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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 18b31bf198249caaa55dd72870d1d0b12dae5890 / . / y2023 / y2023_roborio.json
blob: 09873dccc98573bc31add8868cd1b32751c3efe6 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes" : [
10 "imu",
11 "logger"
12 ],
13 "destination_nodes": [
14 {
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17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
22 },
23 {
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27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "roborio"
30 ]
31 }
32 ]
33 },
34 {
35 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "roborio",
38 "logger": "NOT_LOGGED",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]39 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
44 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "roborio",
47 "logger": "NOT_LOGGED",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]48 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
53 "name": "/roborio/aos",
54 "type": "aos.RobotState",
55 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]56 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.timing.Report",
61 "source_node": "roborio",
62 "frequency": 50,
63 "num_senders": 20,
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]64 "max_size": 8192
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.logging.LogMessageFbs",
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70 "frequency": 500,
71 "max_size": 344,
72 "num_senders": 20
73 },
74 {
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81 "logger": "LOCAL_AND_REMOTE_LOGGER",
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84 ],
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86 {
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92 ],
93 "time_to_live": 5000000
94 }
95 ]
96 },
97 {
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99 "type": "aos.message_bridge.RemoteMessage",
100 "source_node": "roborio",
101 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]102 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]103 "num_senders": 2,
104 "max_size": 200
105 },
106 {
107 "name": "/roborio/aos",
108 "type": "aos.starter.StarterRpc",
109 "source_node": "roborio",
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112 "num_senders": 2,
113 "logger": "LOCAL_AND_REMOTE_LOGGER",
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118 {
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126 }
127 ]
128 },
129 {
130 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
131 "type": "aos.message_bridge.RemoteMessage",
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135 "num_senders": 2,
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137 },
138 {
139 "name": "/roborio/aos",
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142 "frequency": 10,
143 "num_senders": 2
144 },
145 {
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152 },
153 {
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157 "frequency": 10,
158 "num_senders": 2
159 },
160 {
161 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
162 "type": "aos.message_bridge.RemoteMessage",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]163 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]164 "source_node": "roborio"
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
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172 },
173 {
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179 },
180 {
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184 "source_node": "roborio"
185 },
186 {
187 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
188 "type": "aos.message_bridge.RemoteMessage",
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190 "source_node": "roborio"
191 },
192 {
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198 },
199 {
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206 "logger": "LOCAL_AND_REMOTE_LOGGER",
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208 "imu"
209 ],
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211 {
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215 "timestamp_logger_nodes": [
216 "roborio"
217 ],
218 "time_to_live": 5000000
219 },
220 {
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224 "timestamp_logger_nodes": [
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226 ],
227 "time_to_live": 5000000
228 },
229 {
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233 "timestamp_logger_nodes": [
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235 ],
236 "time_to_live": 5000000
237 },
238 {
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240 "priority": 1,
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242 "timestamp_logger_nodes": [
243 "roborio"
244 ],
245 "time_to_live": 5000000
246 },
247 {
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249 "priority": 1,
250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
252 "roborio"
253 ],
254 "time_to_live": 5000000
255 }
256 ]
257 },
258 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]259 "name": "/superstructure",
260 "type": "y2023.control_loops.superstructure.Goal",
261 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]262 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]263 "max_size": 512
264 },
265 {
266 "name": "/superstructure",
267 "type": "y2023.control_loops.superstructure.Status",
268 "source_node": "roborio",
269 "frequency": 400,
270 "num_senders": 2
271 },
272 {
273 "name": "/superstructure",
274 "type": "y2023.control_loops.superstructure.Output",
275 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]276 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]277 "num_senders": 2,
278 "max_size": 224
279 },
280 {
281 "name": "/superstructure",
282 "type": "y2023.control_loops.superstructure.Position",
283 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]284 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]285 "num_senders": 2,
286 "max_size": 448
287 },
288 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]289 "name": "/drivetrain",
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]290 "type": "y2023.control_loops.drivetrain.CANPosition",
291 "source_node": "roborio",
292 "frequency": 220,
293 "num_senders": 2,
294 "max_size": 400
295 },
296 {
297 "name": "/drivetrain",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]298 "type": "frc971.sensors.GyroReading",
299 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]300 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]301 "num_senders": 2
302 },
303 {
304 "name": "/drivetrain",
305 "type": "frc971.sensors.Uid",
306 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]307 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]308 "num_senders": 2
309 },
310 {
311 "name": "/drivetrain",
312 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
313 "source_node": "roborio",
314 "max_size": 600000,
315 "frequency": 10,
316 "logger": "NOT_LOGGED",
317 "num_senders": 2,
318 "read_method": "PIN",
319 "num_readers": 10
320 },
321 {
322 "name": "/drivetrain",
323 "type": "frc971.control_loops.drivetrain.SplineGoal",
324 "source_node": "roborio",
325 "frequency": 10
326 },
327 {
328 "name": "/drivetrain",
329 "type": "frc971.control_loops.drivetrain.Goal",
330 "source_node": "roborio",
331 "max_size": 224,
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]332 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]333 },
334 {
335 "name": "/drivetrain",
336 "type": "frc971.control_loops.drivetrain.Position",
337 "source_node": "roborio",
338 "frequency": 400,
339 "max_size": 112,
340 "num_senders": 2
341 },
342 {
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349 "logger": "LOCAL_AND_REMOTE_LOGGER",
350 "logger_nodes": [
351 "imu"
352 ],
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354 {
355 "name": "imu",
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358 "timestamp_logger_nodes": [
359 "imu"
360 ],
361 "time_to_live": 5000000
362 }
363 ]
364 },
365 {
366 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
367 "type": "aos.message_bridge.RemoteMessage",
368 "source_node": "roborio",
369 "logger": "NOT_LOGGED",
370 "frequency": 400,
371 "num_senders": 2,
372 "max_size": 200
373 },
374 {
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380 "num_senders": 2
381 },
382 {
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385 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]386 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]387 "max_size": 96,
388 "logger": "LOCAL_AND_REMOTE_LOGGER",
389 "logger_nodes": [
390 "imu"
391 ],
392 "destination_nodes": [
393 {
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396 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
397 "timestamp_logger_nodes": [
398 "imu"
399 ],
400 "time_to_live": 0
401 }
402 ]
403 },
404 {
405 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
406 "type": "aos.message_bridge.RemoteMessage",
407 "source_node": "roborio",
408 "logger": "NOT_LOGGED",
409 "frequency": 400,
410 "num_senders": 2,
411 "max_size": 200
412 },
413 {
414 "name": "/drivetrain",
415 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
416 "source_node": "roborio"
417 },
418 {
419 "name": "/autonomous",
420 "type": "aos.common.actions.Status",
421 "source_node": "roborio"
422 },
423 {
424 "name": "/autonomous",
425 "type": "frc971.autonomous.Goal",
426 "source_node": "roborio"
427 },
428 {
429 "name": "/autonomous",
430 "type": "frc971.autonomous.AutonomousMode",
431 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]432 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]433 },
434 {
435 "name": "/roborio/aos",
436 "type": "frc971.PDPValues",
437 "source_node": "roborio",
438 "frequency": 55,
439 "max_size": 368
440 },
441 {
442 "name": "/roborio/aos",
443 "type": "frc971.wpilib.PneumaticsToLog",
444 "source_node": "roborio",
445 "frequency": 50
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]446 },
447 {
448 "name": "/roborio/constants",
449 "type": "y2023.Constants",
450 "source_node": "roborio",
451 "frequency": 1,
452 "num_senders": 2,
453 "max_size": 4096
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]454 }
455 ],
456 "applications": [
457 {
458 "name": "drivetrain",
459 "executable_name": "drivetrain",
460 "nodes": [
461 "roborio"
462 ]
463 },
464 {
465 "name": "trajectory_generator",
466 "executable_name": "trajectory_generator",
467 "nodes": [
468 "roborio"
469 ]
470 },
471 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]472 "name": "superstructure",
473 "executable_name": "superstructure",
474 "nodes": [
475 "roborio"
476 ]
477 },
478 {
Xander Yee1ad2f7b2023-02-21 14:46:56 -0800[diff] [blame]479 "name": "roborio_irq_affinity",
480 "executable_name": "irq_affinity",
481 "args": [
482 "--irq_config=/home/admin/bin/roborio_irq_config.json"
483 ],
484 "nodes": [
485 "roborio"
486 ]
487 },
488 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]489 "name": "joystick_reader",
490 "executable_name": "joystick_reader",
491 "nodes": [
492 "roborio"
493 ]
494 },
495 {
496 "name": "wpilib_interface",
497 "executable_name": "wpilib_interface",
498 "nodes": [
499 "roborio"
500 ]
501 },
502 {
503 "name": "autonomous_action",
504 "executable_name": "autonomous_action",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]505 "autostart": false,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]506 "nodes": [
507 "roborio"
508 ]
509 },
510 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]511 "name": "roborio_web_proxy",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]512 "executable_name": "web_proxy_main",
513 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
514 "nodes": [
515 "roborio"
516 ]
517 },
518 {
519 "name": "roborio_message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]520 "executable_name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]521 "args": ["--rt_priority=16"],
522 "nodes": [
523 "roborio"
524 ]
525 },
526 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]527 "name": "roborio_message_bridge_server",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]528 "executable_name": "message_bridge_server",
529 "args": ["--rt_priority=16"],
530 "nodes": [
531 "roborio"
532 ]
533 },
534 {
535 "name": "logger",
536 "executable_name": "logger_main",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame^]537 "args": ["--snappy_compress", "--logging_folder=/home/admin/logs/"],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]538 "nodes": [
539 "roborio"
540 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]541 },
542 {
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]543 "name": "constants_sender_roborio",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]544 "autorestart": false,
545 "nodes": [
546 "roborio"
547 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]548 }
549 ],
550 "maps": [
551 {
552 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]553 "name": "/constants*",
554 "source_node": "roborio"
555 },
556 "rename": {
557 "name": "/roborio/constants"
558 }
559 },
560 {
561 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]562 "name": "/aos*",
563 "source_node": "roborio"
564 },
565 "rename": {
566 "name": "/roborio/aos"
567 }
568 }
569 ],
570 "nodes": [
571 {
572 "name": "roborio",
573 "hostname": "roborio",
574 "hostnames": [
575 "roboRIO-971-FRC",
576 "roboRIO-6971-FRC",
577 "roboRIO-7971-FRC",
578 "roboRIO-8971-FRC",
579 "roboRIO-9971-FRC"
580 ],
581 "port": 9971
582 },
583 {
584 "name": "imu"
585 },
586 {
587 "name": "logger"
588 },
589 {
590 "name": "pi1"
591 },
592 {
593 "name": "pi2"
594 },
595 {
596 "name": "pi3"
597 },
598 {
599 "name": "pi4"
600 }
601 ]
602}