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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 0b9b005146a0601dbdaeadf2b26f34ab26ef72a5 / . / y2022 / y2022_roborio.json
blob: b16f0cb9d623da03f69134c564570a68dbcf43aa [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 {
Henry Speiser0b9b0052022-03-02 23:07:40 -0800[diff] [blame^]249 "name": "/superstructure",
250 "type": "y2022.input.joysticks.Setpoint",
251 "source_node": "roborio",
252 "num_senders": 2
253 },
254 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]255 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]256 "type": "frc971.sensors.GyroReading",
257 "source_node": "roborio",
258 "frequency": 200,
259 "num_senders": 2
260 },
261 {
262 "name": "/drivetrain",
263 "type": "frc971.sensors.Uid",
264 "source_node": "roborio",
265 "frequency": 200,
266 "num_senders": 2
267 },
268 {
269 "name": "/drivetrain",
270 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
271 "source_node": "roborio",
272 "max_size": 600000,
273 "frequency": 10,
274 "logger": "NOT_LOGGED",
275 "num_senders": 2,
276 "read_method": "PIN",
277 "num_readers": 10
278 },
279 {
280 "name": "/drivetrain",
281 "type": "frc971.control_loops.drivetrain.SplineGoal",
282 "source_node": "roborio",
283 "frequency": 10
284 },
285 {
286 "name": "/drivetrain",
287 "type": "frc971.control_loops.drivetrain.Goal",
288 "source_node": "roborio",
289 "max_size": 224,
290 "frequency": 200
291 },
292 {
293 "name": "/drivetrain",
294 "type": "frc971.control_loops.drivetrain.Position",
295 "source_node": "roborio",
296 "frequency": 200,
297 "max_size": 112,
298 "num_senders": 2
299 },
300 {
301 "name": "/drivetrain",
302 "type": "frc971.control_loops.drivetrain.Output",
303 "source_node": "roborio",
304 "frequency": 200,
305 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]306 "num_senders": 2,
307 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]308 "logger_nodes": [
309 "imu"
310 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]311 "destination_nodes": [
312 {
313 "name": "imu",
314 "priority": 5,
315 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
316 "timestamp_logger_nodes": [
317 "imu"
318 ],
319 "time_to_live": 5000000
320 }
321 ]
322 },
323 {
324 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
325 "type": "aos.message_bridge.RemoteMessage",
326 "source_node": "roborio",
327 "logger": "NOT_LOGGED",
328 "frequency": 200,
329 "num_senders": 2,
330 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]331 },
332 {
333 "name": "/drivetrain",
334 "type": "frc971.control_loops.drivetrain.Status",
335 "source_node": "roborio",
336 "frequency": 200,
337 "max_size": 1616,
338 "num_senders": 2
339 },
340 {
341 "name": "/drivetrain",
342 "type": "frc971.control_loops.drivetrain.LocalizerControl",
343 "source_node": "roborio",
344 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]345 "max_size": 96,
346 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]347 "logger_nodes": [
348 "imu"
349 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]350 "destination_nodes": [
351 {
352 "name": "imu",
353 "priority": 5,
354 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
355 "timestamp_logger_nodes": [
356 "imu"
357 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]358 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]359 }
360 ]
361 },
362 {
363 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
364 "type": "aos.message_bridge.RemoteMessage",
365 "source_node": "roborio",
366 "logger": "NOT_LOGGED",
367 "frequency": 200,
368 "num_senders": 2,
369 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]370 },
371 {
372 "name": "/drivetrain",
373 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
374 "source_node": "roborio"
375 },
376 {
377 "name": "/autonomous",
378 "type": "aos.common.actions.Status",
379 "source_node": "roborio"
380 },
381 {
382 "name": "/autonomous",
383 "type": "frc971.autonomous.Goal",
384 "source_node": "roborio"
385 },
386 {
387 "name": "/autonomous",
388 "type": "frc971.autonomous.AutonomousMode",
389 "source_node": "roborio",
390 "frequency": 200
391 },
392 {
393 "name": "/roborio/aos",
394 "type": "frc971.PDPValues",
395 "source_node": "roborio",
396 "frequency": 55,
397 "max_size": 368
398 },
399 {
400 "name": "/roborio/aos",
401 "type": "frc971.wpilib.PneumaticsToLog",
402 "source_node": "roborio",
403 "frequency": 50
404 }
405 ],
406 "applications": [
407 {
408 "name": "drivetrain",
409 "executable_name": "drivetrain",
410 "nodes": [
411 "roborio"
412 ]
413 },
414 {
415 "name": "trajectory_generator",
416 "executable_name": "trajectory_generator",
417 "nodes": [
418 "roborio"
419 ]
420 },
421 {
422 "name": "superstructure",
423 "executable_name": "superstructure",
424 "nodes": [
425 "roborio"
426 ]
427 },
428 {
429 "name": "joystick_reader",
430 "executable_name": "joystick_reader",
431 "nodes": [
432 "roborio"
433 ]
434 },
435 {
436 "name": "wpilib_interface",
437 "executable_name": "wpilib_interface",
438 "nodes": [
439 "roborio"
440 ]
441 },
442 {
443 "name": "autonomous_action",
444 "executable_name": "autonomous_action",
445 "nodes": [
446 "roborio"
447 ]
448 },
449 {
450 "name": "web_proxy",
451 "executable_name": "web_proxy_main",
452 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
453 "nodes": [
454 "roborio"
455 ]
456 },
457 {
458 "name": "message_bridge_client",
459 "executable_name": "message_bridge_client",
460 "args": ["--rt_priority=16"],
461 "nodes": [
462 "roborio"
463 ]
464 },
465 {
466 "name": "message_bridge_server",
467 "executable_name": "message_bridge_server",
468 "args": ["--rt_priority=16"],
469 "nodes": [
470 "roborio"
471 ]
472 },
473 {
474 "name": "logger",
475 "executable_name": "logger_main",
476 "args": ["--snappy_compress"],
477 "nodes": [
478 "roborio"
479 ]
480 }
481 ],
482 "maps": [
483 {
484 "match": {
485 "name": "/aos*",
486 "source_node": "roborio"
487 },
488 "rename": {
489 "name": "/roborio/aos"
490 }
491 }
492 ],
493 "nodes": [
494 {
495 "name": "roborio",
496 "hostname": "roborio",
497 "hostnames": [
498 "roboRIO-971-FRC",
499 "roboRIO-6971-FRC",
500 "roboRIO-7971-FRC",
501 "roboRIO-8971-FRC",
502 "roboRIO-9971-FRC"
503 ],
504 "port": 9971
505 },
506 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]507 "name": "imu"
508 },
509 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]510 "name": "logger"
511 },
512 {
513 "name": "pi1"
514 },
515 {
516 "name": "pi2"
517 },
518 {
519 "name": "pi3"
520 },
521 {
522 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]523 }
524 ]
525}