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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 35cb7d9fbc43aca3ccacc8178375f55b9a27d8dd / . / y2022 / y2022_pi_template.json
blob: bcd3f6b0632c774bdf67bacd42867680a4ffdf55 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/pi{{ NUM }}/aos",
5 "type": "aos.timing.Report",
6 "source_node": "pi{{ NUM }}",
7 "frequency": 50,
8 "num_senders": 20,
9 "max_size": 4096
10 },
11 {
12 "name": "/pi{{ NUM }}/aos",
13 "type": "aos.logging.LogMessageFbs",
14 "source_node": "pi{{ NUM }}",
15 "frequency": 200,
16 "num_senders": 20
17 },
18 {
19 "name": "/pi{{ NUM }}/aos",
20 "type": "aos.starter.Status",
21 "source_node": "pi{{ NUM }}",
22 "frequency": 50,
23 "num_senders": 20,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]24 "max_size": 2000,
25 "logger": "LOCAL_AND_REMOTE_LOGGER",
26 "logger_nodes": [
27 "roborio",
28 "logger"
29 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]30 "destination_nodes": [
31 {
32 "name": "roborio",
33 "priority": 5,
34 "time_to_live": 5000000
35 },
36 {
37 "name": "logger",
38 "priority": 5,
39 "time_to_live": 5000000
40 }
41 ]
42 },
43 {
44 "name": "/pi{{ NUM }}/aos",
45 "type": "aos.starter.StarterRpc",
46 "source_node": "pi{{ NUM }}",
47 "frequency": 10,
48 "num_senders": 2,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]49 "logger": "LOCAL_AND_REMOTE_LOGGER",
50 "logger_nodes": [
51 "roborio",
52 "logger"
53 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]54 "destination_nodes": [
55 {
56 "name": "roborio",
57 "priority": 5,
58 "time_to_live": 5000000
59 },
60 {
61 "name": "logger",
62 "priority": 5,
63 "time_to_live": 5000000
64 }
65 ]
66 },
67 {
68 "name": "/pi{{ NUM }}/aos",
69 "type": "aos.message_bridge.ServerStatistics",
70 "source_node": "pi{{ NUM }}",
71 "frequency": 10,
72 "num_senders": 2
73 },
74 {
75 "name": "/pi{{ NUM }}/aos",
76 "type": "aos.message_bridge.ClientStatistics",
77 "source_node": "pi{{ NUM }}",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]78 "frequency": 20,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]79 "num_senders": 2
80 },
81 {
82 "name": "/pi{{ NUM }}/aos",
83 "type": "aos.message_bridge.Timestamp",
84 "source_node": "pi{{ NUM }}",
85 "frequency": 15,
86 "num_senders": 2,
87 "logger": "LOCAL_AND_REMOTE_LOGGER",
88 "logger_nodes": [
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]89 "roborio",
90 "imu"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]91 ],
92 "max_size": 200,
93 "destination_nodes": [
94 {
95 "name": "roborio",
96 "priority": 1,
97 "time_to_live": 5000000,
98 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
99 "timestamp_logger_nodes": [
100 "roborio"
101 ]
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]102 },
103 {
104 "name": "imu",
105 "priority": 1,
106 "time_to_live": 5000000,
107 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
108 "timestamp_logger_nodes": [
109 "imu"
110 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]111 }
112 ]
113 },
114 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]115 "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
116 "type": "aos.message_bridge.RemoteMessage",
117 "frequency": 20,
118 "source_node": "pi{{ NUM }}",
119 "max_size": 208
120 },
121 {
122 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
123 "type": "aos.message_bridge.RemoteMessage",
124 "frequency": 20,
125 "source_node": "pi{{ NUM }}",
126 "max_size": 208
127 },
128 {
129 "name": "/imu/aos",
130 "type": "aos.message_bridge.Timestamp",
131 "source_node": "imu",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]132 "logger": "LOCAL_AND_REMOTE_LOGGER",
133 "logger_nodes": [
134 "pi{{ NUM }}"
135 ],
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]136 "destination_nodes": [
137 {
138 "name": "pi{{ NUM }}",
139 "priority": 1,
140 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
141 "timestamp_logger_nodes": [
142 "imu"
143 ],
144 "time_to_live": 5000000
145 }
146 ]
147 },
148 {
149 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/imu/aos/aos-message_bridge-Timestamp",
150 "type": "aos.message_bridge.RemoteMessage",
151 "frequency": 20,
152 "source_node": "imu",
153 "max_size": 208
154 },
155 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]156 "name": "/pi{{ NUM }}/camera",
157 "type": "frc971.vision.CameraImage",
158 "source_node": "pi{{ NUM }}",
159 "frequency": 25,
160 "max_size": 620000,
161 "num_senders": 18
162 },
163 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]164 "name": "/pi{{ NUM }}/camera/decimated",
165 "type": "frc971.vision.CameraImage",
166 "source_node": "pi{{ NUM }}",
167 "frequency": 2,
168 "max_size": 620000,
169 "num_senders": 18
170 },
171 {
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]172 "name": "/pi{{ NUM }}/camera",
Jim Ostrowski007e2ea2022-01-30 13:13:26 -0800[diff] [blame]173 "type": "frc971.vision.calibration.CalibrationData",
174 "source_node": "pi{{ NUM }}",
175 "frequency": 2,
176 "max_size": 100000
177 },
178 {
179 "name": "/pi{{ NUM }}/camera",
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]180 "type": "y2022.vision.TargetEstimate",
181 "source_node": "pi{{ NUM }}",
182 "frequency": 25,
Jim Ostrowski3af082f2022-02-11 23:55:46 -0800[diff] [blame]183 "num_senders": 2,
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame^]184 "max_size": 40000,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]185 "logger": "LOCAL_AND_REMOTE_LOGGER",
186 "logger_nodes": [
187 "imu",
188 "logger"
189 ],
190 "destination_nodes": [
191 {
192 "name": "imu",
193 "priority": 4,
194 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
195 "timestamp_logger_nodes": [
196 "pi{{ NUM }}"
197 ],
198 "time_to_live": 5000000
199 },
200 {
201 "name": "logger",
202 "priority": 4,
203 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
204 "timestamp_logger_nodes": [
205 "pi{{ NUM }}"
206 ],
207 "time_to_live": 5000000
208 }
209 ]
210 },
211 {
212 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
213 "type": "aos.message_bridge.RemoteMessage",
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame^]214 "frequency": 40,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]215 "source_node": "pi{{ NUM }}",
216 "max_size": 208
217 },
218 {
219 "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
220 "type": "aos.message_bridge.RemoteMessage",
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame^]221 "frequency": 40,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]222 "source_node": "pi{{ NUM }}",
223 "max_size": 208
milind-uf2f59aa2022-01-23 21:06:12 -0800[diff] [blame]224 },
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]225 {
Milind Upadhyayd67e9cf2022-03-13 13:56:57 -0700[diff] [blame]226 "name": "/localizer",
227 "type": "frc971.controls.LocalizerOutput",
228 "source_node": "imu",
229 "destination_nodes": [
230 {
231 "name": "pi{{ NUM }}",
232 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]233 "time_to_live": 5000000,
234 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
235 "timestamp_logger_nodes": [
236 "imu"
237 ]
Milind Upadhyayd67e9cf2022-03-13 13:56:57 -0700[diff] [blame]238 }
239 ]
240 },
241 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]242 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/localizer/frc971-controls-LocalizerOutput",
243 "type": "aos.message_bridge.RemoteMessage",
244 "source_node": "imu",
245 "logger": "NOT_LOGGED",
246 "frequency": 400,
247 "num_senders": 2,
248 "max_size": 200
249 },
250 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]251 "name": "/logger/aos",
252 "type": "aos.starter.StarterRpc",
253 "source_node": "logger",
254 "destination_nodes": [
255 {
256 "name": "pi{{ NUM }}",
257 "priority": 5,
258 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
259 "timestamp_logger_nodes": [
260 "logger"
261 ],
262 "time_to_live": 5000000
263 }
264 ]
265 },
266 {
267 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
268 "type": "aos.message_bridge.RemoteMessage",
269 "source_node": "logger",
270 "logger": "NOT_LOGGED",
271 "frequency": 20,
272 "num_senders": 2,
273 "max_size": 200
274 },
275 {
276 "name": "/logger/aos",
277 "type": "aos.starter.Status",
278 "source_node": "logger",
279 "destination_nodes": [
280 {
281 "name": "pi{{ NUM }}",
282 "priority": 5,
283 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
284 "timestamp_logger_nodes": [
285 "logger"
286 ],
287 "time_to_live": 5000000
288 }
289 ]
290 },
291 {
292 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
293 "type": "aos.message_bridge.RemoteMessage",
294 "source_node": "logger",
295 "logger": "NOT_LOGGED",
296 "frequency": 20,
297 "num_senders": 2,
298 "max_size": 200
299 },
300 {
301 "name": "/roborio/aos",
302 "type": "aos.starter.StarterRpc",
303 "source_node": "roborio",
304 "destination_nodes": [
305 {
306 "name": "pi{{ NUM }}",
307 "priority": 5,
308 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
309 "timestamp_logger_nodes": [
310 "roborio"
311 ],
312 "time_to_live": 5000000
313 }
314 ]
315 },
316 {
317 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
318 "type": "aos.message_bridge.RemoteMessage",
319 "source_node": "roborio",
320 "logger": "NOT_LOGGED",
321 "frequency": 20,
322 "num_senders": 2,
323 "max_size": 200
324 },
325 {
326 "name": "/roborio/aos",
327 "type": "aos.starter.Status",
328 "source_node": "roborio",
329 "destination_nodes": [
330 {
331 "name": "pi{{ NUM }}",
332 "priority": 5,
333 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
334 "timestamp_logger_nodes": [
335 "roborio"
336 ],
337 "time_to_live": 5000000
338 }
339 ]
340 },
341 {
342 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
343 "type": "aos.message_bridge.RemoteMessage",
344 "source_node": "roborio",
345 "logger": "NOT_LOGGED",
346 "frequency": 20,
347 "num_senders": 2,
348 "max_size": 200
349 }
350 ],
351 "applications": [
352 {
353 "name": "message_bridge_client",
354 "executable_name": "message_bridge_client",
Austin Schuh6b2edc62022-03-27 13:32:09 -0700[diff] [blame]355 "args": ["--rt_priority=16"],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]356 "nodes": [
357 "pi{{ NUM }}"
358 ]
359 },
360 {
361 "name": "message_bridge_server",
362 "executable_name": "message_bridge_server",
363 "nodes": [
364 "pi{{ NUM }}"
365 ]
366 },
367 {
368 "name": "web_proxy",
369 "executable_name": "web_proxy_main",
370 "nodes": [
371 "pi{{ NUM }}"
372 ]
373 },
374 {
375 "name": "camera_reader",
376 "executable_name": "camera_reader",
377 "nodes": [
378 "pi{{ NUM }}"
379 ]
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]380 },
381 {
382 "name": "image_decimator",
383 "executable_name": "image_decimator",
384 "nodes": [
385 "pi{{ NUM }}"
386 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]387 }
388 ],
389 "maps": [
390 {
391 "match": {
392 "name": "/aos*",
393 "source_node": "pi{{ NUM }}"
394 },
395 "rename": {
396 "name": "/pi{{ NUM }}/aos"
397 }
398 },
399 {
400 "match": {
401 "name": "/camera*",
402 "source_node": "pi{{ NUM }}"
403 },
404 "rename": {
405 "name": "/pi{{ NUM }}/camera"
406 }
407 }
408 ],
409 "nodes": [
410 {
411 "name": "pi{{ NUM }}",
412 "hostname": "pi{{ NUM }}",
413 "hostnames": [
414 "pi-971-{{ NUM }}",
415 "pi-7971-{{ NUM }}",
416 "pi-8971-{{ NUM }}",
417 "pi-9971-{{ NUM }}"
418 ],
419 "port": 9971
420 },
421 {
422 "name": "logger"
423 },
424 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]425 "name": "imu"
426 },
427 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]428 "name": "roborio"
429 }
430 ]
431}