y2024/y2024_imu.json

{
  "channels": [
    {
      "name": "/imu/aos",
      "type": "aos.util.FilesystemStatus",
      "source_node": "imu",
      "frequency": 2
    },
    {
      "name": "/imu/aos",
      "type": "aos.JoystickState",
      "source_node": "imu",
      "frequency": 100,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "orin1"
      ],
      "destination_nodes": [
        {
          "name": "orin1",
          "priority": 5,
          "time_to_live": 50000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "imu"
          ]
        }
      ]
    },
    {
      "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-JoystickState",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "imu",
      "logger": "NOT_LOGGED",
      "frequency": 300,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/imu/aos",
      "type": "aos.timing.Report",
      "source_node": "imu",
      "frequency": 50,
      "num_senders": 30,
      "max_size": 8192
    },
    {
      "name": "/imu/aos",
      "type": "aos.logging.LogMessageFbs",
      "source_node": "imu",
      "frequency": 200,
      "num_senders": 20
    },
    {
      "name": "/imu/aos",
      "type": "aos.starter.Status",
      "source_node": "imu",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 4096
    },
    {
      "name": "/imu/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "imu",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/imu/aos",
      "type": "aos.message_bridge.ServerStatistics",
      "source_node": "imu",
      "max_size": 2048,
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/imu/aos",
      "type": "aos.message_bridge.ClientStatistics",
      "source_node": "imu",
      "frequency": 20,
      "num_senders": 2
    },
    {
      "name": "/imu/aos",
      "type": "aos.logging.DynamicLogCommand",
      "source_node": "imu",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/imu/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "imu",
      "frequency": 15,
      "num_senders": 2,
      "logger_nodes": [
        "roborio"
      ],
      "max_size": 400,
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "imu"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "source_node": "imu",
      "max_size": 208
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "roborio",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "imu"
      ],
      "destination_nodes": [
        {
          "name": "imu",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        }
      ]
    },
        {
      "name": "/localizer",
      "type": "frc971.controls.LocalizerOutput",
      "source_node": "imu",
      "frequency": 52,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio"
      ],
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 5,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "imu"
          ]
        }
      ]
    },
    {
      "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "imu",
      "logger": "NOT_LOGGED",
      "frequency": 52,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/imu/camera0",
      "type": "frc971.vision.CameraImage",
      "source_node": "imu",
      "channel_storage_duration": 1000000000,
      "frequency": 65,
      "max_size": 4752384,
      "num_readers": 6,
      "read_method": "PIN",
      "num_senders": 18
    },
    {
      "name": "/imu/camera1",
      "type": "frc971.vision.CameraImage",
      "source_node": "imu",
      "channel_storage_duration": 1000000000,
      "frequency": 65,
      "max_size": 4752384,
      "num_readers": 6,
      "read_method": "PIN",
      "num_senders": 18
    },
    {
      "name": "/imu/camera0",
      "type": "foxglove.CompressedImage",
      "source_node": "imu",
      "logger": "NOT_LOGGED",
      "channel_storage_duration": 1000000000,
      "frequency": 65,
      "max_size": 622384
    },
    {
      "name": "/imu/camera1",
      "type": "foxglove.CompressedImage",
      "source_node": "imu",
      "logger": "NOT_LOGGED",
      "channel_storage_duration": 1000000000,
      "frequency": 65,
      "max_size": 622384
    },
    {
      "name": "/imu/camera0",
      "type": "foxglove.ImageAnnotations",
      "source_node": "imu",
      "frequency": 65,
      "max_size": 50000
    },
    {
      "name": "/imu/camera1",
      "type": "foxglove.ImageAnnotations",
      "source_node": "imu",
      "frequency": 65,
      "max_size": 50000
    },
    {
      "name": "/imu/camera0",
      "type": "y2024.localizer.Visualization",
      "source_node": "imu",
      "frequency": 65,
      "max_size": 50000
    },
    {
      "name": "/imu/camera1",
      "type": "y2024.localizer.Visualization",
      "source_node": "imu",
      "frequency": 65,
      "max_size": 50000
    },
    {
      "name": "/imu/camera0",
      "type": "frc971.vision.TargetMap",
      "source_node": "imu",
      "frequency": 65,
      "num_senders": 2,
      "max_size": 1024
    },
    {
      "name": "/imu/camera1",
      "type": "frc971.vision.TargetMap",
      "source_node": "imu",
      "frequency": 65,
      "num_senders": 2,
      "max_size": 1024
    },
    {
      "name": "/imu",
      "type": "frc971.imu.DualImu",
      "source_node": "imu",
      "frequency": 1100,
      "num_senders": 1,
      "max_size": 496
    },
    {
      "name": "/imu",
      "type": "frc971.imu.CanTranslatorStatus",
      "source_node": "imu",
      "frequency": 1000,
      "num_senders": 1,
      "max_size": 200
    },
    {
      "name": "/can/cana",
      "type": "frc971.can_logger.CanFrame",
      "source_node": "imu",
      "frequency": 9000,
      "channel_storage_duration": 7000000000,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/can/canb",
      "type": "frc971.can_logger.CanFrame",
      "source_node": "imu",
      "frequency": 6000,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/can/canc",
      "type": "frc971.can_logger.CanFrame",
      "source_node": "imu",
      "frequency": 6000,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/localizer",
      "type": "frc971.IMUValuesBatch",
      "source_node": "imu",
      "frequency": 2200,
      "max_size": 1600,
      "num_senders": 2
    },
    {
      "name": "/imu",
      "type": "frc971.imu.DualImuBlenderStatus",
      "source_node": "imu",
      "frequency": 1100,
      "num_senders": 1,
      "max_size": 200
    },
    {
      "name": "/localizer",
      "type": "y2024.localizer.Status",
      "source_node": "imu",
      "frequency": 1600,
      "max_size": 3200,
      "num_senders": 2
    },
    {
      "name": "/imu/constants",
      "type": "y2024.Constants",
      "source_node": "imu",
      "frequency": 1,
      "num_senders": 2,
      "max_size": 65536
    }
  ],
  "applications": [
    {
      "name": "message_bridge_client",
      "args": [
        "--rt_priority=16",
        "--sinit_max_init_timeout=5000",
        "--rmem=8388608"
      ],
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "irq_affinity",
      "executable_name": "irq_affinity",
      "user": "root",
      "args": ["--user=pi", "--irq_config=orin_irq_config.json"],
      "nodes": [
          "imu"
      ]
    },
    {
      "name": "filesystem_monitor",
      "executable_name": "filesystem_monitor",
      "nodes": [
          "imu"
      ]
    },
    {
      "name": "joystick_republish",
      "executable_name": "joystick_republish",
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "message_bridge_server",
      "executable_name": "message_bridge_server",
      "user": "pi",
      "args": [
        "--rt_priority=16",
        "--force_wmem_max=131072"
      ],
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "localizer",
      "executable_name": "localizer_main",
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "localizer_logger",
      "executable_name": "localizer_logger",
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "imu_can_logger",
      "executable_name": "can_logger",
      "args": [
        "--priority=59",
        "--affinity=5"
      ],
      "nodes": [
        "imu"
      ]
    },
    // TODO(max): Update the channel value with whatever channel the IMU is on.
    {
      "name": "can_translator",
      "executable_name": "can_translator",
      "args": [
          "--channel=/can/cana"
      ],
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "dual_imu_blender",
      "executable_name": "dual_imu_blender",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "web_proxy",
      "executable_name": "web_proxy_main",
      "args": [
        "--min_ice_port=5800",
        "--max_ice_port=5810"
      ],
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "foxglove_websocket",
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "constants_sender",
      "autorestart": false,
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "image_logger",
      "executable_name": "image_logger",
      "args": [
        "--rotate_every",
        "30.0",
        "--direct",
        "--flush_size=4194304"
      ],
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "foxglove_websocket",
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "foxglove_image_converter0",
      "executable_name": "foxglove_image_converter",
      "user": "pi",
      "args": [
          "--channel", "/camera0"
      ],
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "foxglove_image_converter1",
      "executable_name": "foxglove_image_converter",
      "user": "pi",
      "args": [
          "--channel", "/camera1"
      ],
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "constants_sender",
      "autorestart": false,
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "argus_camera0",
      "executable_name": "argus_camera",
      "args": [
          "--camera=0",
          "--channel=/camera0"
      ],
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "argus_camera1",
      "executable_name": "argus_camera",
      "args": [
          "--camera=1",
          "--channel=/camera1"
      ],
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "apriltag_detector0",
      "executable_name": "apriltag_detector",
      "args": [
          "--channel=/camera0"
      ],
      "user": "pi",
      "nodes": [
        "imu"
      ]
    },
    {
      "name": "apriltag_detector1",
      "executable_name": "apriltag_detector",
      "args": [
          "--channel=/camera1"
      ],
      "user": "pi",
      "nodes": [
        "imu"
      ]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/constants*",
        "source_node": "imu"
      },
      "rename": {
        "name": "/imu/constants"
      }
    },
    {
      "match": {
        "name": "/aos*",
        "source_node": "imu"
      },
      "rename": {
        "name": "/imu/aos"
      }
    },
    {
      "match": {
        "name": "/camera*",
        "source_node": "imu"
      },
      "rename": {
        "name": "/imu/camera"
      }
    }
  ],
  "nodes": [
    {
      "name": "imu",
      "hostname": "orin2",
      "hostnames": [
        "orin-971-2",
        "orin-7971-2",
        "orin-8971-2",
        "orin-9971-2"
      ],
      "port": 9971
    },
    {
      "name": "roborio"
    },
    {
      "name": "orin1"
    }
  ]
}