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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 2d8fa2a3766d8ba6480a90ba15463347bd6c626c / . / y2020 / y2020.json
blob: 0e1a6ba38d70555c38e3d2a440b68343b0fff30f [file] [log] [blame]
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]1{
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]2 "channel_storage_duration": 5000000000,
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]3 "channels":
4 [
5 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]6 "name": "/aos/roborio",
7 "type": "aos.JoystickState",
8 "source_node": "roborio",
9 "frequency": 75
10 },
11 {
12 "name": "/aos/roborio",
13 "type": "aos.RobotState",
14 "source_node": "roborio",
15 "frequency": 200,
16 "destination_nodes": [
17 {
18 "name": "pi1",
19 "priority": 2,
20 "timestamp_logger": "LOCAL_LOGGER",
21 "time_to_live": 10000000
22 },
23 {
24 "name": "pi2",
25 "priority": 2,
26 "timestamp_logger": "LOCAL_LOGGER",
27 "time_to_live": 10000000
28 },
29 {
30 "name": "pi3",
31 "priority": 2,
32 "timestamp_logger": "LOCAL_LOGGER",
33 "time_to_live": 10000000
34 }
35 ]
36 },
37 {
38 "name": "/aos/roborio",
39 "type": "aos.timing.Report",
40 "source_node": "roborio",
41 "frequency": 50,
42 "num_senders": 20,
43 "max_size": 2048
44 },
45 {
46 "name": "/aos/roborio",
47 "type": "aos.logging.LogMessageFbs",
48 "source_node": "roborio",
49 "frequency": 200,
50 "num_senders": 20
51 },
52 {
53 "name": "/aos/roborio",
54 "type": "aos.message_bridge.ServerStatistics",
55 "source_node": "roborio",
56 "frequency": 2,
57 "num_senders": 2
58 },
59 {
60 "name": "/aos/roborio",
61 "type": "aos.message_bridge.ClientStatistics",
62 "source_node": "roborio",
James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame^]63 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]64 "num_senders": 2
65 },
66 {
67 "name": "/aos/roborio",
68 "type": "aos.message_bridge.Timestamp",
69 "source_node": "roborio",
70 "frequency": 10,
71 "num_senders": 2,
72 "max_size": 200,
73 "destination_nodes": [
74 {
75 "name": "pi1",
76 "priority": 1,
77 "time_to_live": 5000000
78 },
79 {
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83 },
84 {
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88 }
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90 },
91 {
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98 },
99 {
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103 "frequency": 200,
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105 },
106 {
107 "name": "/aos/pi1",
108 "type": "aos.message_bridge.ServerStatistics",
109 "source_node": "pi1",
110 "frequency": 2,
111 "num_senders": 2
112 },
113 {
114 "name": "/aos/pi1",
115 "type": "aos.message_bridge.ClientStatistics",
116 "source_node": "pi1",
James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame^]117 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]118 "num_senders": 2
119 },
120 {
121 "name": "/aos/pi1",
122 "type": "aos.message_bridge.Timestamp",
123 "source_node": "pi1",
124 "frequency": 10,
125 "num_senders": 2,
126 "max_size": 200,
127 "destination_nodes": [
128 {
129 "name": "roborio",
130 "priority": 1,
131 "time_to_live": 5000000
132 }
133 ]
134 },
135 {
136 "name": "/aos/pi2",
137 "type": "aos.timing.Report",
138 "source_node": "pi2",
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140 "num_senders": 20,
141 "max_size": 2048
142 },
143 {
144 "name": "/aos/pi2",
145 "type": "aos.logging.LogMessageFbs",
146 "source_node": "pi2",
147 "frequency": 200,
148 "num_senders": 20
149 },
150 {
151 "name": "/aos/pi2",
152 "type": "aos.message_bridge.ServerStatistics",
153 "source_node": "pi2",
154 "frequency": 2,
155 "num_senders": 2
156 },
157 {
158 "name": "/aos/pi2",
159 "type": "aos.message_bridge.ClientStatistics",
160 "source_node": "pi2",
James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame^]161 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]162 "num_senders": 2
163 },
164 {
165 "name": "/aos/pi2",
166 "type": "aos.message_bridge.Timestamp",
167 "source_node": "pi2",
168 "frequency": 10,
169 "num_senders": 2,
170 "max_size": 200,
171 "destination_nodes": [
172 {
173 "name": "roborio",
174 "priority": 1,
175 "time_to_live": 5000000
176 }
177 ]
178 },
179 {
180 "name": "/aos/pi3",
181 "type": "aos.timing.Report",
182 "source_node": "pi3",
183 "frequency": 50,
184 "num_senders": 20,
185 "max_size": 2048
186 },
187 {
188 "name": "/aos/pi3",
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191 "frequency": 200,
192 "num_senders": 20
193 },
194 {
195 "name": "/aos/pi3",
196 "type": "aos.message_bridge.ServerStatistics",
197 "source_node": "pi3",
198 "frequency": 2,
199 "num_senders": 2
200 },
201 {
202 "name": "/aos/pi3",
203 "type": "aos.message_bridge.ClientStatistics",
204 "source_node": "pi3",
James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame^]205 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]206 "num_senders": 2
207 },
208 {
209 "name": "/aos/pi3",
210 "type": "aos.message_bridge.Timestamp",
211 "source_node": "pi3",
212 "frequency": 10,
213 "num_senders": 2,
214 "max_size": 200,
215 "destination_nodes": [
216 {
217 "name": "roborio",
218 "priority": 1,
219 "time_to_live": 5000000
220 }
221 ]
222 },
223 {
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]224 "name": "/superstructure",
225 "type": "y2020.control_loops.superstructure.Goal",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]226 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]227 "frequency": 200
228 },
229 {
230 "name": "/superstructure",
231 "type": "y2020.control_loops.superstructure.Status",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]232 "source_node": "roborio",
233 "frequency": 200,
234 "num_senders": 2
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]235 },
236 {
237 "name": "/superstructure",
238 "type": "y2020.control_loops.superstructure.Output",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]239 "source_node": "roborio",
240 "frequency": 200,
241 "num_senders": 2
James Kuszmaula244a912020-01-18 13:50:50 -0800[diff] [blame]242 },
243 {
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]244 "name": "/superstructure",
245 "type": "y2020.control_loops.superstructure.Position",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]246 "source_node": "roborio",
247 "frequency": 200,
248 "num_senders": 2
249 },
250 {
251 "name": "/drivetrain",
252 "type": "frc971.IMUValues",
253 "source_node": "roborio",
254 "frequency": 2000,
255 "num_senders": 2
256 },
257 {
258 "name": "/drivetrain",
259 "type": "frc971.sensors.GyroReading",
260 "source_node": "roborio",
261 "frequency": 200,
262 "num_senders": 2
263 },
264 {
265 "name": "/drivetrain",
266 "type": "frc971.sensors.Uid",
267 "source_node": "roborio",
268 "frequency": 200,
269 "num_senders": 2
270 },
271 {
272 "name": "/drivetrain",
273 "type": "frc971.control_loops.drivetrain.Goal",
274 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]275 "frequency": 200
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]276 },
277 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]278 "name": "/drivetrain",
279 "type": "frc971.control_loops.drivetrain.Position",
280 "source_node": "roborio",
281 "frequency": 200,
282 "num_senders": 2
283 },
284 {
285 "name": "/drivetrain",
286 "type": "frc971.control_loops.drivetrain.Status",
287 "source_node": "roborio",
288 "frequency": 200,
289 "max_size": 2000,
290 "num_senders": 2
291 },
292 {
293 "name": "/drivetrain",
294 "type": "frc971.control_loops.drivetrain.Output",
295 "source_node": "roborio",
296 "frequency": 200,
297 "num_senders": 2
298 },
299 {
300 "name": "/drivetrain",
301 "type": "frc971.control_loops.drivetrain.LocalizerControl",
302 "source_node": "roborio",
303 "frequency": 200
304 },
305 {
306 "name": "/drivetrain",
307 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
308 "source_node": "roborio"
309 },
310 {
311 "name": "/pi1/camera",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]312 "type": "frc971.vision.CameraImage",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]313 "source_node": "pi1",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]314 "frequency": 25,
315 "max_size": 620000,
316 "num_senders": 18
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]317 },
318 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]319 "name": "/pi1/camera",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]320 "type": "frc971.vision.sift.ImageMatchResult",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]321 "source_node": "pi1",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]322 "frequency": 25,
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]323 "max_size": 10000,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]324 "destination_nodes": [
325 {
326 "name": "roborio",
327 "priority": 1,
328 "time_to_live": 5000000
329 }
330 ]
331 },
332 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]333 "name": "/pi1/camera/detailed",
334 "type": "frc971.vision.sift.ImageMatchResult",
335 "source_node": "pi1",
336 "frequency": 25,
337 "max_size": 300000
338 },
339 {
Brian Silverman62956e72020-02-26 21:04:05 -0800[diff] [blame]340 "name": "/pi1/camera",
341 "type": "frc971.vision.sift.TrainingData",
342 "source_node": "pi1",
343 "frequency": 2,
344 "max_size": 2000000
345 },
346 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]347 "name": "/pi2/camera",
348 "type": "frc971.vision.CameraImage",
349 "source_node": "pi2",
350 "frequency": 25,
351 "max_size": 620000,
352 "num_senders": 18
353 },
354 {
355 "name": "/pi2/camera",
356 "type": "frc971.vision.sift.ImageMatchResult",
357 "source_node": "pi2",
358 "frequency": 25,
359 "max_size": 300000,
360 "destination_nodes": [
361 {
362 "name": "roborio",
363 "priority": 1,
364 "time_to_live": 5000000
365 }
366 ]
367 },
368 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]369 "name": "/pi2/camera/detailed",
370 "type": "frc971.vision.sift.ImageMatchResult",
371 "source_node": "pi2",
372 "frequency": 25,
373 "max_size": 300000
374 },
375 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]376 "name": "/pi2/camera",
377 "type": "frc971.vision.sift.TrainingData",
378 "source_node": "pi2",
379 "frequency": 2,
380 "max_size": 2000000
381 },
382 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]383 "name": "/autonomous",
384 "type": "aos.common.actions.Status",
385 "source_node": "roborio"
386 },
387 {
388 "name": "/autonomous",
389 "type": "frc971.autonomous.Goal",
390 "source_node": "roborio"
391 },
392 {
393 "name": "/autonomous",
394 "type": "frc971.autonomous.AutonomousMode",
395 "source_node": "roborio",
396 "frequency": 200
397 },
398 {
399 "name": "/aos/roborio",
400 "type": "frc971.PDPValues",
401 "source_node": "roborio",
402 "frequency": 50
403 },
404 {
405 "name": "/aos/roborio",
406 "type": "frc971.wpilib.PneumaticsToLog",
407 "source_node": "roborio",
408 "frequency": 50
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]409 }
410 ],
411 "applications": [
412 {
413 "name": "drivetrain"
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]414 },
415 {
416 "name": "camera_reader"
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]417 }
418 ],
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]419 "maps": [
420 {
421 "match": {
422 "name": "/aos",
423 "source_node": "roborio"
424 },
425 "rename": {
426 "name": "/aos/roborio"
427 }
428 },
429 {
430 "match": {
431 "name": "/aos",
432 "source_node": "pi1"
433 },
434 "rename": {
435 "name": "/aos/pi1"
436 }
437 },
438 {
439 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]440 "name": "/camera",
441 "source_node": "pi1"
442 },
443 "rename": {
444 "name": "/pi1/camera"
445 }
446 },
447 {
448 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]449 "name": "/camera/detailed",
450 "source_node": "pi1"
451 },
452 "rename": {
453 "name": "/pi1/camera/detailed"
454 }
455 },
456 {
457 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]458 "name": "/aos",
459 "source_node": "pi2"
460 },
461 "rename": {
462 "name": "/aos/pi2"
463 }
464 },
465 {
466 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]467 "name": "/camera",
468 "source_node": "pi2"
469 },
470 "rename": {
471 "name": "/pi2/camera"
472 }
473 },
474 {
475 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]476 "name": "/camera/detailed",
477 "source_node": "pi2"
478 },
479 "rename": {
480 "name": "/pi2/camera/detailed"
481 }
482 },
483 {
484 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]485 "name": "/aos",
486 "source_node": "pi3"
487 },
488 "rename": {
489 "name": "/aos/pi3"
490 }
491 },
492 {
493 "match": {
494 "name": "/aos",
495 "type": "aos.RobotState"
496 },
497 "rename": {
498 "name": "/aos/roborio"
499 }
500 }
501 ],
502 "nodes": [
503 {
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506 "hostnames": [
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508 "roboRIO-7971-FRC",
509 "roboRIO-8971-FRC",
510 "roboRIO-9971-FRC"
511 ],
512 "port": 9971
513 },
514 {
515 "name": "pi1",
516 "hostname": "pi1",
517 "hostnames": [
518 "pi-971-1",
519 "pi-7971-1",
520 "pi-8971-1",
521 "pi-9971-1"
522 ],
523 "port": 9971
524 },
525 {
526 "name": "pi2",
527 "hostname": "pi2",
528 "hostnames": [
529 "pi-971-2",
530 "pi-7971-2",
531 "pi-8971-2",
532 "pi-9971-2"
533 ],
534 "port": 9971
535 },
536 {
537 "name": "pi3",
538 "hostname": "pi3",
539 "hostnames": [
540 "pi-971-3",
541 "pi-7971-3",
542 "pi-8971-3",
543 "pi-9971-3"
544 ],
545 "port": 9971
546 }
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]547 ]
548}