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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 75f10c068d509e614d132363f9883baacb29ac4e / . / y2020 / y2020_roborio.json
blob: 703d5603b8060143a638c15e0be08f73e350875f [file] [log] [blame]
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]1{
2 "channels":
3 [
4 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]5 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]6 "type": "aos.JoystickState",
7 "source_node": "roborio",
8 "frequency": 75
9 },
10 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]11 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]12 "type": "aos.RobotState",
13 "source_node": "roborio",
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]14 "frequency": 200
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]15 },
16 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]17 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]18 "type": "aos.timing.Report",
19 "source_node": "roborio",
20 "frequency": 50,
21 "num_senders": 20,
22 "max_size": 2048
23 },
24 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]25 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]26 "type": "aos.logging.LogMessageFbs",
27 "source_node": "roborio",
28 "frequency": 400,
29 "num_senders": 20
30 },
31 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]32 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]33 "type": "aos.message_bridge.ServerStatistics",
34 "source_node": "roborio",
35 "frequency": 2,
36 "num_senders": 2
37 },
38 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]39 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]40 "type": "aos.message_bridge.ClientStatistics",
41 "source_node": "roborio",
42 "frequency": 10,
43 "num_senders": 2
44 },
45 {
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]46 "name": "/roborio/aos/remote_timestamps/pi1",
47 "type": "aos.logger.MessageHeader",
48 "logger": "NOT_LOGGED",
49 "source_node": "roborio"
50 },
51 {
52 "name": "/roborio/aos/remote_timestamps/pi2",
53 "type": "aos.logger.MessageHeader",
54 "logger": "NOT_LOGGED",
55 "source_node": "roborio"
56 },
57 {
58 "name": "/roborio/aos/remote_timestamps/pi3",
59 "type": "aos.logger.MessageHeader",
60 "logger": "NOT_LOGGED",
61 "source_node": "roborio"
62 },
63 {
64 "name": "/roborio/aos/remote_timestamps/pi4",
65 "type": "aos.logger.MessageHeader",
66 "logger": "NOT_LOGGED",
67 "source_node": "roborio"
68 },
69 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]70 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]71 "type": "aos.message_bridge.Timestamp",
72 "source_node": "roborio",
73 "frequency": 10,
74 "num_senders": 2,
Austin Schuhd54780b2020-10-03 16:26:02 -0700[diff] [blame]75 "max_size": 400,
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]76 "destination_nodes": [
77 {
78 "name": "pi1",
79 "priority": 1,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]80 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
81 "timestamp_logger_nodes": ["roborio"],
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]82 "time_to_live": 5000000
83 },
84 {
85 "name": "pi2",
86 "priority": 1,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]87 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
88 "timestamp_logger_nodes": ["roborio"],
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]89 "time_to_live": 5000000
90 },
91 {
92 "name": "pi3",
93 "priority": 1,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]94 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
95 "timestamp_logger_nodes": ["roborio"],
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]96 "time_to_live": 5000000
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]97 },
98 {
99 "name": "pi4",
100 "priority": 1,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]101 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
102 "timestamp_logger_nodes": ["roborio"],
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]103 "time_to_live": 5000000
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]104 }
105 ]
106 },
107 {
108 "name": "/superstructure",
109 "type": "y2020.control_loops.superstructure.Goal",
110 "source_node": "roborio",
111 "frequency": 200
112 },
113 {
114 "name": "/superstructure",
115 "type": "y2020.control_loops.superstructure.Status",
116 "source_node": "roborio",
117 "frequency": 200,
118 "num_senders": 2
119 },
120 {
121 "name": "/superstructure",
122 "type": "y2020.control_loops.superstructure.Output",
123 "source_node": "roborio",
124 "frequency": 200,
125 "num_senders": 2
126 },
127 {
128 "name": "/superstructure",
129 "type": "y2020.control_loops.superstructure.Position",
130 "source_node": "roborio",
131 "frequency": 200,
132 "num_senders": 2
133 },
134 {
135 "name": "/superstructure",
136 "type": "y2020.joysticks.Setpoint",
137 "source_node": "roborio",
138 "num_senders": 2
139 },
140 {
141 "name": "/drivetrain",
Austin Schuhac17fba2020-03-28 15:55:33 -0700[diff] [blame]142 "type": "frc971.IMUValuesBatch",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]143 "source_node": "roborio",
Austin Schuhac17fba2020-03-28 15:55:33 -0700[diff] [blame]144 "frequency": 200,
145 "max_size": 2000,
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]146 "num_senders": 2
147 },
148 {
149 "name": "/drivetrain",
150 "type": "frc971.sensors.GyroReading",
151 "source_node": "roborio",
152 "frequency": 200,
153 "num_senders": 2
154 },
155 {
156 "name": "/drivetrain",
157 "type": "frc971.sensors.Uid",
158 "source_node": "roborio",
159 "frequency": 200,
160 "num_senders": 2
161 },
162 {
163 "name": "/drivetrain",
164 "type": "frc971.control_loops.drivetrain.Goal",
165 "source_node": "roborio",
166 "frequency": 200
167 },
168 {
169 "name": "/drivetrain",
170 "type": "frc971.control_loops.drivetrain.Position",
171 "source_node": "roborio",
172 "frequency": 200,
173 "num_senders": 2
174 },
175 {
176 "name": "/drivetrain",
177 "type": "frc971.control_loops.drivetrain.Status",
178 "source_node": "roborio",
179 "frequency": 200,
180 "max_size": 2000,
181 "num_senders": 2,
182 "destination_nodes": [
183 {
184 "name": "pi1",
185 "priority": 5,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]186 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
187 "timestamp_logger_nodes": ["roborio"],
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]188 "time_to_live": 5000000
189 },
190 {
191 "name": "pi2",
192 "priority": 5,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]193 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
194 "timestamp_logger_nodes": ["roborio"],
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]195 "time_to_live": 5000000
196 },
197 {
198 "name": "pi3",
199 "priority": 5,
Austin Schuha479efb2020-12-05 15:21:33 -0800[diff] [blame]200 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
201 "timestamp_logger_nodes": ["roborio"],
202 "time_to_live": 5000000
203 },
204 {
205 "name": "pi4",
206 "priority": 5,
207 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
208 "timestamp_logger_nodes": ["roborio"],
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]209 "time_to_live": 5000000
210 }
211 ]
212 },
213 {
214 "name": "/drivetrain",
215 "type": "frc971.control_loops.drivetrain.Output",
216 "source_node": "roborio",
217 "frequency": 200,
218 "num_senders": 2
219 },
220 {
221 "name": "/drivetrain",
222 "type": "frc971.control_loops.drivetrain.LocalizerControl",
223 "source_node": "roborio",
224 "frequency": 200
225 },
226 {
227 "name": "/drivetrain",
228 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
229 "source_node": "roborio"
230 },
231 {
232 "name": "/autonomous",
233 "type": "aos.common.actions.Status",
234 "source_node": "roborio"
235 },
236 {
237 "name": "/autonomous",
238 "type": "frc971.autonomous.Goal",
239 "source_node": "roborio"
240 },
241 {
242 "name": "/autonomous",
243 "type": "frc971.autonomous.AutonomousMode",
244 "source_node": "roborio",
245 "frequency": 200
246 },
247 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]248 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]249 "type": "frc971.PDPValues",
250 "source_node": "roborio",
251 "frequency": 50
252 },
253 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]254 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]255 "type": "frc971.wpilib.PneumaticsToLog",
256 "source_node": "roborio",
257 "frequency": 50
258 }
259 ],
260 "applications": [
261 {
Ravago Jones754e22f2020-11-21 15:54:08 -0800[diff] [blame]262 "name": "drivetrain",
263 "executable_name": "drivetrain.stripped",
264 "nodes": ["roborio"]
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]265 },
266 {
Ravago Jones754e22f2020-11-21 15:54:08 -0800[diff] [blame]267 "name": "superstructure",
268 "executable_name": "superstructure.stripped",
269 "nodes": ["roborio"]
270 },
271 {
272 "name": "joystick_reader",
273 "executable_name": "joystick_reader.stripped",
274 "nodes": ["roborio"]
275 },
276 {
277 "name": "wpilib_interface",
278 "executable_name": "wpilib_interface.stripped",
279 "nodes": ["roborio"]
280 },
281 {
282 "name": "autonomous_action",
283 "executable_name": "autonomous_action.stripped",
284 "nodes": ["roborio"]
285 },
286 {
287 "name": "message_bridge_client",
288 "executable_name": "message_bridge_client.stripped",
289 "nodes": ["roborio"]
290 },
291 {
292 "name": "message_bridge_server",
293 "executable_name": "message_bridge_server.stripped",
294 "nodes": ["roborio"]
295 },
296 {
297 "name": "logger",
298 "executable_name": "logger_main.stripped",
299 "nodes": ["roborio"]
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]300 }
301 ],
302 "maps": [
303 {
304 "match": {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]305 "name": "/aos*",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]306 "source_node": "roborio"
307 },
308 "rename": {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]309 "name": "/roborio/aos"
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]310 }
311 }
312 ],
313 "nodes": [
314 {
315 "name": "roborio",
316 "hostname": "roborio",
317 "hostnames": [
318 "roboRIO-971-FRC",
James Kuszmaul6535d562020-05-09 16:58:13 -0700[diff] [blame]319 "roboRIO-6971-FRC",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]320 "roboRIO-7971-FRC",
321 "roboRIO-8971-FRC",
322 "roboRIO-9971-FRC"
323 ],
324 "port": 9971
325 },
326 {
327 "name": "pi1"
328 },
329 {
330 "name": "pi2"
331 },
332 {
333 "name": "pi3"
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame]334 },
335 {
336 "name": "pi4"
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]337 }
338 ]
339}