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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 0dedb5e4a5c3d84319a0fc473a9a8d89ea19d4ac / . / y2022 / y2022_imu.json
blob: 3d97c3ccb651d379150a0f802ef085f2d2fd9db6 [file] [log] [blame]
James Kuszmaulef35d732022-02-12 16:37:32 -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 "frequency": 50,
23 "num_senders": 20,
24 "destination_nodes": [
25 {
26 "name": "roborio",
27 "priority": 5,
28 "time_to_live": 5000000
29 },
30 {
31 "name": "logger",
32 "priority": 5,
33 "time_to_live": 5000000
34 }
35 ]
36 },
37 {
38 "name": "/imu/aos",
39 "type": "aos.starter.StarterRpc",
40 "source_node": "imu",
41 "frequency": 10,
42 "num_senders": 2,
43 "destination_nodes": [
44 {
45 "name": "roborio",
46 "priority": 5,
47 "time_to_live": 5000000
48 },
49 {
50 "name": "logger",
51 "priority": 5,
52 "time_to_live": 5000000
53 }
54 ]
55 },
56 {
57 "name": "/imu/aos",
58 "type": "aos.message_bridge.ServerStatistics",
59 "source_node": "imu",
60 "frequency": 10,
61 "num_senders": 2
62 },
63 {
64 "name": "/imu/aos",
65 "type": "aos.message_bridge.ClientStatistics",
66 "source_node": "imu",
67 "frequency": 10,
68 "num_senders": 2
69 },
70 {
71 "name": "/imu/aos",
72 "type": "aos.message_bridge.Timestamp",
73 "source_node": "imu",
74 "frequency": 15,
75 "num_senders": 2,
76 "logger": "LOCAL_AND_REMOTE_LOGGER",
77 "logger_nodes": [
78 "roborio",
79 "logger"
80 ],
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]81 "max_size": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]82 "destination_nodes": [
83 {
84 "name": "roborio",
85 "priority": 1,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]86 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
87 "timestamp_logger_nodes": [
88 "imu"
89 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]90 "time_to_live": 5000000
91 },
92 {
93 "name": "logger",
94 "priority": 1,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]95 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
96 "timestamp_logger_nodes": [
97 "imu"
98 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]99 "time_to_live": 5000000
100 }
101 ]
102 },
103 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]104 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
105 "type": "aos.message_bridge.RemoteMessage",
106 "frequency": 20,
107 "source_node": "imu",
108 "max_size": 208
109 },
110 {
111 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
112 "type": "aos.message_bridge.RemoteMessage",
113 "frequency": 20,
114 "source_node": "imu",
115 "max_size": 208
116 },
117 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]118 "name": "/logger/aos",
119 "type": "aos.starter.StarterRpc",
120 "source_node": "logger",
121 "destination_nodes": [
122 {
123 "name": "imu",
124 "priority": 5,
125 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
126 "timestamp_logger_nodes": [
127 "logger"
128 ],
129 "time_to_live": 5000000
130 }
131 ]
132 },
133 {
134 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
135 "type": "aos.message_bridge.RemoteMessage",
136 "source_node": "logger",
137 "logger": "NOT_LOGGED",
138 "frequency": 20,
139 "num_senders": 2,
140 "max_size": 200
141 },
142 {
143 "name": "/logger/aos",
144 "type": "aos.starter.Status",
145 "source_node": "logger",
146 "destination_nodes": [
147 {
148 "name": "imu",
149 "priority": 5,
150 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
151 "timestamp_logger_nodes": [
152 "logger"
153 ],
154 "time_to_live": 5000000
155 }
156 ]
157 },
158 {
159 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
160 "type": "aos.message_bridge.RemoteMessage",
161 "source_node": "logger",
162 "logger": "NOT_LOGGED",
163 "frequency": 20,
164 "num_senders": 2,
165 "max_size": 200
166 },
167 {
168 "name": "/roborio/aos",
169 "type": "aos.starter.StarterRpc",
170 "source_node": "roborio",
171 "destination_nodes": [
172 {
173 "name": "imu",
174 "priority": 5,
175 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
176 "timestamp_logger_nodes": [
177 "roborio"
178 ],
179 "time_to_live": 5000000
180 }
181 ]
182 },
183 {
184 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
185 "type": "aos.message_bridge.RemoteMessage",
186 "source_node": "roborio",
187 "logger": "NOT_LOGGED",
188 "frequency": 20,
189 "num_senders": 2,
190 "max_size": 200
191 },
192 {
193 "name": "/roborio/aos",
194 "type": "aos.starter.Status",
195 "source_node": "roborio",
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]196 "logger": "LOCAL_AND_REMOTE_LOGGER",
197 "logger_nodes": [
198 "imu"
199 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]200 "destination_nodes": [
201 {
202 "name": "imu",
203 "priority": 5,
204 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
205 "timestamp_logger_nodes": [
206 "roborio"
207 ],
208 "time_to_live": 5000000
209 }
210 ]
211 },
212 {
213 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
214 "type": "aos.message_bridge.RemoteMessage",
215 "source_node": "roborio",
216 "logger": "NOT_LOGGED",
217 "frequency": 20,
218 "num_senders": 2,
219 "max_size": 200
220 },
221 {
222 "name": "/localizer",
223 "type": "frc971.controls.LocalizerStatus",
224 "source_node": "imu",
225 "frequency": 2200,
226 "max_size": 2000,
227 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]228 "logger_nodes": [
James Kuszmaul366a2472022-03-05 14:29:51 -0800[diff] [blame]229 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]230 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]231 "destination_nodes": [
232 {
233 "name": "logger",
234 "priority": 5,
235 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
236 "timestamp_logger_nodes": [
237 "imu"
238 ],
239 "time_to_live": 5000000
240 }
241 ]
242 },
243 {
244 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerStatus",
245 "type": "aos.message_bridge.RemoteMessage",
246 "source_node": "imu",
247 "logger": "NOT_LOGGED",
248 "frequency": 2200,
249 "num_senders": 2,
250 "max_size": 200
251 },
252 {
253 "name": "/localizer",
James Kuszmaul0dedb5e2022-03-05 16:02:20 -0800[diff] [blame^]254 "type": "frc971.controls.LocalizerVisualization",
255 "source_node": "imu",
256 "frequency": 200,
257 "max_size": 2000,
258 "logger": "LOCAL_AND_REMOTE_LOGGER",
259 "logger_nodes": [
260 "logger"
261 ],
262 "destination_nodes": [
263 {
264 "name": "logger",
265 "priority": 5,
266 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
267 "timestamp_logger_nodes": [
268 "imu"
269 ],
270 "time_to_live": 5000000
271 }
272 ]
273 },
274 {
275 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerVisualization",
276 "type": "aos.message_bridge.RemoteMessage",
277 "source_node": "imu",
278 "logger": "NOT_LOGGED",
279 "frequency": 200,
280 "num_senders": 2,
281 "max_size": 200
282 },
283 {
284 "name": "/localizer",
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]285 "type": "frc971.controls.LocalizerOutput",
286 "source_node": "imu",
287 "frequency": 200,
288 "max_size": 200,
289 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]290 "logger_nodes": [
James Kuszmaul366a2472022-03-05 14:29:51 -0800[diff] [blame]291 "roborio",
292 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]293 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]294 "destination_nodes": [
295 {
296 "name": "roborio",
297 "priority": 5,
298 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
299 "timestamp_logger_nodes": [
300 "imu"
301 ],
302 "time_to_live": 5000000
303 },
304 {
305 "name": "logger",
306 "priority": 5,
307 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
308 "timestamp_logger_nodes": [
309 "imu"
310 ],
311 "time_to_live": 5000000
312 }
313 ]
314 },
315 {
316 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
317 "type": "aos.message_bridge.RemoteMessage",
318 "source_node": "imu",
319 "logger": "NOT_LOGGED",
320 "frequency": 200,
321 "num_senders": 2,
322 "max_size": 200
323 },
324 {
325 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput",
326 "type": "aos.message_bridge.RemoteMessage",
327 "source_node": "imu",
328 "logger": "NOT_LOGGED",
329 "frequency": 200,
330 "num_senders": 2,
331 "max_size": 200
332 },
333 {
334 "name": "/localizer",
335 "type": "frc971.IMUValuesBatch",
336 "source_node": "imu",
337 "frequency": 2200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]338 "max_size": 1600,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]339 "num_senders": 2,
340 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]341 "logger_nodes": [
342 "logger"
343 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]344 "destination_nodes": [
345 {
346 "name": "logger",
347 "priority": 5,
348 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
349 "timestamp_logger_nodes": [
350 "imu"
351 ],
352 "time_to_live": 5000000
353 }
354 ]
355 },
356 {
357 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-IMUValuesBatch",
358 "type": "aos.message_bridge.RemoteMessage",
359 "source_node": "imu",
360 "logger": "NOT_LOGGED",
361 "frequency": 2200,
362 "num_senders": 2,
363 "max_size": 200
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]364 }
365 ],
366 "applications": [
367 {
368 "name": "message_bridge_client",
369 "executable_name": "message_bridge_client",
370 "nodes": [
371 "imu"
372 ]
373 },
374 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]375 "name": "localizer",
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]376 "executable_name": "localizer_main",
James Kuszmaul0ac35722022-02-25 21:13:03 -0800[diff] [blame]377 "nodes": [
378 "imu"
379 ]
380 },
381 {
382 "name": "imu",
383 "executable_name": "imu_main",
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]384 "nodes": [
385 "imu"
386 ]
387 },
388 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]389 "name": "message_bridge_server",
390 "executable_name": "message_bridge_server",
391 "nodes": [
392 "imu"
393 ]
394 },
395 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]396 "name": "localizer_logger",
397 "executable_name": "logger_main",
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]398 "args": ["--snappy_compress"],
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]399 "nodes": [
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]400 "imu"
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]401 ]
402 },
403 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]404 "name": "web_proxy",
405 "executable_name": "web_proxy_main",
406 "nodes": [
407 "imu"
408 ]
409 }
410 ],
411 "maps": [
412 {
413 "match": {
414 "name": "/aos*",
415 "source_node": "imu"
416 },
417 "rename": {
418 "name": "/imu/aos"
419 }
420 }
421 ],
422 "nodes": [
423 {
424 "name": "imu",
425 "hostname": "imu",
426 "hostnames": [
James Kuszmaul4dc277d2022-02-26 19:14:05 -0800[diff] [blame]427 "pi-971-5",
428 "pi-7971-5",
429 "pi-8971-5",
430 "pi-9971-5"
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]431 ],
432 "port": 9971
433 },
434 {
435 "name": "logger"
436 },
437 {
438 "name": "roborio"
439 }
440 ]
441}