerve_roborio.json
@@ -55,7 +55,31 @@
"source_node": "roborio",
"frequency": 10,
"max_size": 400,
- "num_senders": 2
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/imu/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",
@@ -80,13 +104,6 @@
"num_senders": 2
},
{
- "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
- "type": "aos.message_bridge.RemoteMessage",
- "frequency": 20,
- "source_node": "roborio",
- "max_size": 208
- },
- {
"name": "/roborio/aos",
"type": "aos.message_bridge.Timestamp",
"source_node": "roborio",
@@ -110,6 +127,13 @@
]
},
{
+ "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
"name": "/drivetrain",
"type": "frc971.control_loops.swerve.Position",
"source_node": "roborio",
@@ -347,6 +371,6 @@
},
{
"name": "imu"
- }
+ }
]
}