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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 313e9ceb24233a7fbeb9addd4f20158f9049b33d / . / y2024 / y2024_roborio.json
blob: 30af4a2358b5c347043229e0bcf7441de9a5f302 [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
16 "time_to_live": 50000000
17 }
18 ]
19 },
20 {
21 "name": "/roborio/aos",
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]22 "type": "frc971.PDPValues",
23 "source_node": "roborio",
24 "frequency": 55,
25 "max_size": 368
26 },
27 {
28 "name": "/roborio/aos",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]29 "type": "aos.RobotState",
30 "source_node": "roborio",
31 "frequency": 250
32 },
33 {
34 "name": "/roborio/aos",
35 "type": "aos.timing.Report",
36 "source_node": "roborio",
37 "frequency": 50,
Maxwell Henderson0e2ca7c2024-02-22 13:59:05 -0800[diff] [blame]38 "num_senders": 30,
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]39 "max_size": 8192
40 },
41 {
42 "name": "/roborio/aos",
43 "type": "aos.logging.LogMessageFbs",
44 "source_node": "roborio",
45 "frequency": 500,
46 "max_size": 1000,
47 "num_senders": 20
48 },
49 {
50 "name": "/roborio/aos",
51 "type": "aos.starter.Status",
52 "source_node": "roborio",
53 "frequency": 50,
54 "num_senders": 20,
55 "max_size": 2000
56 },
57 {
58 "name": "/roborio/aos",
59 "type": "aos.starter.StarterRpc",
60 "source_node": "roborio",
61 "frequency": 10,
62 "max_size": 400,
63 "num_senders": 2
64 },
65 {
66 "name": "/roborio/aos",
67 "type": "aos.message_bridge.ServerStatistics",
68 "source_node": "roborio",
69 "max_size": 2048,
70 "frequency": 10,
71 "num_senders": 2
72 },
73 {
74 "name": "/roborio/aos",
75 "type": "aos.message_bridge.ClientStatistics",
76 "source_node": "roborio",
77 "frequency": 20,
78 "max_size": 2000,
79 "num_senders": 2
80 },
81 {
82 "name": "/roborio/aos",
83 "type": "aos.logging.DynamicLogCommand",
84 "source_node": "roborio",
85 "frequency": 10,
86 "num_senders": 2
87 },
88 {
89 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
90 "type": "aos.message_bridge.RemoteMessage",
91 "frequency": 20,
92 "source_node": "roborio",
93 "max_size": 208
94 },
95 {
96 "name": "/roborio/aos",
97 "type": "aos.message_bridge.Timestamp",
98 "source_node": "roborio",
99 "frequency": 15,
100 "num_senders": 2,
101 "max_size": 512,
102 "logger": "LOCAL_AND_REMOTE_LOGGER",
103 "logger_nodes": [
104 "imu"
105 ],
106 "destination_nodes": [
107 {
108 "name": "imu",
109 "priority": 1,
110 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
111 "timestamp_logger_nodes": [
112 "roborio"
113 ],
114 "time_to_live": 5000000
115 }
116 ]
117 },
118 {
119 "name": "/superstructure",
120 "type": "y2024.control_loops.superstructure.Goal",
121 "source_node": "roborio",
122 "frequency": 250,
123 "max_size": 512
124 },
125 {
126 "name": "/superstructure",
127 "type": "y2024.control_loops.superstructure.Status",
128 "source_node": "roborio",
129 "frequency": 400,
130 "num_senders": 2
131 },
132 {
133 "name": "/superstructure",
134 "type": "y2024.control_loops.superstructure.Output",
135 "source_node": "roborio",
136 "frequency": 250,
137 "num_senders": 2,
138 "max_size": 224
139 },
140 {
141 "name": "/superstructure",
142 "type": "y2024.control_loops.superstructure.Position",
143 "source_node": "roborio",
144 "frequency": 250,
145 "num_senders": 2,
146 "max_size": 448
147 },
148 {
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame]149 "name": "/superstructure/canivore",
150 "type": "y2024.control_loops.superstructure.CANPosition",
151 "source_node": "roborio",
152 "frequency": 220,
153 "num_senders": 2,
Maxwell Henderson3d68e142024-02-25 09:58:11 -0800[diff] [blame]154 "max_size": 1024
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame]155 },
156 {
157 "name": "/superstructure/rio",
158 "type": "y2024.control_loops.superstructure.CANPosition",
159 "source_node": "roborio",
160 "frequency": 220,
161 "num_senders": 2,
Maxwell Henderson3d68e142024-02-25 09:58:11 -0800[diff] [blame]162 "max_size": 1024
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame]163 },
164 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]165 "name": "/can",
166 "type": "frc971.can_logger.CanFrame",
167 "source_node": "roborio",
168 "frequency": 6000,
169 "num_senders": 2,
170 "max_size": 200
171 },
172 {
173 "name": "/drivetrain",
174 "type": "frc971.control_loops.drivetrain.CANPosition",
175 "source_node": "roborio",
176 "frequency": 220,
177 "num_senders": 2,
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]178 "max_size": 424
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]179 },
180 {
181 "name": "/drivetrain",
182 "type": "frc971.sensors.GyroReading",
183 "source_node": "roborio",
184 "frequency": 250,
185 "num_senders": 2
186 },
187 {
188 "name": "/drivetrain",
189 "type": "frc971.sensors.Uid",
190 "source_node": "roborio",
191 "frequency": 250,
192 "num_senders": 2
193 },
194 {
195 "name": "/drivetrain",
196 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
197 "source_node": "roborio",
198 "max_size": 600000,
199 "frequency": 10,
200 "logger": "NOT_LOGGED",
201 "num_senders": 2,
202 "read_method": "PIN",
203 "num_readers": 10
204 },
205 {
206 "name": "/drivetrain",
207 "type": "frc971.control_loops.drivetrain.SplineGoal",
208 "source_node": "roborio",
209 "frequency": 10
210 },
211 {
212 "name": "/drivetrain",
213 "type": "frc971.control_loops.drivetrain.Goal",
214 "source_node": "roborio",
215 "max_size": 224,
216 "frequency": 250
217 },
218 {
219 "name": "/drivetrain",
220 "type": "frc971.control_loops.drivetrain.Position",
221 "source_node": "roborio",
222 "frequency": 400,
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]223 "max_size": 128,
James Kuszmaul313e9ce2024-02-11 17:47:33 -0800[diff] [blame^]224 "num_senders": 2,
225 "logger": "LOCAL_AND_REMOTE_LOGGER",
226 "logger_nodes": [
227 "imu"
228 ],
229 "destination_nodes": [
230 {
231 "name": "imu",
232 "priority": 5,
233 "time_to_live": 5000000
234 }
235 ]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]236 },
237 {
238 "name": "/drivetrain",
239 "type": "frc971.control_loops.drivetrain.Output",
240 "source_node": "roborio",
241 "frequency": 400,
242 "max_size": 80,
243 "num_senders": 2,
244 "logger": "LOCAL_AND_REMOTE_LOGGER",
245 "logger_nodes": [
246 "imu"
247 ],
248 "destination_nodes": [
249 {
250 "name": "imu",
251 "priority": 5,
252 "time_to_live": 5000000
253 }
254 ]
255 },
256 {
257 "name": "/drivetrain",
258 "type": "frc971.control_loops.drivetrain.Status",
259 "source_node": "roborio",
260 "frequency": 400,
261 "max_size": 1616,
262 "num_senders": 2
263 },
264 {
265 "name": "/drivetrain",
266 "type": "frc971.control_loops.drivetrain.LocalizerControl",
267 "source_node": "roborio",
268 "frequency": 250,
269 "max_size": 96,
270 "logger": "LOCAL_AND_REMOTE_LOGGER",
271 "logger_nodes": [
272 "imu"
273 ],
274 "destination_nodes": [
275 {
276 "name": "imu",
277 "priority": 5,
278 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
279 "timestamp_logger_nodes": [
280 "roborio"
281 ],
282 "time_to_live": 0
283 }
284 ]
285 },
286 {
287 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
288 "type": "aos.message_bridge.RemoteMessage",
289 "source_node": "roborio",
290 "logger": "NOT_LOGGED",
291 "frequency": 400,
292 "num_senders": 2,
293 "max_size": 200
294 },
295 {
296 "name": "/autonomous",
297 "type": "aos.common.actions.Status",
298 "source_node": "roborio"
299 },
300 {
301 "name": "/autonomous",
302 "type": "frc971.autonomous.Goal",
303 "source_node": "roborio"
304 },
305 {
306 "name": "/autonomous",
307 "type": "frc971.autonomous.AutonomousMode",
308 "source_node": "roborio",
309 "frequency": 250
310 },
311
312 {
313 "name": "/roborio",
314 "type": "frc971.CANConfiguration",
315 "source_node": "roborio",
316 "frequency": 2
317 },
318 {
319 "name": "/roborio/constants",
320 "type": "y2024.Constants",
321 "source_node": "roborio",
322 "frequency": 1,
323 "num_senders": 2,
324 "max_size": 65536
325 }
326 ],
327 "applications": [
328 {
329 "name": "drivetrain",
330 "executable_name": "drivetrain",
331 "nodes": [
332 "roborio"
333 ]
334 },
335 {
336 "name": "trajectory_generator",
337 "executable_name": "trajectory_generator",
338 "nodes": [
339 "roborio"
340 ]
341 },
342 {
343 "name": "superstructure",
344 "executable_name": "superstructure",
345 "nodes": [
346 "roborio"
347 ]
348 },
349 {
350 "name": "roborio_irq_affinity",
351 "executable_name": "irq_affinity",
352 "args": [
353 "--irq_config=/home/admin/bin/roborio_irq_config.json"
354 ],
355 "nodes": [
356 "roborio"
357 ]
358 },
359 {
360 "name": "joystick_reader",
361 "executable_name": "joystick_reader",
362 "args": [
363 "--nodie_on_malloc"
364 ],
365 "nodes": [
366 "roborio"
367 ]
368 },
369 {
370 "name": "wpilib_interface",
371 "executable_name": "wpilib_interface",
372 "args": [
373 "--nodie_on_malloc"
374 ],
375 "nodes": [
376 "roborio"
377 ]
378 },
379 {
380 "name": "autonomous_action",
381 "executable_name": "autonomous_action",
382 "args": [
383 "--nodie_on_malloc"
384 ],
385 "autostart": true,
386 "nodes": [
387 "roborio"
388 ]
389 },
390 {
391 "name": "roborio_web_proxy",
392 "executable_name": "web_proxy_main",
393 "args": [
394 "--min_ice_port=5800",
395 "--max_ice_port=5810"
396 ],
397 "nodes": [
398 "roborio"
399 ]
400 },
401 {
402 "name": "roborio_message_bridge_client",
403 "executable_name": "message_bridge_client",
404 "args": [
405 "--rt_priority=16",
406 "--sinit_max_init_timeout=5000"
407 ],
408 "nodes": [
409 "roborio"
410 ]
411 },
412 {
413 "name": "roborio_message_bridge_server",
414 "executable_name": "message_bridge_server",
415 "args": [
416 "--rt_priority=16"
417 ],
418 "nodes": [
419 "roborio"
420 ]
421 },
422 {
423 "name": "logger",
424 "executable_name": "logger_main",
425 "args": [
426 "--snappy_compress",
427 "--logging_folder=/home/admin/logs/",
428 "--rotate_every", "30.0"
429 ],
430 "nodes": [
431 "roborio"
432 ]
433 },
434 {
435 "name": "constants_sender_roborio",
436 "executable_name": "constants_sender",
437 "autorestart": false,
438 "nodes": [
439 "roborio"
440 ]
441 },
442 {
443 "name": "can_logger",
444 "executable_name": "can_logger",
445 "nodes": [
446 "roborio"
447 ]
448 }
449 ],
450 "maps": [
451 {
452 "match": {
453 "name": "/constants*",
454 "source_node": "roborio"
455 },
456 "rename": {
457 "name": "/roborio/constants"
458 }
459 },
460 {
461 "match": {
462 "name": "/aos*",
463 "source_node": "roborio"
464 },
465 "rename": {
466 "name": "/roborio/aos"
467 }
468 }
469 ],
470 "nodes": [
471 {
472 "name": "roborio",
473 "hostname": "roborio",
474 "hostnames": [
475 "roboRIO-971-FRC",
476 "roboRIO-6971-FRC",
477 "roboRIO-7971-FRC",
478 "roboRIO-8971-FRC",
479 "roboRIO-9971-FRC"
480 ],
481 "port": 9971
482 },
483 {
484 "name": "imu"
485 }
486 ]
487}