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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 196a445c91800fc9b7f57a93458d7716eb33bca5 / . / y2020 / y2020_roborio.json
blob: 7de7f51dcb39fa6909fa21f11ba0292d63898e37 [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",
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
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]33 },
34 {
35 "name": "pi4",
36 "priority": 2,
37 "timestamp_logger": "LOCAL_LOGGER",
38 "time_to_live": 10000000
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]39 }
40 ]
41 },
42 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]43 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]44 "type": "aos.timing.Report",
45 "source_node": "roborio",
46 "frequency": 50,
47 "num_senders": 20,
48 "max_size": 2048
49 },
50 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]51 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]52 "type": "aos.logging.LogMessageFbs",
53 "source_node": "roborio",
54 "frequency": 400,
55 "num_senders": 20
56 },
57 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]58 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]59 "type": "aos.message_bridge.ServerStatistics",
60 "source_node": "roborio",
61 "frequency": 2,
62 "num_senders": 2
63 },
64 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]65 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]66 "type": "aos.message_bridge.ClientStatistics",
67 "source_node": "roborio",
68 "frequency": 10,
69 "num_senders": 2
70 },
71 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]72 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]73 "type": "aos.message_bridge.Timestamp",
74 "source_node": "roborio",
75 "frequency": 10,
76 "num_senders": 2,
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]77 "max_size": 300,
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]78 "destination_nodes": [
79 {
80 "name": "pi1",
81 "priority": 1,
82 "time_to_live": 5000000
83 },
84 {
85 "name": "pi2",
86 "priority": 1,
87 "time_to_live": 5000000
88 },
89 {
90 "name": "pi3",
91 "priority": 1,
92 "time_to_live": 5000000
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]93 },
94 {
95 "name": "pi4",
96 "priority": 1,
97 "time_to_live": 5000000
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]98 }
99 ]
100 },
101 {
102 "name": "/superstructure",
103 "type": "y2020.control_loops.superstructure.Goal",
104 "source_node": "roborio",
105 "frequency": 200
106 },
107 {
108 "name": "/superstructure",
109 "type": "y2020.control_loops.superstructure.Status",
110 "source_node": "roborio",
111 "frequency": 200,
112 "num_senders": 2
113 },
114 {
115 "name": "/superstructure",
116 "type": "y2020.control_loops.superstructure.Output",
117 "source_node": "roborio",
118 "frequency": 200,
119 "num_senders": 2
120 },
121 {
122 "name": "/superstructure",
123 "type": "y2020.control_loops.superstructure.Position",
124 "source_node": "roborio",
125 "frequency": 200,
126 "num_senders": 2
127 },
128 {
129 "name": "/superstructure",
130 "type": "y2020.joysticks.Setpoint",
131 "source_node": "roborio",
132 "num_senders": 2
133 },
134 {
135 "name": "/drivetrain",
Austin Schuhac17fba2020-03-28 15:55:33 -0700[diff] [blame]136 "type": "frc971.IMUValuesBatch",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]137 "source_node": "roborio",
Austin Schuhac17fba2020-03-28 15:55:33 -0700[diff] [blame]138 "frequency": 200,
139 "max_size": 2000,
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]140 "num_senders": 2
141 },
142 {
143 "name": "/drivetrain",
144 "type": "frc971.sensors.GyroReading",
145 "source_node": "roborio",
146 "frequency": 200,
147 "num_senders": 2
148 },
149 {
150 "name": "/drivetrain",
151 "type": "frc971.sensors.Uid",
152 "source_node": "roborio",
153 "frequency": 200,
154 "num_senders": 2
155 },
156 {
157 "name": "/drivetrain",
158 "type": "frc971.control_loops.drivetrain.Goal",
159 "source_node": "roborio",
160 "frequency": 200
161 },
162 {
163 "name": "/drivetrain",
164 "type": "frc971.control_loops.drivetrain.Position",
165 "source_node": "roborio",
166 "frequency": 200,
167 "num_senders": 2
168 },
169 {
170 "name": "/drivetrain",
171 "type": "frc971.control_loops.drivetrain.Status",
172 "source_node": "roborio",
173 "frequency": 200,
174 "max_size": 2000,
175 "num_senders": 2,
176 "destination_nodes": [
177 {
178 "name": "pi1",
179 "priority": 5,
180 "time_to_live": 5000000
181 },
182 {
183 "name": "pi2",
184 "priority": 5,
185 "time_to_live": 5000000
186 },
187 {
188 "name": "pi3",
189 "priority": 5,
190 "time_to_live": 5000000
191 }
192 ]
193 },
194 {
195 "name": "/drivetrain",
196 "type": "frc971.control_loops.drivetrain.Output",
197 "source_node": "roborio",
198 "frequency": 200,
199 "num_senders": 2
200 },
201 {
202 "name": "/drivetrain",
203 "type": "frc971.control_loops.drivetrain.LocalizerControl",
204 "source_node": "roborio",
205 "frequency": 200
206 },
207 {
208 "name": "/drivetrain",
209 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
210 "source_node": "roborio"
211 },
212 {
213 "name": "/autonomous",
214 "type": "aos.common.actions.Status",
215 "source_node": "roborio"
216 },
217 {
218 "name": "/autonomous",
219 "type": "frc971.autonomous.Goal",
220 "source_node": "roborio"
221 },
222 {
223 "name": "/autonomous",
224 "type": "frc971.autonomous.AutonomousMode",
225 "source_node": "roborio",
226 "frequency": 200
227 },
228 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]229 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]230 "type": "frc971.PDPValues",
231 "source_node": "roborio",
232 "frequency": 50
233 },
234 {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]235 "name": "/roborio/aos",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]236 "type": "frc971.wpilib.PneumaticsToLog",
237 "source_node": "roborio",
238 "frequency": 50
239 }
240 ],
241 "applications": [
242 {
243 "name": "drivetrain"
244 },
245 {
246 "name": "camera_reader"
247 }
248 ],
249 "maps": [
250 {
251 "match": {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]252 "name": "/aos*",
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]253 "source_node": "roborio"
254 },
255 "rename": {
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]256 "name": "/roborio/aos"
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]257 }
258 }
259 ],
260 "nodes": [
261 {
262 "name": "roborio",
263 "hostname": "roborio",
264 "hostnames": [
265 "roboRIO-971-FRC",
266 "roboRIO-7971-FRC",
267 "roboRIO-8971-FRC",
268 "roboRIO-9971-FRC"
269 ],
270 "port": 9971
271 },
272 {
273 "name": "pi1"
274 },
275 {
276 "name": "pi2"
277 },
278 {
279 "name": "pi3"
Austin Schuh196a4452020-03-15 23:12:03 -0700[diff] [blame^]280 },
281 {
282 "name": "pi4"
Austin Schuhce3a1912020-03-15 15:14:19 -0700[diff] [blame]283 }
284 ]
285}