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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 04a343c4433b528961a88a798c690a39cd43f975 / . / y2023 / y2023_imu.json
blob: 68dc14af03f8bf2f88c668ca6c14dab5f77b0926 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.timing.Report",
6 "source_node": "imu",
7 "frequency": 50,
8 "num_senders": 20,
9 "max_size": 4096
10 },
11 {
12 "name": "/imu/aos",
13 "type": "aos.logging.LogMessageFbs",
14 "source_node": "imu",
15 "frequency": 200,
16 "num_senders": 20
17 },
18 {
19 "name": "/imu/aos",
20 "type": "aos.starter.Status",
21 "source_node": "imu",
22 "logger": "LOCAL_AND_REMOTE_LOGGER",
23 "frequency": 50,
24 "num_senders": 20,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame^]25 "max_size": 2048,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]26 "logger_nodes": [
27 "roborio",
28 "logger"
29 ],
30 "destination_nodes": [
31 {
32 "name": "roborio",
33 "priority": 5,
34 "time_to_live": 5000000,
35 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
36 "timestamp_logger_nodes": [
37 "imu"
38 ]
39 },
40 {
41 "name": "logger",
42 "priority": 5,
43 "time_to_live": 5000000,
44 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
45 "timestamp_logger_nodes": [
46 "imu"
47 ]
48 }
49 ]
50 },
51 {
52 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-Status",
53 "type": "aos.message_bridge.RemoteMessage",
54 "frequency": 100,
55 "source_node": "imu",
56 "max_size": 208
57 },
58 {
59 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-Status",
60 "type": "aos.message_bridge.RemoteMessage",
61 "frequency": 100,
62 "source_node": "imu",
63 "max_size": 208
64 },
65 {
66 "name": "/imu/aos",
67 "type": "aos.starter.StarterRpc",
68 "source_node": "imu",
69 "frequency": 10,
70 "num_senders": 2,
71 "logger": "LOCAL_AND_REMOTE_LOGGER",
72 "logger_nodes": [
73 "roborio",
74 "logger"
75 ],
76 "destination_nodes": [
77 {
78 "name": "roborio",
79 "priority": 5,
80 "time_to_live": 5000000,
81 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
82 "timestamp_logger_nodes": [
83 "imu"
84 ]
85 },
86 {
87 "name": "logger",
88 "priority": 5,
89 "time_to_live": 5000000,
90 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
91 "timestamp_logger_nodes": [
92 "imu"
93 ]
94 }
95 ]
96 },
97 {
98 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-StarterRpc",
99 "type": "aos.message_bridge.RemoteMessage",
100 "frequency": 20,
101 "source_node": "imu",
102 "max_size": 208
103 },
104 {
105 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
106 "type": "aos.message_bridge.RemoteMessage",
107 "frequency": 20,
108 "source_node": "imu",
109 "max_size": 208
110 },
111 {
112 "name": "/imu/aos",
113 "type": "aos.message_bridge.ServerStatistics",
114 "source_node": "imu",
115 "frequency": 10,
116 "num_senders": 2
117 },
118 {
119 "name": "/imu/aos",
120 "type": "aos.message_bridge.ClientStatistics",
121 "source_node": "imu",
122 "frequency": 20,
123 "num_senders": 2
124 },
125 {
126 "name": "/imu/aos",
127 "type": "aos.logging.DynamicLogCommand",
128 "source_node": "imu",
129 "frequency": 10,
130 "num_senders": 2
131 },
132 {
133 "name": "/imu/aos",
134 "type": "aos.message_bridge.Timestamp",
135 "source_node": "imu",
136 "frequency": 15,
137 "num_senders": 2,
138 "logger": "LOCAL_AND_REMOTE_LOGGER",
139 "logger_nodes": [
140 "roborio",
141 "logger"
142 ],
143 "max_size": 400,
144 "destination_nodes": [
145 {
146 "name": "roborio",
147 "priority": 1,
148 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
149 "timestamp_logger_nodes": [
150 "imu"
151 ],
152 "time_to_live": 5000000
153 },
154 {
155 "name": "logger",
156 "priority": 1,
157 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
158 "timestamp_logger_nodes": [
159 "imu"
160 ],
161 "time_to_live": 5000000
162 }
163 ]
164 },
165 {
166 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
167 "type": "aos.message_bridge.RemoteMessage",
168 "frequency": 20,
169 "source_node": "imu",
170 "max_size": 208
171 },
172 {
173 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
174 "type": "aos.message_bridge.RemoteMessage",
175 "frequency": 20,
176 "source_node": "imu",
177 "max_size": 208
178 },
179 {
180 "name": "/logger/aos",
181 "type": "aos.starter.StarterRpc",
182 "source_node": "logger",
183 "logger": "LOCAL_AND_REMOTE_LOGGER",
184 "logger_nodes": [
185 "imu"
186 ],
187 "destination_nodes": [
188 {
189 "name": "imu",
190 "priority": 5,
191 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
192 "timestamp_logger_nodes": [
193 "logger"
194 ],
195 "time_to_live": 5000000
196 }
197 ]
198 },
199 {
200 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
201 "type": "aos.message_bridge.RemoteMessage",
202 "source_node": "logger",
203 "logger": "NOT_LOGGED",
204 "frequency": 20,
205 "num_senders": 2,
206 "max_size": 200
207 },
208 {
209 "name": "/logger/aos",
210 "type": "aos.starter.Status",
211 "source_node": "logger",
212 "logger": "LOCAL_AND_REMOTE_LOGGER",
213 "logger_nodes": [
214 "imu"
215 ],
216 "destination_nodes": [
217 {
218 "name": "imu",
219 "priority": 5,
220 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
221 "timestamp_logger_nodes": [
222 "logger"
223 ],
224 "time_to_live": 5000000
225 }
226 ]
227 },
228 {
229 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
230 "type": "aos.message_bridge.RemoteMessage",
231 "source_node": "logger",
232 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]233 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]234 "num_senders": 2,
235 "max_size": 200
236 },
237 {
238 "name": "/roborio/aos",
239 "type": "aos.starter.StarterRpc",
240 "source_node": "roborio",
241 "logger": "LOCAL_AND_REMOTE_LOGGER",
242 "logger_nodes": [
243 "imu"
244 ],
245 "destination_nodes": [
246 {
247 "name": "imu",
248 "priority": 5,
249 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
250 "timestamp_logger_nodes": [
251 "roborio"
252 ],
253 "time_to_live": 5000000
254 }
255 ]
256 },
257 {
258 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
259 "type": "aos.message_bridge.RemoteMessage",
260 "source_node": "roborio",
261 "logger": "NOT_LOGGED",
262 "frequency": 20,
263 "num_senders": 2,
264 "max_size": 200
265 },
266 {
267 "name": "/roborio/aos",
268 "type": "aos.starter.Status",
269 "source_node": "roborio",
270 "logger": "LOCAL_AND_REMOTE_LOGGER",
271 "logger_nodes": [
272 "imu"
273 ],
274 "destination_nodes": [
275 {
276 "name": "imu",
277 "priority": 5,
278 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
279 "timestamp_logger_nodes": [
280 "roborio"
281 ],
282 "time_to_live": 5000000
283 }
284 ]
285 },
286 {
287 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
288 "type": "aos.message_bridge.RemoteMessage",
289 "source_node": "roborio",
290 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]291 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]292 "num_senders": 2,
293 "max_size": 200
294 },
295 {
296 "name": "/localizer",
297 "type": "frc971.IMUValuesBatch",
298 "source_node": "imu",
299 "frequency": 2200,
300 "max_size": 1600,
301 "num_senders": 2
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]302 },
303 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame^]304 "name": "/localizer",
305 "type": "y2023.localizer.Status",
306 "source_node": "imu",
307 "frequency": 2200,
308 "max_size": 1000,
309 "num_senders": 2
310 },
311 {
312 "name": "/localizer",
313 "type": "frc971.controls.LocalizerOutput",
314 "source_node": "imu",
315 "frequency": 210,
316 "logger": "LOCAL_AND_REMOTE_LOGGER",
317 "logger_nodes": [
318 "roborio"
319 ],
320 "destination_nodes": [
321 {
322 "name": "roborio",
323 "priority": 5,
324 "time_to_live": 5000000,
325 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
326 "timestamp_logger_nodes": [
327 "imu"
328 ]
329 }
330 ]
331 },
332 {
333 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
334 "type": "aos.message_bridge.RemoteMessage",
335 "source_node": "imu",
336 "logger": "NOT_LOGGED",
337 "frequency": 210,
338 "num_senders": 2,
339 "max_size": 200
340 },
341 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]342 "name": "/imu/constants",
343 "type": "y2023.Constants",
344 "source_node": "imu",
345 "frequency": 1,
346 "num_senders": 2,
347 "max_size": 4096
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]348 }
349 ],
350 "applications": [
351 {
352 "name": "message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]353 "executable_name": "message_bridge_client",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]354 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]355 "nodes": [
356 "imu"
357 ]
358 },
359 {
360 "name": "localizer",
361 "executable_name": "localizer_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]362 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]363 "nodes": [
364 "imu"
365 ]
366 },
367 {
368 "name": "imu",
369 "executable_name": "imu_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]370 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]371 "nodes": [
372 "imu"
373 ]
374 },
375 {
376 "name": "message_bridge_server",
377 "executable_name": "message_bridge_server",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]378 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]379 "nodes": [
380 "imu"
381 ]
382 },
383 {
384 "name": "localizer_logger",
385 "executable_name": "logger_main",
386 "args": ["--logging_folder", "", "--snappy_compress"],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]387 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]388 "nodes": [
389 "imu"
390 ]
391 },
392 {
393 "name": "web_proxy",
394 "executable_name": "web_proxy_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]395 "user": "pi",
396 "nodes": [
397 "imu"
398 ]
399 },
400 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame^]401 "name": "foxglove_websocket",
402 "user": "pi",
403 "nodes": [
404 "imu"
405 ]
406 },
407 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]408 "name": "constants_sender",
409 "autorestart": false,
410 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]411 "nodes": [
412 "imu"
413 ]
414 }
415 ],
416 "maps": [
417 {
418 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]419 "name": "/constants*",
420 "source_node": "imu"
421 },
422 "rename": {
423 "name": "/imu/constants"
424 }
425 },
426 {
427 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]428 "name": "/aos*",
429 "source_node": "imu"
430 },
431 "rename": {
432 "name": "/imu/aos"
433 }
434 }
435 ],
436 "nodes": [
437 {
438 "name": "imu",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]439 "hostname": "pi6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]440 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]441 "pi-971-6",
442 "pi-7971-6",
443 "pi-8971-6",
444 "pi-9971-6"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]445 ],
446 "port": 9971
447 },
448 {
449 "name": "logger"
450 },
451 {
452 "name": "roborio"
453 }
454 ]
455}