| { |
| "channels": [ |
| { |
| "name": "/roborio/aos", |
| "type": "aos.JoystickState", |
| "source_node": "roborio", |
| "frequency": 100, |
| "logger": "LOCAL_AND_REMOTE_LOGGER", |
| "logger_nodes": [ |
| "imu" |
| ], |
| "destination_nodes": [ |
| { |
| "name": "imu", |
| "priority": 5, |
| "time_to_live": 50000000 |
| } |
| ] |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.RobotState", |
| "source_node": "roborio", |
| "frequency": 250 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.timing.Report", |
| "source_node": "roborio", |
| "frequency": 50, |
| "num_senders": 20, |
| "max_size": 8192 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.logging.LogMessageFbs", |
| "source_node": "roborio", |
| "frequency": 500, |
| "max_size": 1000, |
| "num_senders": 20 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.starter.Status", |
| "source_node": "roborio", |
| "frequency": 50, |
| "num_senders": 20, |
| "max_size": 2000 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.starter.StarterRpc", |
| "source_node": "roborio", |
| "frequency": 10, |
| "max_size": 400, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.message_bridge.ServerStatistics", |
| "source_node": "roborio", |
| "max_size": 2048, |
| "frequency": 10, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.message_bridge.ClientStatistics", |
| "source_node": "roborio", |
| "frequency": 20, |
| "max_size": 2000, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.logging.DynamicLogCommand", |
| "source_node": "roborio", |
| "frequency": 10, |
| "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/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp", |
| "type": "aos.message_bridge.RemoteMessage", |
| "frequency": 300, |
| "source_node": "roborio" |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "aos.message_bridge.Timestamp", |
| "source_node": "roborio", |
| "frequency": 15, |
| "num_senders": 2, |
| "max_size": 512, |
| "logger": "LOCAL_AND_REMOTE_LOGGER", |
| "logger_nodes": [ |
| "imu" |
| ], |
| "destination_nodes": [ |
| { |
| "name": "imu", |
| "priority": 1, |
| "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| "timestamp_logger_nodes": [ |
| "roborio" |
| ], |
| "time_to_live": 5000000 |
| } |
| ] |
| }, |
| { |
| "name": "/superstructure", |
| "type": "y2023.control_loops.superstructure.Goal", |
| "source_node": "roborio", |
| "frequency": 250, |
| "max_size": 512 |
| }, |
| { |
| "name": "/superstructure", |
| "type": "y2023.control_loops.superstructure.Status", |
| "source_node": "roborio", |
| "frequency": 400, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/superstructure", |
| "type": "y2023.control_loops.superstructure.Output", |
| "source_node": "roborio", |
| "frequency": 250, |
| "num_senders": 2, |
| "max_size": 224 |
| }, |
| { |
| "name": "/superstructure", |
| "type": "y2023.control_loops.superstructure.Position", |
| "source_node": "roborio", |
| "frequency": 250, |
| "num_senders": 2, |
| "max_size": 448 |
| }, |
| { |
| "name": "/can", |
| "type": "frc971.can_logger.CanFrame", |
| "source_node": "roborio", |
| "frequency": 6000, |
| "num_senders": 2, |
| "max_size": 200 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.CANPosition", |
| "source_node": "roborio", |
| "frequency": 220, |
| "num_senders": 2, |
| "max_size": 400 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.sensors.GyroReading", |
| "source_node": "roborio", |
| "frequency": 250, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.sensors.Uid", |
| "source_node": "roborio", |
| "frequency": 250, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.fb.Trajectory", |
| "source_node": "roborio", |
| "max_size": 600000, |
| "frequency": 10, |
| "logger": "NOT_LOGGED", |
| "num_senders": 2, |
| "read_method": "PIN", |
| "num_readers": 10 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.SplineGoal", |
| "source_node": "roborio", |
| "frequency": 10 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.Goal", |
| "source_node": "roborio", |
| "max_size": 224, |
| "frequency": 250 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.Position", |
| "source_node": "roborio", |
| "frequency": 400, |
| "max_size": 112, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.Output", |
| "source_node": "roborio", |
| "frequency": 400, |
| "max_size": 80, |
| "num_senders": 2, |
| "logger": "LOCAL_AND_REMOTE_LOGGER", |
| "logger_nodes": [ |
| "imu" |
| ], |
| "destination_nodes": [ |
| { |
| "name": "imu", |
| "priority": 5, |
| "time_to_live": 5000000 |
| } |
| ] |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.Status", |
| "source_node": "roborio", |
| "frequency": 400, |
| "max_size": 1616, |
| "num_senders": 2 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "frc971.control_loops.drivetrain.LocalizerControl", |
| "source_node": "roborio", |
| "frequency": 250, |
| "max_size": 96, |
| "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": 0 |
| } |
| ] |
| }, |
| { |
| "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl", |
| "type": "aos.message_bridge.RemoteMessage", |
| "source_node": "roborio", |
| "logger": "NOT_LOGGED", |
| "frequency": 400, |
| "num_senders": 2, |
| "max_size": 200 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "y2023.control_loops.drivetrain.TargetSelectorStatus", |
| "source_node": "roborio" |
| }, |
| { |
| "name": "/autonomous", |
| "type": "aos.common.actions.Status", |
| "source_node": "roborio" |
| }, |
| { |
| "name": "/autonomous", |
| "type": "frc971.autonomous.Goal", |
| "source_node": "roborio" |
| }, |
| { |
| "name": "/autonomous", |
| "type": "frc971.autonomous.AutonomousMode", |
| "source_node": "roborio", |
| "frequency": 250 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "frc971.PDPValues", |
| "source_node": "roborio", |
| "frequency": 55, |
| "max_size": 368 |
| }, |
| { |
| "name": "/roborio/aos", |
| "type": "frc971.wpilib.PneumaticsToLog", |
| "source_node": "roborio", |
| "frequency": 50 |
| }, |
| { |
| "name": "/roborio", |
| "type": "frc971.CANConfiguration", |
| "source_node": "roborio", |
| "frequency": 2 |
| }, |
| { |
| "name": "/roborio/constants", |
| "type": "y2023.Constants", |
| "source_node": "roborio", |
| "frequency": 1, |
| "num_senders": 2, |
| "max_size": 65536 |
| }, |
| { |
| "name": "/drivetrain", |
| "type": "y2023.control_loops.drivetrain.TargetSelectorHint", |
| "source_node": "roborio" |
| } |
| ], |
| "applications": [ |
| { |
| "name": "drivetrain", |
| "executable_name": "drivetrain", |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "trajectory_generator", |
| "executable_name": "trajectory_generator", |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "superstructure", |
| "executable_name": "superstructure", |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "roborio_irq_affinity", |
| "executable_name": "irq_affinity", |
| "args": [ |
| "--irq_config=/home/admin/bin/roborio_irq_config.json" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "joystick_reader", |
| "executable_name": "joystick_reader", |
| "args": [ |
| "--nodie_on_malloc" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "wpilib_interface", |
| "executable_name": "wpilib_interface", |
| "args": [ |
| "--nodie_on_malloc" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "autonomous_action", |
| "executable_name": "autonomous_action", |
| "args": [ |
| "--nodie_on_malloc" |
| ], |
| "autostart": true, |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "roborio_web_proxy", |
| "executable_name": "web_proxy_main", |
| "args": [ |
| "--min_ice_port=5800", |
| "--max_ice_port=5810" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "roborio_message_bridge_client", |
| "executable_name": "message_bridge_client", |
| "args": [ |
| "--rt_priority=16", |
| "--sinit_max_init_timeout=5000" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "roborio_message_bridge_server", |
| "executable_name": "message_bridge_server", |
| "args": [ |
| "--rt_priority=16" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "logger", |
| "executable_name": "logger_main", |
| "args": [ |
| "--snappy_compress", |
| "--logging_folder=/home/admin/logs/", |
| "--rotate_every", "30.0" |
| ], |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "constants_sender_roborio", |
| "executable_name": "constants_sender", |
| "autorestart": false, |
| "nodes": [ |
| "roborio" |
| ] |
| }, |
| { |
| "name": "can_logger", |
| "executable_name": "can_logger", |
| "nodes": [ |
| "roborio" |
| ] |
| } |
| ], |
| "maps": [ |
| { |
| "match": { |
| "name": "/constants*", |
| "source_node": "roborio" |
| }, |
| "rename": { |
| "name": "/roborio/constants" |
| } |
| }, |
| { |
| "match": { |
| "name": "/aos*", |
| "source_node": "roborio" |
| }, |
| "rename": { |
| "name": "/roborio/aos" |
| } |
| } |
| ], |
| "nodes": [ |
| { |
| "name": "roborio", |
| "hostname": "roborio", |
| "hostnames": [ |
| "roboRIO-971-FRC", |
| "roboRIO-6971-FRC", |
| "roboRIO-7971-FRC", |
| "roboRIO-8971-FRC", |
| "roboRIO-9971-FRC" |
| ], |
| "port": 9971 |
| }, |
| { |
| "name": "imu" |
| }, |
| { |
| "name": "logger" |
| }, |
| { |
| "name": "pi1" |
| }, |
| { |
| "name": "pi2" |
| }, |
| { |
| "name": "pi3" |
| }, |
| { |
| "name": "pi4" |
| } |
| ] |
| } |