| { |
| "channels": [ |
| { |
| "name": "/imu/aos", |
| "type": "aos.timing.Report", |
| "source_node": "imu", |
| "frequency": 50, |
| "num_senders": 20, |
| "max_size": 4096 |
| }, |
| { |
| "name": "/imu/aos", |
| "type": "aos.logging.LogMessageFbs", |
| "source_node": "imu", |
| "frequency": 200, |
| "num_senders": 20 |
| }, |
| { |
| "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, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "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 |
| }, |
| { |
| "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, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "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-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", |
| "max_size": 2048, |
| "frequency": 10, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/imu/aos", |
| "type": "aos.message_bridge.ClientStatistics", |
| "source_node": "imu", |
| "frequency": 20, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/imu/aos", |
| "type": "aos.logging.DynamicLogCommand", |
| "source_node": "imu", |
| "frequency": 10, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/imu/aos", |
| "type": "aos.message_bridge.Timestamp", |
| "source_node": "imu", |
| "frequency": 15, |
| "num_senders": 2, |
| "logger": "LOCAL_AND_REMOTE_LOGGER", |
| "logger_nodes": [ |
| "roborio", |
| "logger" |
| ], |
| "max_size": 400, |
| "destination_nodes": [ |
| { |
| "name": "roborio", |
| "priority": 1, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "imu" |
| ], |
| "time_to_live": 5000000 |
| }, |
| { |
| "name": "logger", |
| "priority": 1, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "imu" |
| ], |
| "time_to_live": 5000000 |
| } |
| ] |
| }, |
| { |
| "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp", |
| "type": "aos.message_bridge.RemoteMessage", |
| "frequency": 20, |
| "source_node": "imu", |
| "max_size": 208 |
| }, |
| { |
| "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp", |
| "type": "aos.message_bridge.RemoteMessage", |
| "frequency": 20, |
| "source_node": "imu", |
| "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", |
| "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", |
| "type": "aos.starter.Status", |
| "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-Status", |
| "type": "aos.message_bridge.RemoteMessage", |
| "source_node": "roborio", |
| "logger": "NOT_LOGGED", |
| "frequency": 50, |
| "num_senders": 2, |
| "max_size": 200 |
| }, |
| { |
| "name": "/localizer", |
| "type": "frc971.controls.LocalizerStatus", |
| "source_node": "imu", |
| "frequency": 2200, |
| "max_size": 2000 |
| }, |
| { |
| "name": "/localizer", |
| "type": "frc971.controls.LocalizerVisualization", |
| "source_node": "imu", |
| "frequency": 200, |
| "max_size": 2000 |
| }, |
| { |
| "name": "/localizer", |
| "type": "frc971.controls.LocalizerOutput", |
| "source_node": "imu", |
| "frequency": 400, |
| "max_size": 200, |
| "logger": "LOCAL_AND_REMOTE_LOGGER", |
| "logger_nodes": [ |
| "roborio", |
| "logger" |
| ], |
| "destination_nodes": [ |
| { |
| "name": "roborio", |
| "priority": 5, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "imu" |
| ], |
| "time_to_live": 5000000 |
| }, |
| { |
| "name": "logger", |
| "priority": 5, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "imu" |
| ], |
| "time_to_live": 5000000 |
| } |
| ] |
| }, |
| { |
| "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput", |
| "type": "aos.message_bridge.RemoteMessage", |
| "source_node": "imu", |
| "logger": "NOT_LOGGED", |
| "frequency": 400, |
| "num_senders": 2, |
| "max_size": 200 |
| }, |
| { |
| "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput", |
| "type": "aos.message_bridge.RemoteMessage", |
| "source_node": "imu", |
| "logger": "NOT_LOGGED", |
| "frequency": 400, |
| "num_senders": 2, |
| "max_size": 200 |
| }, |
| { |
| "name": "/localizer", |
| "type": "frc971.IMUValuesBatch", |
| "source_node": "imu", |
| "frequency": 2200, |
| "max_size": 1600, |
| "num_senders": 2 |
| } |
| ], |
| "applications": [ |
| { |
| "name": "message_bridge_client", |
| "executable_name": "message_bridge_client.sh", |
| "nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "name": "localizer", |
| "executable_name": "localizer_main", |
| /* TODO(james): Remove this once confident in the accelerometer code. */ |
| "args": ["--ignore_accelerometer"], |
| "nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "name": "imu", |
| "executable_name": "imu_main", |
| "nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "name": "message_bridge_server", |
| "executable_name": "message_bridge_server", |
| "nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "name": "localizer_logger", |
| "executable_name": "logger_main", |
| "args": ["--logging_folder", "", "--snappy_compress"], |
| "nodes": [ |
| "imu" |
| ] |
| }, |
| { |
| "name": "web_proxy", |
| "executable_name": "web_proxy_main", |
| "nodes": [ |
| "imu" |
| ] |
| } |
| ], |
| "maps": [ |
| { |
| "match": { |
| "name": "/aos*", |
| "source_node": "imu" |
| }, |
| "rename": { |
| "name": "/imu/aos" |
| } |
| } |
| ], |
| "nodes": [ |
| { |
| "name": "imu", |
| "hostname": "imu", |
| "hostnames": [ |
| "pi-971-5", |
| "pi-7971-5", |
| "pi-8971-5", |
| "pi-9971-5" |
| ], |
| "port": 9971 |
| }, |
| { |
| "name": "logger" |
| }, |
| { |
| "name": "roborio" |
| } |
| ] |
| } |