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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 9b1732cdbaddb1ad546b0ad4ae5cad323366649c / . / y2024 / y2024_imu.json
blob: e22e0103b4f17ebc61e86a5b47c69e6b44f4ad90 [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.JoystickState",
6 "source_node": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "orin1",
11 "orin2"
12 ],
13 "destination_nodes": [
14 {
15 "name": "orin1",
16 "priority": 5,
17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "imu"
21 ]
22 },
23 {
24 "name": "orin2",
25 "priority": 5,
26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "imu"
30 ]
31 },
32 ]
33 },
34 {
35 "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "imu",
38 "logger": "NOT_LOGGED",
39 "frequency": 300,
40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
44 "name": "/imu/aos/remote_timestamps/orin2/imu/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "imu",
47 "logger": "NOT_LOGGED",
48 "frequency": 300,
49 "num_senders": 2,
50 "max_size": 200
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]51 },
52 {
53 "name": "/imu/aos",
54 "type": "aos.timing.Report",
55 "source_node": "imu",
56 "frequency": 50,
57 "num_senders": 20,
58 "max_size": 4096
59 },
60 {
61 "name": "/imu/aos",
62 "type": "aos.logging.LogMessageFbs",
63 "source_node": "imu",
64 "frequency": 200,
65 "num_senders": 20
66 },
67 {
68 "name": "/imu/aos",
69 "type": "aos.starter.Status",
70 "source_node": "imu",
71 "frequency": 50,
72 "num_senders": 20,
73 "max_size": 2048
74 },
75 {
76 "name": "/imu/aos",
77 "type": "aos.starter.StarterRpc",
78 "source_node": "imu",
79 "frequency": 10,
80 "num_senders": 2
81 },
82 {
83 "name": "/imu/aos",
84 "type": "aos.message_bridge.ServerStatistics",
85 "source_node": "imu",
86 "max_size": 2048,
87 "frequency": 10,
88 "num_senders": 2
89 },
90 {
91 "name": "/imu/aos",
92 "type": "aos.message_bridge.ClientStatistics",
93 "source_node": "imu",
94 "frequency": 20,
95 "num_senders": 2
96 },
97 {
98 "name": "/imu/aos",
99 "type": "aos.logging.DynamicLogCommand",
100 "source_node": "imu",
101 "frequency": 10,
102 "num_senders": 2
103 },
104 {
105 "name": "/imu/aos",
106 "type": "aos.message_bridge.Timestamp",
107 "source_node": "imu",
108 "frequency": 15,
109 "num_senders": 2,
110 "logger_nodes": [
111 "roborio"
112 ],
113 "max_size": 400,
114 "destination_nodes": [
115 {
116 "name": "roborio",
117 "priority": 1,
118 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
119 "timestamp_logger_nodes": [
120 "imu"
121 ],
122 "time_to_live": 5000000
123 }
124 ]
125 },
126 {
127 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
128 "type": "aos.message_bridge.RemoteMessage",
129 "frequency": 20,
130 "source_node": "imu",
131 "max_size": 208
132 },
133 {
134 "name": "/roborio/aos",
135 "type": "aos.starter.StarterRpc",
136 "source_node": "roborio",
137 "logger": "LOCAL_AND_REMOTE_LOGGER",
138 "logger_nodes": [
139 "imu"
140 ],
141 "destination_nodes": [
142 {
143 "name": "imu",
144 "priority": 5,
145 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
146 "timestamp_logger_nodes": [
147 "roborio"
148 ],
149 "time_to_live": 5000000
150 }
151 ]
152 },
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]153 {
154 "name": "/localizer",
155 "type": "frc971.controls.LocalizerOutput",
156 "source_node": "imu",
157 "frequency": 52,
158 "logger": "LOCAL_AND_REMOTE_LOGGER",
159 "logger_nodes": [
160 "roborio"
161 ],
162 "destination_nodes": [
163 {
164 "name": "roborio",
165 "priority": 5,
166 "time_to_live": 5000000,
167 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
168 "timestamp_logger_nodes": [
169 "imu"
170 ]
171 }
172 ]
173 },
174 {
175 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
176 "type": "aos.message_bridge.RemoteMessage",
177 "source_node": "imu",
178 "logger": "NOT_LOGGED",
179 "frequency": 52,
180 "num_senders": 2,
181 "max_size": 200
182 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]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 {
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame]193 "name": "/imu",
194 "type": "frc971.imu.DualImu",
195 "source_node": "imu",
196 "frequency": 1100,
197 "num_senders": 1,
198 "max_size": 496
199 },
200 {
201 "name": "/imu",
202 "type": "frc971.imu.CanTranslatorStatus",
203 "source_node": "imu",
204 "frequency": 1000,
205 "num_senders": 1,
206 "max_size": 200
207 },
208 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]209 "name": "/can/cana",
210 "type": "frc971.can_logger.CanFrame",
211 "source_node": "imu",
212 "frequency": 6000,
213 "num_senders": 2,
214 "max_size": 200
215 },
216 {
217 "name": "/can/canb",
218 "type": "frc971.can_logger.CanFrame",
219 "source_node": "imu",
220 "frequency": 6000,
221 "num_senders": 2,
222 "max_size": 200
223 },
224 {
225 "name": "/can/canc",
226 "type": "frc971.can_logger.CanFrame",
227 "source_node": "imu",
228 "frequency": 6000,
229 "num_senders": 2,
230 "max_size": 200
231 },
232 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]233 "name": "/localizer",
234 "type": "frc971.IMUValuesBatch",
235 "source_node": "imu",
236 "frequency": 2200,
237 "max_size": 1600,
238 "num_senders": 2
239 },
240 {
Maxwell Henderson87b1e6c2024-02-11 23:40:05 -0800[diff] [blame]241 "name": "/imu",
242 "type": "frc971.imu.DualImuBlenderStatus",
243 "source_node": "imu",
244 "frequency": 1100,
245 "num_senders": 1,
246 "max_size": 200
247 },
248 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]249 "name": "/imu/constants",
250 "type": "y2024.Constants",
251 "source_node": "imu",
252 "frequency": 1,
253 "num_senders": 2,
254 "max_size": 65536
255 }
256 ],
257 "applications": [
258 {
259 "name": "message_bridge_client",
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]260 "args": [
261 "--rt_priority=16",
262 "--sinit_max_init_timeout=5000"
263 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]264 "nodes": [
265 "imu"
266 ]
267 },
268 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]269 "name": "joystick_republish",
270 "executable_name": "joystick_republish",
271 "user": "pi",
272 "nodes": [
273 "imu"
274 ]
275 },
276 {
277 "name": "message_bridge_server",
278 "executable_name": "message_bridge_server",
279 "user": "pi",
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]280 "args": [
281 "--rt_priority=16",
282 "--sinit_max_init_timeout=5000"
283 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]284 "nodes": [
285 "imu"
286 ]
287 },
288 {
289 "name": "localizer_logger",
290 "executable_name": "logger_main",
291 "args": [
292 "--logging_folder",
293 "",
294 "--snappy_compress",
295 "--rotate_every", "30.0"
296 ],
297 "user": "pi",
298 "nodes": [
299 "imu"
300 ]
301 },
302 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]303 "name": "can_logger",
304 "executable_name": "can_logger",
305 "nodes": [
306 "imu"
307 ]
308 },
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame]309 // TODO(max): Update the channel value with whatever channel the IMU is on.
310 {
311 "name": "can_translator",
312 "executable_name": "can_translator",
313 "args": [
314 "--channel=/can/canb"
315 ],
316 "nodes": [
317 "imu"
318 ]
319 },
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]320 {
Maxwell Henderson87b1e6c2024-02-11 23:40:05 -0800[diff] [blame]321 "name": "dual_imu_blender",
322 "executable_name": "dual_imu_blender",
323 "nodes": [
324 "imu"
325 ]
326 },
327 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]328 "name": "web_proxy",
329 "executable_name": "web_proxy_main",
330 "args": [
331 "--min_ice_port=5800",
332 "--max_ice_port=5810"
333 ],
334 "user": "pi",
335 "nodes": [
336 "imu"
337 ]
338 },
339 {
340 "name": "foxglove_websocket",
341 "user": "pi",
342 "nodes": [
343 "imu"
344 ]
345 },
346 {
347 "name": "constants_sender",
348 "autorestart": false,
349 "user": "pi",
350 "nodes": [
351 "imu"
352 ]
353 }
354 ],
355 "maps": [
356 {
357 "match": {
358 "name": "/constants*",
359 "source_node": "imu"
360 },
361 "rename": {
362 "name": "/imu/constants"
363 }
364 },
365 {
366 "match": {
367 "name": "/aos*",
368 "source_node": "imu"
369 },
370 "rename": {
371 "name": "/imu/aos"
372 }
373 }
374 ],
375 "nodes": [
376 {
377 "name": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]378 "hostname": "orin3",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]379 "hostnames": [
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]380 "orin-971-3",
381 "orin-7971-3",
382 "orin-8971-3",
383 "orin-9971-3"
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]384 ],
385 "port": 9971
386 },
387 {
388 "name": "roborio"
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]389 },
390 {
391 "name": "orin1"
392 },
393 {
394 "name": "orin2"
395 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]396 ]
397}