Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 35cb7d9fbc43aca3ccacc8178375f55b9a27d8dd / . / y2022 / y2022_roborio.json
blob: e01fa9dc5f378b42f2c113aa9b526d4a0c3c6f8b [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]9 "logger_nodes" : [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]16 "time_to_live": 50000000,
17 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
18 "timestamp_logger_nodes": [
19 "roborio"
20 ]
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]21 }
22 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]23 },
24 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]25 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
26 "type": "aos.message_bridge.RemoteMessage",
27 "source_node": "roborio",
28 "logger": "NOT_LOGGED",
29 "frequency": 200,
30 "num_senders": 2,
31 "max_size": 200
32 },
33 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]34 "name": "/roborio/aos",
35 "type": "aos.RobotState",
36 "source_node": "roborio",
37 "frequency": 200
38 },
39 {
40 "name": "/roborio/aos",
41 "type": "aos.timing.Report",
42 "source_node": "roborio",
43 "frequency": 50,
44 "num_senders": 20,
45 "max_size": 4096
46 },
47 {
48 "name": "/roborio/aos",
49 "type": "aos.logging.LogMessageFbs",
50 "source_node": "roborio",
51 "frequency": 500,
52 "max_size": 344,
53 "num_senders": 20
54 },
55 {
56 "name": "/roborio/aos",
57 "type": "aos.starter.Status",
58 "source_node": "roborio",
59 "frequency": 50,
60 "num_senders": 20,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]61 "max_size": 2000,
62 "logger": "LOCAL_AND_REMOTE_LOGGER",
63 "logger_nodes": [
64 "logger"
65 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]66 "destination_nodes": [
67 {
68 "name": "logger",
69 "priority": 5,
70 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
71 "timestamp_logger_nodes": [
72 "roborio"
73 ],
74 "time_to_live": 5000000
75 }
76 ]
77 },
78 {
79 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
80 "type": "aos.message_bridge.RemoteMessage",
81 "source_node": "roborio",
82 "logger": "NOT_LOGGED",
83 "frequency": 20,
84 "num_senders": 2,
85 "max_size": 200
86 },
87 {
88 "name": "/roborio/aos",
89 "type": "aos.starter.StarterRpc",
90 "source_node": "roborio",
91 "frequency": 10,
92 "max_size": 400,
93 "num_senders": 2,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]94 "logger": "LOCAL_AND_REMOTE_LOGGER",
95 "logger_nodes": [
96 "logger"
97 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]98 "destination_nodes": [
99 {
100 "name": "logger",
101 "priority": 5,
102 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
103 "timestamp_logger_nodes": [
104 "roborio"
105 ],
106 "time_to_live": 5000000
107 }
108 ]
109 },
110 {
111 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
112 "type": "aos.message_bridge.RemoteMessage",
113 "source_node": "roborio",
114 "logger": "NOT_LOGGED",
115 "frequency": 20,
116 "num_senders": 2,
117 "max_size": 200
118 },
119 {
120 "name": "/roborio/aos",
121 "type": "aos.message_bridge.ServerStatistics",
122 "source_node": "roborio",
123 "frequency": 10,
124 "num_senders": 2
125 },
126 {
127 "name": "/roborio/aos",
128 "type": "aos.message_bridge.ClientStatistics",
129 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]130 "frequency": 20,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]131 "max_size": 2000,
132 "num_senders": 2
133 },
134 {
135 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
136 "type": "aos.message_bridge.RemoteMessage",
137 "frequency": 200,
138 "source_node": "roborio"
139 },
140 {
141 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
142 "type": "aos.message_bridge.RemoteMessage",
143 "frequency": 20,
144 "source_node": "roborio",
145 "max_size": 208
146 },
147 {
148 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
149 "type": "aos.message_bridge.RemoteMessage",
150 "frequency": 20,
151 "source_node": "roborio",
152 "max_size": 208
153 },
154 {
155 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
156 "type": "aos.message_bridge.RemoteMessage",
157 "frequency": 20,
158 "source_node": "roborio"
159 },
160 {
161 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
162 "type": "aos.message_bridge.RemoteMessage",
163 "frequency": 20,
164 "source_node": "roborio"
165 },
166 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]167 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
168 "type": "aos.message_bridge.RemoteMessage",
169 "frequency": 20,
170 "source_node": "roborio",
171 "max_size": 208
172 },
173 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]174 "name": "/roborio/aos",
175 "type": "aos.message_bridge.Timestamp",
176 "source_node": "roborio",
177 "frequency": 15,
178 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]179 "max_size": 512,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]180 "logger": "LOCAL_AND_REMOTE_LOGGER",
181 "logger_nodes": [
182 "imu"
183 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]184 "destination_nodes": [
185 {
186 "name": "pi1",
187 "priority": 1,
188 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
189 "timestamp_logger_nodes": [
190 "roborio"
191 ],
192 "time_to_live": 5000000
193 },
194 {
195 "name": "pi2",
196 "priority": 1,
197 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
198 "timestamp_logger_nodes": [
199 "roborio"
200 ],
201 "time_to_live": 5000000
202 },
203 {
204 "name": "pi3",
205 "priority": 1,
206 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
207 "timestamp_logger_nodes": [
208 "roborio"
209 ],
210 "time_to_live": 5000000
211 },
212 {
213 "name": "pi4",
214 "priority": 1,
215 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
216 "timestamp_logger_nodes": [
217 "roborio"
218 ],
219 "time_to_live": 5000000
220 },
221 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]222 "name": "imu",
223 "priority": 1,
224 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
225 "timestamp_logger_nodes": [
226 "roborio"
227 ],
228 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]229 }
230 ]
231 },
232 {
233 "name": "/superstructure",
234 "type": "y2022.control_loops.superstructure.Goal",
235 "source_node": "roborio",
236 "frequency": 200,
237 "max_size": 512
238 },
239 {
240 "name": "/superstructure",
241 "type": "y2022.control_loops.superstructure.Status",
242 "source_node": "roborio",
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame^]243 "frequency": 400,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]244 "num_senders": 2,
245 "logger": "LOCAL_AND_REMOTE_LOGGER",
246 "logger_nodes": [
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]247 "imu",
248 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]249 ],
250 "destination_nodes": [
251 {
252 "name": "imu",
253 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]254 "time_to_live": 50000000,
255 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
256 "timestamp_logger_nodes": [
257 "roborio"
258 ]
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]259 },
260 {
261 "name": "logger",
262 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]263 "time_to_live": 50000000,
264 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
265 "timestamp_logger_nodes": [
266 "roborio"
267 ]
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]268 }
269 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]270 },
271 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]272 "name": "/roborio/aos/remote_timestamps/imu/superstructure/y2022-control_loops-superstructure-Status",
273 "type": "aos.message_bridge.RemoteMessage",
274 "source_node": "roborio",
275 "logger": "NOT_LOGGED",
276 "frequency": 400,
277 "num_senders": 2,
278 "max_size": 200
279 },
280 {
281 "name": "/roborio/aos/remote_timestamps/logger/superstructure/y2022-control_loops-superstructure-Status",
282 "type": "aos.message_bridge.RemoteMessage",
283 "source_node": "roborio",
284 "logger": "NOT_LOGGED",
285 "frequency": 400,
286 "num_senders": 2,
287 "max_size": 200
288 },
289 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]290 "name": "/superstructure",
291 "type": "y2022.control_loops.superstructure.Output",
292 "source_node": "roborio",
293 "frequency": 200,
294 "num_senders": 2,
295 "max_size": 224
296 },
297 {
298 "name": "/superstructure",
299 "type": "y2022.control_loops.superstructure.Position",
300 "source_node": "roborio",
301 "frequency": 200,
302 "num_senders": 2,
303 "max_size": 448
304 },
305 {
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]306 "name": "/superstructure",
307 "type": "y2022.control_loops.superstructure.CANPosition",
308 "source_node": "roborio",
309 "frequency": 200,
310 "num_senders": 2,
311 "max_size": 72
312 },
313 {
Henry Speiser0b9b0052022-03-02 23:07:40 -0800[diff] [blame]314 "name": "/superstructure",
315 "type": "y2022.input.joysticks.Setpoint",
316 "source_node": "roborio",
317 "num_senders": 2
318 },
319 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]320 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]321 "type": "frc971.sensors.GyroReading",
322 "source_node": "roborio",
323 "frequency": 200,
324 "num_senders": 2
325 },
326 {
327 "name": "/drivetrain",
328 "type": "frc971.sensors.Uid",
329 "source_node": "roborio",
330 "frequency": 200,
331 "num_senders": 2
332 },
333 {
334 "name": "/drivetrain",
335 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
336 "source_node": "roborio",
337 "max_size": 600000,
338 "frequency": 10,
339 "logger": "NOT_LOGGED",
340 "num_senders": 2,
341 "read_method": "PIN",
342 "num_readers": 10
343 },
344 {
345 "name": "/drivetrain",
346 "type": "frc971.control_loops.drivetrain.SplineGoal",
347 "source_node": "roborio",
348 "frequency": 10
349 },
350 {
351 "name": "/drivetrain",
352 "type": "frc971.control_loops.drivetrain.Goal",
353 "source_node": "roborio",
354 "max_size": 224,
355 "frequency": 200
356 },
357 {
358 "name": "/drivetrain",
359 "type": "frc971.control_loops.drivetrain.Position",
360 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]361 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]362 "max_size": 112,
363 "num_senders": 2
364 },
365 {
366 "name": "/drivetrain",
367 "type": "frc971.control_loops.drivetrain.Output",
368 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]369 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]370 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]371 "num_senders": 2,
372 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]373 "logger_nodes": [
374 "imu"
375 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]376 "destination_nodes": [
377 {
378 "name": "imu",
379 "priority": 5,
380 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
381 "timestamp_logger_nodes": [
382 "imu"
383 ],
384 "time_to_live": 5000000
385 }
386 ]
387 },
388 {
389 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
390 "type": "aos.message_bridge.RemoteMessage",
391 "source_node": "roborio",
392 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]393 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]394 "num_senders": 2,
395 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]396 },
397 {
398 "name": "/drivetrain",
399 "type": "frc971.control_loops.drivetrain.Status",
400 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]401 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]402 "max_size": 1616,
403 "num_senders": 2
404 },
405 {
406 "name": "/drivetrain",
407 "type": "frc971.control_loops.drivetrain.LocalizerControl",
408 "source_node": "roborio",
409 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]410 "max_size": 96,
411 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]412 "logger_nodes": [
413 "imu"
414 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]415 "destination_nodes": [
416 {
417 "name": "imu",
418 "priority": 5,
419 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
420 "timestamp_logger_nodes": [
421 "imu"
422 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]423 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]424 }
425 ]
426 },
427 {
428 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
429 "type": "aos.message_bridge.RemoteMessage",
430 "source_node": "roborio",
431 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]432 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]433 "num_senders": 2,
434 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]435 },
436 {
437 "name": "/drivetrain",
438 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
439 "source_node": "roborio"
440 },
441 {
442 "name": "/autonomous",
443 "type": "aos.common.actions.Status",
444 "source_node": "roborio"
445 },
446 {
447 "name": "/autonomous",
448 "type": "frc971.autonomous.Goal",
449 "source_node": "roborio"
450 },
451 {
452 "name": "/autonomous",
453 "type": "frc971.autonomous.AutonomousMode",
454 "source_node": "roborio",
455 "frequency": 200
456 },
457 {
458 "name": "/roborio/aos",
459 "type": "frc971.PDPValues",
460 "source_node": "roborio",
461 "frequency": 55,
462 "max_size": 368
463 },
464 {
465 "name": "/roborio/aos",
466 "type": "frc971.wpilib.PneumaticsToLog",
467 "source_node": "roborio",
468 "frequency": 50
469 }
470 ],
471 "applications": [
472 {
473 "name": "drivetrain",
474 "executable_name": "drivetrain",
475 "nodes": [
476 "roborio"
477 ]
478 },
479 {
480 "name": "trajectory_generator",
481 "executable_name": "trajectory_generator",
482 "nodes": [
483 "roborio"
484 ]
485 },
486 {
487 "name": "superstructure",
488 "executable_name": "superstructure",
489 "nodes": [
490 "roborio"
491 ]
492 },
493 {
494 "name": "joystick_reader",
495 "executable_name": "joystick_reader",
496 "nodes": [
497 "roborio"
498 ]
499 },
500 {
501 "name": "wpilib_interface",
502 "executable_name": "wpilib_interface",
503 "nodes": [
504 "roborio"
505 ]
506 },
507 {
508 "name": "autonomous_action",
509 "executable_name": "autonomous_action",
510 "nodes": [
511 "roborio"
512 ]
513 },
514 {
515 "name": "web_proxy",
516 "executable_name": "web_proxy_main",
517 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
518 "nodes": [
519 "roborio"
520 ]
521 },
522 {
Austin Schuh6b2edc62022-03-27 13:32:09 -0700[diff] [blame]523 "name": "roborio_message_bridge_client",
524 "executable_name": "message_bridge_client.sh",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]525 "args": ["--rt_priority=16"],
526 "nodes": [
527 "roborio"
528 ]
529 },
530 {
531 "name": "message_bridge_server",
532 "executable_name": "message_bridge_server",
533 "args": ["--rt_priority=16"],
534 "nodes": [
535 "roborio"
536 ]
537 },
538 {
539 "name": "logger",
540 "executable_name": "logger_main",
541 "args": ["--snappy_compress"],
542 "nodes": [
543 "roborio"
544 ]
545 }
546 ],
547 "maps": [
548 {
549 "match": {
550 "name": "/aos*",
551 "source_node": "roborio"
552 },
553 "rename": {
554 "name": "/roborio/aos"
555 }
556 }
557 ],
558 "nodes": [
559 {
560 "name": "roborio",
561 "hostname": "roborio",
562 "hostnames": [
563 "roboRIO-971-FRC",
564 "roboRIO-6971-FRC",
565 "roboRIO-7971-FRC",
566 "roboRIO-8971-FRC",
567 "roboRIO-9971-FRC"
568 ],
569 "port": 9971
570 },
571 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]572 "name": "imu"
573 },
574 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]575 "name": "logger"
576 },
577 {
578 "name": "pi1"
579 },
580 {
581 "name": "pi2"
582 },
583 {
584 "name": "pi3"
585 },
586 {
587 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]588 }
589 ]
590}