| Austin Schuh | ce3a191 | 2020-03-15 15:14:19 -0700 | [diff] [blame] | 1 | { |
| 2 | "channels": |
| 3 | [ |
| 4 | { |
| 5 | "name": "/aos/roborio", |
| 6 | "type": "aos.JoystickState", |
| 7 | "source_node": "roborio", |
| 8 | "frequency": 75 |
| 9 | }, |
| 10 | { |
| 11 | "name": "/aos/roborio", |
| 12 | "type": "aos.RobotState", |
| 13 | "source_node": "roborio", |
| 14 | "frequency": 200, |
| 15 | "destination_nodes": [ |
| 16 | { |
| 17 | "name": "pi1", |
| 18 | "priority": 2, |
| 19 | "timestamp_logger": "LOCAL_LOGGER", |
| 20 | "time_to_live": 10000000 |
| 21 | }, |
| 22 | { |
| 23 | "name": "pi2", |
| 24 | "priority": 2, |
| 25 | "timestamp_logger": "LOCAL_LOGGER", |
| 26 | "time_to_live": 10000000 |
| 27 | }, |
| 28 | { |
| 29 | "name": "pi3", |
| 30 | "priority": 2, |
| 31 | "timestamp_logger": "LOCAL_LOGGER", |
| 32 | "time_to_live": 10000000 |
| 33 | } |
| 34 | ] |
| 35 | }, |
| 36 | { |
| 37 | "name": "/aos/roborio", |
| 38 | "type": "aos.timing.Report", |
| 39 | "source_node": "roborio", |
| 40 | "frequency": 50, |
| 41 | "num_senders": 20, |
| 42 | "max_size": 2048 |
| 43 | }, |
| 44 | { |
| 45 | "name": "/aos/roborio", |
| 46 | "type": "aos.logging.LogMessageFbs", |
| 47 | "source_node": "roborio", |
| 48 | "frequency": 400, |
| 49 | "num_senders": 20 |
| 50 | }, |
| 51 | { |
| 52 | "name": "/aos/roborio", |
| 53 | "type": "aos.message_bridge.ServerStatistics", |
| 54 | "source_node": "roborio", |
| 55 | "frequency": 2, |
| 56 | "num_senders": 2 |
| 57 | }, |
| 58 | { |
| 59 | "name": "/aos/roborio", |
| 60 | "type": "aos.message_bridge.ClientStatistics", |
| 61 | "source_node": "roborio", |
| 62 | "frequency": 10, |
| 63 | "num_senders": 2 |
| 64 | }, |
| 65 | { |
| 66 | "name": "/aos/roborio", |
| 67 | "type": "aos.message_bridge.Timestamp", |
| 68 | "source_node": "roborio", |
| 69 | "frequency": 10, |
| 70 | "num_senders": 2, |
| 71 | "max_size": 200, |
| 72 | "destination_nodes": [ |
| 73 | { |
| 74 | "name": "pi1", |
| 75 | "priority": 1, |
| 76 | "time_to_live": 5000000 |
| 77 | }, |
| 78 | { |
| 79 | "name": "pi2", |
| 80 | "priority": 1, |
| 81 | "time_to_live": 5000000 |
| 82 | }, |
| 83 | { |
| 84 | "name": "pi3", |
| 85 | "priority": 1, |
| 86 | "time_to_live": 5000000 |
| 87 | } |
| 88 | ] |
| 89 | }, |
| 90 | { |
| 91 | "name": "/superstructure", |
| 92 | "type": "y2020.control_loops.superstructure.Goal", |
| 93 | "source_node": "roborio", |
| 94 | "frequency": 200 |
| 95 | }, |
| 96 | { |
| 97 | "name": "/superstructure", |
| 98 | "type": "y2020.control_loops.superstructure.Status", |
| 99 | "source_node": "roborio", |
| 100 | "frequency": 200, |
| 101 | "num_senders": 2 |
| 102 | }, |
| 103 | { |
| 104 | "name": "/superstructure", |
| 105 | "type": "y2020.control_loops.superstructure.Output", |
| 106 | "source_node": "roborio", |
| 107 | "frequency": 200, |
| 108 | "num_senders": 2 |
| 109 | }, |
| 110 | { |
| 111 | "name": "/superstructure", |
| 112 | "type": "y2020.control_loops.superstructure.Position", |
| 113 | "source_node": "roborio", |
| 114 | "frequency": 200, |
| 115 | "num_senders": 2 |
| 116 | }, |
| 117 | { |
| 118 | "name": "/superstructure", |
| 119 | "type": "y2020.joysticks.Setpoint", |
| 120 | "source_node": "roborio", |
| 121 | "num_senders": 2 |
| 122 | }, |
| 123 | { |
| 124 | "name": "/drivetrain", |
| Austin Schuh | ac17fba | 2020-03-28 15:55:33 -0700 | [diff] [blame] | 125 | "type": "frc971.IMUValuesBatch", |
| Austin Schuh | ce3a191 | 2020-03-15 15:14:19 -0700 | [diff] [blame] | 126 | "source_node": "roborio", |
| Austin Schuh | ac17fba | 2020-03-28 15:55:33 -0700 | [diff] [blame] | 127 | "frequency": 200, |
| 128 | "max_size": 2000, |
| Austin Schuh | ce3a191 | 2020-03-15 15:14:19 -0700 | [diff] [blame] | 129 | "num_senders": 2 |
| 130 | }, |
| 131 | { |
| 132 | "name": "/drivetrain", |
| 133 | "type": "frc971.sensors.GyroReading", |
| 134 | "source_node": "roborio", |
| 135 | "frequency": 200, |
| 136 | "num_senders": 2 |
| 137 | }, |
| 138 | { |
| 139 | "name": "/drivetrain", |
| 140 | "type": "frc971.sensors.Uid", |
| 141 | "source_node": "roborio", |
| 142 | "frequency": 200, |
| 143 | "num_senders": 2 |
| 144 | }, |
| 145 | { |
| 146 | "name": "/drivetrain", |
| 147 | "type": "frc971.control_loops.drivetrain.Goal", |
| 148 | "source_node": "roborio", |
| 149 | "frequency": 200 |
| 150 | }, |
| 151 | { |
| 152 | "name": "/drivetrain", |
| 153 | "type": "frc971.control_loops.drivetrain.Position", |
| 154 | "source_node": "roborio", |
| 155 | "frequency": 200, |
| 156 | "num_senders": 2 |
| 157 | }, |
| 158 | { |
| 159 | "name": "/drivetrain", |
| 160 | "type": "frc971.control_loops.drivetrain.Status", |
| 161 | "source_node": "roborio", |
| 162 | "frequency": 200, |
| 163 | "max_size": 2000, |
| 164 | "num_senders": 2, |
| 165 | "destination_nodes": [ |
| 166 | { |
| 167 | "name": "pi1", |
| 168 | "priority": 5, |
| 169 | "time_to_live": 5000000 |
| 170 | }, |
| 171 | { |
| 172 | "name": "pi2", |
| 173 | "priority": 5, |
| 174 | "time_to_live": 5000000 |
| 175 | }, |
| 176 | { |
| 177 | "name": "pi3", |
| 178 | "priority": 5, |
| 179 | "time_to_live": 5000000 |
| 180 | } |
| 181 | ] |
| 182 | }, |
| 183 | { |
| 184 | "name": "/drivetrain", |
| 185 | "type": "frc971.control_loops.drivetrain.Output", |
| 186 | "source_node": "roborio", |
| 187 | "frequency": 200, |
| 188 | "num_senders": 2 |
| 189 | }, |
| 190 | { |
| 191 | "name": "/drivetrain", |
| 192 | "type": "frc971.control_loops.drivetrain.LocalizerControl", |
| 193 | "source_node": "roborio", |
| 194 | "frequency": 200 |
| 195 | }, |
| 196 | { |
| 197 | "name": "/drivetrain", |
| 198 | "type": "y2019.control_loops.drivetrain.TargetSelectorHint", |
| 199 | "source_node": "roborio" |
| 200 | }, |
| 201 | { |
| 202 | "name": "/autonomous", |
| 203 | "type": "aos.common.actions.Status", |
| 204 | "source_node": "roborio" |
| 205 | }, |
| 206 | { |
| 207 | "name": "/autonomous", |
| 208 | "type": "frc971.autonomous.Goal", |
| 209 | "source_node": "roborio" |
| 210 | }, |
| 211 | { |
| 212 | "name": "/autonomous", |
| 213 | "type": "frc971.autonomous.AutonomousMode", |
| 214 | "source_node": "roborio", |
| 215 | "frequency": 200 |
| 216 | }, |
| 217 | { |
| 218 | "name": "/aos/roborio", |
| 219 | "type": "frc971.PDPValues", |
| 220 | "source_node": "roborio", |
| 221 | "frequency": 50 |
| 222 | }, |
| 223 | { |
| 224 | "name": "/aos/roborio", |
| 225 | "type": "frc971.wpilib.PneumaticsToLog", |
| 226 | "source_node": "roborio", |
| 227 | "frequency": 50 |
| 228 | } |
| 229 | ], |
| 230 | "applications": [ |
| 231 | { |
| 232 | "name": "drivetrain" |
| 233 | }, |
| 234 | { |
| 235 | "name": "camera_reader" |
| 236 | } |
| 237 | ], |
| 238 | "maps": [ |
| 239 | { |
| 240 | "match": { |
| 241 | "name": "/aos", |
| 242 | "source_node": "roborio" |
| 243 | }, |
| 244 | "rename": { |
| 245 | "name": "/aos/roborio" |
| 246 | } |
| 247 | } |
| 248 | ], |
| 249 | "nodes": [ |
| 250 | { |
| 251 | "name": "roborio", |
| 252 | "hostname": "roborio", |
| 253 | "hostnames": [ |
| 254 | "roboRIO-971-FRC", |
| 255 | "roboRIO-7971-FRC", |
| 256 | "roboRIO-8971-FRC", |
| 257 | "roboRIO-9971-FRC" |
| 258 | ], |
| 259 | "port": 9971 |
| 260 | }, |
| 261 | { |
| 262 | "name": "pi1" |
| 263 | }, |
| 264 | { |
| 265 | "name": "pi2" |
| 266 | }, |
| 267 | { |
| 268 | "name": "pi3" |
| 269 | } |
| 270 | ] |
| 271 | } |