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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / e8a09126b60ea36ad538bd0502063980cc9c5588 / . / y2022 / y2022_roborio.json
blob: f3bf5d06f9077c4febb5ba857251f44483a9b038 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 75
8 },
9 {
10 "name": "/roborio/aos",
11 "type": "aos.RobotState",
12 "source_node": "roborio",
13 "frequency": 200
14 },
15 {
16 "name": "/roborio/aos",
17 "type": "aos.timing.Report",
18 "source_node": "roborio",
19 "frequency": 50,
20 "num_senders": 20,
21 "max_size": 4096
22 },
23 {
24 "name": "/roborio/aos",
25 "type": "aos.logging.LogMessageFbs",
26 "source_node": "roborio",
27 "frequency": 500,
28 "max_size": 344,
29 "num_senders": 20
30 },
31 {
32 "name": "/roborio/aos",
33 "type": "aos.starter.Status",
34 "source_node": "roborio",
35 "frequency": 50,
36 "num_senders": 20,
37 "destination_nodes": [
38 {
39 "name": "logger",
40 "priority": 5,
41 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
42 "timestamp_logger_nodes": [
43 "roborio"
44 ],
45 "time_to_live": 5000000
46 }
47 ]
48 },
49 {
50 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
51 "type": "aos.message_bridge.RemoteMessage",
52 "source_node": "roborio",
53 "logger": "NOT_LOGGED",
54 "frequency": 20,
55 "num_senders": 2,
56 "max_size": 200
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.starter.StarterRpc",
61 "source_node": "roborio",
62 "frequency": 10,
63 "max_size": 400,
64 "num_senders": 2,
65 "destination_nodes": [
66 {
67 "name": "logger",
68 "priority": 5,
69 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
70 "timestamp_logger_nodes": [
71 "roborio"
72 ],
73 "time_to_live": 5000000
74 }
75 ]
76 },
77 {
78 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
79 "type": "aos.message_bridge.RemoteMessage",
80 "source_node": "roborio",
81 "logger": "NOT_LOGGED",
82 "frequency": 20,
83 "num_senders": 2,
84 "max_size": 200
85 },
86 {
87 "name": "/roborio/aos",
88 "type": "aos.message_bridge.ServerStatistics",
89 "source_node": "roborio",
90 "frequency": 10,
91 "num_senders": 2
92 },
93 {
94 "name": "/roborio/aos",
95 "type": "aos.message_bridge.ClientStatistics",
96 "source_node": "roborio",
97 "frequency": 15,
98 "max_size": 2000,
99 "num_senders": 2
100 },
101 {
102 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
103 "type": "aos.message_bridge.RemoteMessage",
104 "frequency": 200,
105 "source_node": "roborio"
106 },
107 {
108 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
109 "type": "aos.message_bridge.RemoteMessage",
110 "frequency": 20,
111 "source_node": "roborio",
112 "max_size": 208
113 },
114 {
115 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
116 "type": "aos.message_bridge.RemoteMessage",
117 "frequency": 20,
118 "source_node": "roborio",
119 "max_size": 208
120 },
121 {
122 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
123 "type": "aos.message_bridge.RemoteMessage",
124 "frequency": 20,
125 "source_node": "roborio"
126 },
127 {
128 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
129 "type": "aos.message_bridge.RemoteMessage",
130 "frequency": 20,
131 "source_node": "roborio"
132 },
133 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]134 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
135 "type": "aos.message_bridge.RemoteMessage",
136 "frequency": 20,
137 "source_node": "roborio",
138 "max_size": 208
139 },
140 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]141 "name": "/roborio/aos",
142 "type": "aos.message_bridge.Timestamp",
143 "source_node": "roborio",
144 "frequency": 15,
145 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]146 "max_size": 512,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]147 "logger": "LOCAL_AND_REMOTE_LOGGER",
148 "logger_nodes": [
149 "imu"
150 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]151 "destination_nodes": [
152 {
153 "name": "pi1",
154 "priority": 1,
155 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
156 "timestamp_logger_nodes": [
157 "roborio"
158 ],
159 "time_to_live": 5000000
160 },
161 {
162 "name": "pi2",
163 "priority": 1,
164 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
165 "timestamp_logger_nodes": [
166 "roborio"
167 ],
168 "time_to_live": 5000000
169 },
170 {
171 "name": "pi3",
172 "priority": 1,
173 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
174 "timestamp_logger_nodes": [
175 "roborio"
176 ],
177 "time_to_live": 5000000
178 },
179 {
180 "name": "pi4",
181 "priority": 1,
182 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
183 "timestamp_logger_nodes": [
184 "roborio"
185 ],
186 "time_to_live": 5000000
187 },
188 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]189 "name": "imu",
190 "priority": 1,
191 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
192 "timestamp_logger_nodes": [
193 "roborio"
194 ],
195 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]196 }
197 ]
198 },
199 {
200 "name": "/superstructure",
201 "type": "y2022.control_loops.superstructure.Goal",
202 "source_node": "roborio",
203 "frequency": 200,
204 "max_size": 512
205 },
206 {
207 "name": "/superstructure",
208 "type": "y2022.control_loops.superstructure.Status",
209 "source_node": "roborio",
210 "frequency": 200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]211 "num_senders": 2,
212 "logger": "LOCAL_AND_REMOTE_LOGGER",
213 "logger_nodes": [
214 "imu"
215 ],
216 "destination_nodes": [
217 {
218 "name": "imu",
219 "priority": 5,
220 "time_to_live": 5000000
221 }
222 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]223 },
224 {
225 "name": "/superstructure",
226 "type": "y2022.control_loops.superstructure.Output",
227 "source_node": "roborio",
228 "frequency": 200,
229 "num_senders": 2,
230 "max_size": 224
231 },
232 {
233 "name": "/superstructure",
234 "type": "y2022.control_loops.superstructure.Position",
235 "source_node": "roborio",
236 "frequency": 200,
237 "num_senders": 2,
238 "max_size": 448
239 },
240 {
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]241 "name": "/superstructure",
242 "type": "y2022.control_loops.superstructure.CANPosition",
243 "source_node": "roborio",
244 "frequency": 200,
245 "num_senders": 2,
246 "max_size": 72
247 },
248 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]249 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]250 "type": "frc971.sensors.GyroReading",
251 "source_node": "roborio",
252 "frequency": 200,
253 "num_senders": 2
254 },
255 {
256 "name": "/drivetrain",
257 "type": "frc971.sensors.Uid",
258 "source_node": "roborio",
259 "frequency": 200,
260 "num_senders": 2
261 },
262 {
263 "name": "/drivetrain",
264 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
265 "source_node": "roborio",
266 "max_size": 600000,
267 "frequency": 10,
268 "logger": "NOT_LOGGED",
269 "num_senders": 2,
270 "read_method": "PIN",
271 "num_readers": 10
272 },
273 {
274 "name": "/drivetrain",
275 "type": "frc971.control_loops.drivetrain.SplineGoal",
276 "source_node": "roborio",
277 "frequency": 10
278 },
279 {
280 "name": "/drivetrain",
281 "type": "frc971.control_loops.drivetrain.Goal",
282 "source_node": "roborio",
283 "max_size": 224,
284 "frequency": 200
285 },
286 {
287 "name": "/drivetrain",
288 "type": "frc971.control_loops.drivetrain.Position",
289 "source_node": "roborio",
290 "frequency": 200,
291 "max_size": 112,
292 "num_senders": 2
293 },
294 {
295 "name": "/drivetrain",
296 "type": "frc971.control_loops.drivetrain.Output",
297 "source_node": "roborio",
298 "frequency": 200,
299 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]300 "num_senders": 2,
301 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]302 "logger_nodes": [
303 "imu"
304 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]305 "destination_nodes": [
306 {
307 "name": "imu",
308 "priority": 5,
309 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
310 "timestamp_logger_nodes": [
311 "imu"
312 ],
313 "time_to_live": 5000000
314 }
315 ]
316 },
317 {
318 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
319 "type": "aos.message_bridge.RemoteMessage",
320 "source_node": "roborio",
321 "logger": "NOT_LOGGED",
322 "frequency": 200,
323 "num_senders": 2,
324 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]325 },
326 {
327 "name": "/drivetrain",
328 "type": "frc971.control_loops.drivetrain.Status",
329 "source_node": "roborio",
330 "frequency": 200,
331 "max_size": 1616,
332 "num_senders": 2
333 },
334 {
335 "name": "/drivetrain",
336 "type": "frc971.control_loops.drivetrain.LocalizerControl",
337 "source_node": "roborio",
338 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]339 "max_size": 96,
340 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]341 "logger_nodes": [
342 "imu"
343 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]344 "destination_nodes": [
345 {
346 "name": "imu",
347 "priority": 5,
348 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
349 "timestamp_logger_nodes": [
350 "imu"
351 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]352 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]353 }
354 ]
355 },
356 {
357 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
358 "type": "aos.message_bridge.RemoteMessage",
359 "source_node": "roborio",
360 "logger": "NOT_LOGGED",
361 "frequency": 200,
362 "num_senders": 2,
363 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]364 },
365 {
366 "name": "/drivetrain",
367 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
368 "source_node": "roborio"
369 },
370 {
371 "name": "/autonomous",
372 "type": "aos.common.actions.Status",
373 "source_node": "roborio"
374 },
375 {
376 "name": "/autonomous",
377 "type": "frc971.autonomous.Goal",
378 "source_node": "roborio"
379 },
380 {
381 "name": "/autonomous",
382 "type": "frc971.autonomous.AutonomousMode",
383 "source_node": "roborio",
384 "frequency": 200
385 },
386 {
387 "name": "/roborio/aos",
388 "type": "frc971.PDPValues",
389 "source_node": "roborio",
390 "frequency": 55,
391 "max_size": 368
392 },
393 {
394 "name": "/roborio/aos",
395 "type": "frc971.wpilib.PneumaticsToLog",
396 "source_node": "roborio",
397 "frequency": 50
398 }
399 ],
400 "applications": [
401 {
402 "name": "drivetrain",
403 "executable_name": "drivetrain",
404 "nodes": [
405 "roborio"
406 ]
407 },
408 {
409 "name": "trajectory_generator",
410 "executable_name": "trajectory_generator",
411 "nodes": [
412 "roborio"
413 ]
414 },
415 {
416 "name": "superstructure",
417 "executable_name": "superstructure",
418 "nodes": [
419 "roborio"
420 ]
421 },
422 {
423 "name": "joystick_reader",
424 "executable_name": "joystick_reader",
425 "nodes": [
426 "roborio"
427 ]
428 },
429 {
430 "name": "wpilib_interface",
431 "executable_name": "wpilib_interface",
432 "nodes": [
433 "roborio"
434 ]
435 },
436 {
437 "name": "autonomous_action",
438 "executable_name": "autonomous_action",
439 "nodes": [
440 "roborio"
441 ]
442 },
443 {
444 "name": "web_proxy",
445 "executable_name": "web_proxy_main",
446 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
447 "nodes": [
448 "roborio"
449 ]
450 },
451 {
452 "name": "message_bridge_client",
453 "executable_name": "message_bridge_client",
454 "args": ["--rt_priority=16"],
455 "nodes": [
456 "roborio"
457 ]
458 },
459 {
460 "name": "message_bridge_server",
461 "executable_name": "message_bridge_server",
462 "args": ["--rt_priority=16"],
463 "nodes": [
464 "roborio"
465 ]
466 },
467 {
468 "name": "logger",
469 "executable_name": "logger_main",
470 "args": ["--snappy_compress"],
471 "nodes": [
472 "roborio"
473 ]
474 }
475 ],
476 "maps": [
477 {
478 "match": {
479 "name": "/aos*",
480 "source_node": "roborio"
481 },
482 "rename": {
483 "name": "/roborio/aos"
484 }
485 }
486 ],
487 "nodes": [
488 {
489 "name": "roborio",
490 "hostname": "roborio",
491 "hostnames": [
492 "roboRIO-971-FRC",
493 "roboRIO-6971-FRC",
494 "roboRIO-7971-FRC",
495 "roboRIO-8971-FRC",
496 "roboRIO-9971-FRC"
497 ],
498 "port": 9971
499 },
500 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]501 "name": "imu"
502 },
503 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]504 "name": "logger"
505 },
506 {
507 "name": "pi1"
508 },
509 {
510 "name": "pi2"
511 },
512 {
513 "name": "pi3"
514 },
515 {
516 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]517 }
518 ]
519}