blob: 641b1dae8bdc4d9f600ef42a4e512f46424d27f2 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -08001{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.message_bridge.Timestamp",
6 "source_node": "roborio",
7 "logger": "LOCAL_AND_REMOTE_LOGGER",
8 "logger_nodes": [
9 "logger"
10 ],
11 "destination_nodes": [
12 {
13 "name": "logger",
14 "priority": 1,
15 "time_to_live": 5000000,
Maxwell Hendersonad312342023-01-10 12:07:47 -080016 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
17 "timestamp_logger_nodes": [
18 "roborio"
19 ]
Austin Schuh9f164e92022-12-29 16:15:28 -080020 }
21 ]
22 },
23 {
Maxwell Hendersonad312342023-01-10 12:07:47 -080024 "name": "/drivetrain",
25 "type": "frc971.control_loops.drivetrain.Position",
26 "source_node": "roborio",
27 "logger": "LOCAL_AND_REMOTE_LOGGER",
28 "logger_nodes": [
29 "logger"
30 ],
31 "destination_nodes": [
32 {
33 "name": "logger",
34 "priority": 2,
35 "time_to_live": 500000000,
36 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
37 "timestamp_logger_nodes": [
38 "roborio"
39 ]
40 }
41 ]
42 },
43 {
Filip Kujawa3004f202023-02-12 16:41:40 -080044 "name": "/camera",
45 "type": "y2023.vision.GamePieces",
46 "source_node": "logger",
47 "logger": "LOCAL_AND_REMOTE_LOGGER",
48 "logger_nodes": [
49 "roborio"
50 ],
51 "frequency": 40,
52 "num_senders": 2,
53 "max_size": 1024,
54 "destination_nodes": [
55 {
56 "name": "roborio",
57 "priority": 2,
58 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
59 "timestamp_logger_nodes": [
60 "roborio"
61 ],
62 "time_to_live": 5000000
63 }
64 ]
65 },
66 {
67 "name": "/logger/aos/remote_timestamps/roborio/camera/y2023-vision-GamePieces",
68 "type": "aos.message_bridge.RemoteMessage",
69 "source_node": "logger",
70 "logger": "NOT_LOGGED",
71 "frequency": 40,
72 "num_senders": 2,
73 "max_size": 200
74 },
75 {
Maxwell Hendersonad312342023-01-10 12:07:47 -080076 "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Position",
77 "type": "aos.message_bridge.RemoteMessage",
78 "source_node": "roborio",
79 "logger": "NOT_LOGGED",
80 "frequency": 400,
81 "num_senders": 2,
82 "max_size": 200
83 },
84 {
85 "name": "/drivetrain",
86 "type": "frc971.control_loops.drivetrain.Output",
87 "source_node": "roborio",
88 "logger": "LOCAL_AND_REMOTE_LOGGER",
89 "logger_nodes": [
90 "logger"
91 ],
92 "destination_nodes": [
93 {
94 "name": "logger",
95 "priority": 2,
96 "time_to_live": 500000000,
97 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
98 "timestamp_logger_nodes": [
99 "roborio"
100 ]
101 }
102 ]
103 },
104 {
105 "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Output",
106 "type": "aos.message_bridge.RemoteMessage",
107 "source_node": "roborio",
108 "logger": "NOT_LOGGED",
109 "frequency": 400,
110 "num_senders": 2,
111 "max_size": 400
112 },
113 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800114 "name": "/pi1/aos",
115 "type": "aos.message_bridge.Timestamp",
116 "source_node": "pi1",
117 "logger": "LOCAL_AND_REMOTE_LOGGER",
118 "logger_nodes": [
119 "logger"
120 ],
121 "destination_nodes": [
122 {
123 "name": "logger",
124 "priority": 1,
125 "time_to_live": 5000000
126 }
127 ]
128 },
129 {
130 "name": "/pi2/aos",
131 "type": "aos.message_bridge.Timestamp",
132 "source_node": "pi2",
133 "logger": "LOCAL_AND_REMOTE_LOGGER",
134 "logger_nodes": [
135 "logger"
136 ],
137 "destination_nodes": [
138 {
139 "name": "logger",
140 "priority": 1,
141 "time_to_live": 5000000
142 }
143 ]
144 },
145 {
146 "name": "/pi3/aos",
147 "type": "aos.message_bridge.Timestamp",
148 "source_node": "pi3",
149 "logger": "LOCAL_AND_REMOTE_LOGGER",
150 "logger_nodes": [
151 "logger"
152 ],
153 "destination_nodes": [
154 {
155 "name": "logger",
156 "priority": 1,
157 "time_to_live": 5000000
158 }
159 ]
160 },
161 {
162 "name": "/pi4/aos",
163 "type": "aos.message_bridge.Timestamp",
164 "source_node": "pi4",
165 "logger": "LOCAL_AND_REMOTE_LOGGER",
166 "logger_nodes": [
167 "logger"
168 ],
169 "destination_nodes": [
170 {
171 "name": "logger",
172 "priority": 1,
173 "time_to_live": 5000000
174 }
175 ]
176 },
177 {
178 "name": "/logger/aos",
179 "type": "aos.timing.Report",
180 "source_node": "logger",
181 "frequency": 50,
182 "num_senders": 20,
183 "max_size": 4096
184 },
185 {
186 "name": "/logger/aos",
187 "type": "aos.logging.LogMessageFbs",
188 "source_node": "logger",
189 "frequency": 400,
190 "num_senders": 20
191 },
192 {
193 "name": "/logger/aos",
194 "type": "aos.message_bridge.ServerStatistics",
195 "source_node": "logger",
196 "frequency": 10,
197 "num_senders": 2
198 },
199 {
200 "name": "/logger/aos",
201 "type": "aos.message_bridge.ClientStatistics",
202 "source_node": "logger",
203 "frequency": 20,
204 "max_size": 2000,
205 "num_senders": 2
206 },
207 {
208 "name": "/logger/aos",
209 "type": "aos.logging.DynamicLogCommand",
210 "source_node": "logger",
211 "frequency": 10,
212 "num_senders": 2
213 },
214 {
215 "name": "/logger/aos",
216 "type": "aos.starter.Status",
217 "source_node": "logger",
218 "logger": "LOCAL_AND_REMOTE_LOGGER",
219 "frequency": 50,
220 "num_senders": 20,
221 "max_size": 2000,
222 "logger_nodes": [
223 "roborio"
224 ],
225 "destination_nodes": [
226 {
227 "name": "roborio",
228 "priority": 5,
229 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
230 "timestamp_logger_nodes": [
231 "logger"
232 ],
233 "time_to_live": 5000000
234 }
235 ]
236 },
237 {
238 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
239 "type": "aos.message_bridge.RemoteMessage",
240 "source_node": "logger",
241 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800242 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800243 "num_senders": 2,
244 "max_size": 200
245 },
246 {
247 "name": "/logger/aos",
248 "type": "aos.starter.StarterRpc",
249 "source_node": "logger",
250 "logger": "LOCAL_AND_REMOTE_LOGGER",
251 "logger_nodes": [
252 "roborio"
253 ],
254 "frequency": 10,
255 "num_senders": 2,
256 "destination_nodes": [
257 {
258 "name": "roborio",
259 "priority": 5,
260 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
261 "timestamp_logger_nodes": [
262 "logger"
263 ],
264 "time_to_live": 5000000
265 }
266 ]
267 },
268 {
269 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
270 "type": "aos.message_bridge.RemoteMessage",
271 "source_node": "logger",
272 "logger": "NOT_LOGGED",
273 "frequency": 20,
274 "num_senders": 2,
275 "max_size": 200
276 },
277 {
278 "name": "/logger/aos",
279 "type": "aos.message_bridge.Timestamp",
280 "source_node": "logger",
281 "frequency": 15,
282 "num_senders": 2,
283 "max_size": 400,
284 "logger": "LOCAL_AND_REMOTE_LOGGER",
285 "logger_nodes": [
286 "roborio",
287 "imu"
288 ],
289 "destination_nodes": [
290 {
291 "name": "pi1",
292 "priority": 1,
293 "time_to_live": 5000000,
294 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
295 "timestamp_logger_nodes": [
296 "logger"
297 ]
298 },
299 {
300 "name": "pi2",
301 "priority": 1,
302 "time_to_live": 5000000,
303 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
304 "timestamp_logger_nodes": [
305 "logger"
306 ]
307 },
308 {
309 "name": "pi3",
310 "priority": 1,
311 "time_to_live": 5000000,
312 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
313 "timestamp_logger_nodes": [
314 "logger"
315 ]
316 },
317 {
318 "name": "pi4",
319 "priority": 1,
320 "time_to_live": 5000000,
321 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
322 "timestamp_logger_nodes": [
323 "logger"
324 ]
325 },
326 {
327 "name": "imu",
328 "priority": 1,
329 "time_to_live": 5000000,
330 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
331 "timestamp_logger_nodes": [
332 "logger"
333 ]
334 },
335 {
336 "name": "roborio",
337 "priority": 1,
338 "time_to_live": 5000000,
339 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
340 "timestamp_logger_nodes": [
341 "logger"
342 ]
343 }
344 ]
345 },
346 {
347 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
348 "type": "aos.message_bridge.RemoteMessage",
349 "source_node": "logger",
350 "logger": "NOT_LOGGED",
351 "frequency": 20,
352 "num_senders": 2,
353 "max_size": 200
354 },
355 {
356 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
357 "type": "aos.message_bridge.RemoteMessage",
358 "source_node": "logger",
359 "logger": "NOT_LOGGED",
360 "frequency": 20,
361 "num_senders": 2,
362 "max_size": 200
363 },
364 {
365 "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
366 "type": "aos.message_bridge.RemoteMessage",
367 "source_node": "logger",
368 "logger": "NOT_LOGGED",
369 "frequency": 20,
370 "num_senders": 2,
371 "max_size": 200
372 },
373 {
374 "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
375 "type": "aos.message_bridge.RemoteMessage",
376 "source_node": "logger",
377 "logger": "NOT_LOGGED",
378 "frequency": 20,
379 "num_senders": 2,
380 "max_size": 200
381 },
382 {
383 "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
384 "type": "aos.message_bridge.RemoteMessage",
385 "source_node": "logger",
386 "logger": "NOT_LOGGED",
387 "frequency": 20,
388 "num_senders": 2,
389 "max_size": 200
390 },
391 {
392 "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
393 "type": "aos.message_bridge.RemoteMessage",
394 "source_node": "logger",
395 "logger": "NOT_LOGGED",
396 "frequency": 20,
397 "num_senders": 2,
398 "max_size": 200
399 },
400 {
401 "name": "/logger/camera",
402 "type": "frc971.vision.CameraImage",
Austin Schuh9f164e92022-12-29 16:15:28 -0800403 "source_node": "logger",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800404 "frequency": 40,
405 "max_size": 1843456,
Austin Schuh9f164e92022-12-29 16:15:28 -0800406 "num_readers": 4,
407 "read_method": "PIN",
James Kuszmaul529a27f2023-02-23 14:23:14 -0800408 "num_senders": 18
Austin Schuh9f164e92022-12-29 16:15:28 -0800409 },
410 {
milind-ufd08c432023-02-05 15:15:21 -0800411 "name": "/logger/camera/downsized",
412 "type": "frc971.vision.CameraImage",
413 "logger": "NOT_LOGGED",
414 "source_node": "logger",
415 "frequency": 40,
416 "max_size": 921744,
417 "num_readers": 4,
418 "read_method": "PIN",
419 "num_senders": 18
420 },
421 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800422 "name": "/localizer",
423 "type": "frc971.IMUValuesBatch",
Austin Schuh9f164e92022-12-29 16:15:28 -0800424 "source_node": "imu",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800425 "logger": "LOCAL_AND_REMOTE_LOGGER",
Austin Schuh9f164e92022-12-29 16:15:28 -0800426 "logger_nodes": [
427 "logger"
428 ],
429 "destination_nodes": [
430 {
431 "name": "logger",
432 "priority": 3,
433 "time_to_live": 500000000
434 }
435 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800436 },
437 {
438 "name": "/logger/constants",
439 "type": "y2023.Constants",
440 "source_node": "logger",
441 "frequency": 1,
442 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800443 "max_size": 65536
Austin Schuh9f164e92022-12-29 16:15:28 -0800444 }
445 ],
446 "maps": [
447 {
448 "match": {
449 "name": "/aos*",
450 "source_node": "logger"
451 },
452 "rename": {
453 "name": "/logger/aos"
454 }
455 },
456 {
457 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800458 "name": "/constants*",
459 "source_node": "logger"
460 },
461 "rename": {
462 "name": "/logger/constants"
463 }
464 },
465 {
466 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800467 "name": "/camera*",
468 "source_node": "logger"
469 },
470 "rename": {
471 "name": "/logger/camera"
472 }
473 }
Austin Schuh9f164e92022-12-29 16:15:28 -0800474 ],
475 "applications": [
476 {
James Kuszmaul529a27f2023-02-23 14:23:14 -0800477 "name": "message_bridge_client",
478 "executable_name": "message_bridge_client",
479 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800480 "nodes": [
481 "logger"
482 ]
483 },
484 {
James Kuszmaul529a27f2023-02-23 14:23:14 -0800485 "name": "message_bridge_server",
Austin Schuh9f164e92022-12-29 16:15:28 -0800486 "executable_name": "message_bridge_server",
James Kuszmaul529a27f2023-02-23 14:23:14 -0800487 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800488 "nodes": [
489 "logger"
490 ]
491 },
492 {
Jim Ostrowskiab5ba522023-02-12 17:34:28 -0800493 "name": "logger_camera_reader",
milind-ufd08c432023-02-05 15:15:21 -0800494 "executable_name": "camera_reader",
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800495 "user": "pi",
Jim Ostrowski1b3c8cf2023-03-03 21:17:20 -0800496 "args": [
497 "--enable_ftrace",
498 "--send_downsized_images",
499 "--exposure=650"
500 ],
milind-ufd08c432023-02-05 15:15:21 -0800501 "nodes": [
502 "logger"
503 ]
504 },
505 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800506 "name": "image_logger",
507 "executable_name": "logger_main",
508 "autostart": false,
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800509 "user": "pi",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800510 "args": [
Maxwell Hendersonad312342023-01-10 12:07:47 -0800511 "--logging_folder",
512 "",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800513 "--rotate_every",
Austin Schuh96e816e2023-02-11 15:12:04 -0800514 "60.0",
515 "--direct",
516 "--flush_size=4194304"
Maxwell Hendersonad312342023-01-10 12:07:47 -0800517 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800518 "nodes": [
519 "logger"
520 ]
521 },
522 {
523 "name": "image_streamer",
524 "executable_name": "image_streamer_start.sh",
milind-u8e98cb92023-02-05 16:07:10 -0800525 "autostart": true,
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800526 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800527 "nodes": [
528 "logger"
529 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800530 },
531 {
532 "name": "constants_sender",
533 "autorestart": false,
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800534 "user": "pi",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800535 "nodes": [
536 "logger"
537 ]
Filip Kujawa3004f202023-02-12 16:41:40 -0800538 },
539 {
540 "name": "game_piece_detector",
541 "executable_name": "game_piece_detector",
542 "nodes": [
543 "logger"
544 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800545 }
546 ],
547 "nodes": [
548 {
549 "name": "logger",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800550 "hostname": "pi5",
Austin Schuh9f164e92022-12-29 16:15:28 -0800551 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800552 "pi-971-5",
553 "pi-9971-5",
554 "pi-7971-5"
Austin Schuh9f164e92022-12-29 16:15:28 -0800555 ],
556 "port": 9971
557 },
558 {
559 "name": "pi1"
560 },
561 {
562 "name": "pi2"
563 },
564 {
565 "name": "pi3"
566 },
567 {
568 "name": "roborio"
569 },
570 {
571 "name": "imu"
572 },
573 {
574 "name": "pi4"
575 }
576 ]
577}