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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 49fa97bbddb5fb37cdc1d3fefe6a7d2985abd9e7 / . / y2022 / y2022_logger.json
blob: b72abeb94764d5faee77ebcdb8eec24101b0cf69 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
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,
16 "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER",
17 "timestamp_logger_nodes" : ["roborio"]
18 }
19 ]
20 },
21 {
22 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]23 "type": "frc971.control_loops.drivetrain.Position",
24 "source_node": "roborio",
25 "logger": "LOCAL_AND_REMOTE_LOGGER",
26 "logger_nodes": [
27 "logger"
28 ],
29 "destination_nodes": [
30 {
31 "name": "logger",
32 "priority": 2,
33 "time_to_live": 500000000
34 }
35 ]
36 },
37 {
James Kuszmaul85f3f3e2022-03-12 13:17:47 -0800[diff] [blame]38 "name": "/drivetrain",
39 "type": "frc971.control_loops.drivetrain.Output",
40 "source_node": "roborio",
41 "logger": "LOCAL_AND_REMOTE_LOGGER",
42 "logger_nodes": [
43 "logger"
44 ],
45 "destination_nodes": [
46 {
47 "name": "logger",
48 "priority": 2,
49 "time_to_live": 500000000
50 }
51 ]
52 },
53 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]54 "name": "/pi1/aos",
55 "type": "aos.message_bridge.Timestamp",
56 "source_node": "pi1",
57 "logger": "LOCAL_AND_REMOTE_LOGGER",
58 "logger_nodes": [
59 "logger"
60 ],
61 "destination_nodes": [
62 {
63 "name": "logger",
64 "priority": 1,
65 "time_to_live": 5000000
66 }
67 ]
68 },
69 {
70 "name": "/pi2/aos",
71 "type": "aos.message_bridge.Timestamp",
72 "source_node": "pi2",
73 "logger": "LOCAL_AND_REMOTE_LOGGER",
74 "logger_nodes": [
75 "logger"
76 ],
77 "destination_nodes": [
78 {
79 "name": "logger",
80 "priority": 1,
81 "time_to_live": 5000000
82 }
83 ]
84 },
85 {
86 "name": "/pi3/aos",
87 "type": "aos.message_bridge.Timestamp",
88 "source_node": "pi3",
89 "logger": "LOCAL_AND_REMOTE_LOGGER",
90 "logger_nodes": [
91 "logger"
92 ],
93 "destination_nodes": [
94 {
95 "name": "logger",
96 "priority": 1,
97 "time_to_live": 5000000
98 }
99 ]
100 },
101 {
102 "name": "/pi4/aos",
103 "type": "aos.message_bridge.Timestamp",
104 "source_node": "pi4",
105 "logger": "LOCAL_AND_REMOTE_LOGGER",
106 "logger_nodes": [
107 "logger"
108 ],
109 "destination_nodes": [
110 {
111 "name": "logger",
112 "priority": 1,
113 "time_to_live": 5000000
114 }
115 ]
116 },
117 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]118 "name": "/logger/aos",
119 "type": "aos.timing.Report",
120 "source_node": "logger",
121 "frequency": 50,
122 "num_senders": 20,
123 "max_size": 4096
124 },
125 {
126 "name": "/logger/aos",
127 "type": "aos.logging.LogMessageFbs",
128 "source_node": "logger",
129 "frequency": 400,
130 "num_senders": 20
131 },
132 {
133 "name": "/logger/aos",
134 "type": "aos.message_bridge.ServerStatistics",
135 "source_node": "logger",
136 "frequency": 10,
137 "num_senders": 2
138 },
139 {
140 "name": "/logger/aos",
141 "type": "aos.message_bridge.ClientStatistics",
142 "source_node": "logger",
143 "frequency": 10,
144 "max_size": 2000,
145 "num_senders": 2
146 },
147 {
148 "name": "/logger/aos",
149 "type": "aos.starter.Status",
150 "source_node": "logger",
151 "frequency": 50,
152 "num_senders": 20,
153 "destination_nodes": [
154 {
155 "name": "roborio",
156 "priority": 5,
157 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
158 "timestamp_logger_nodes": [
159 "logger"
160 ],
161 "time_to_live": 5000000
162 }
163 ]
164 },
165 {
166 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
167 "type": "aos.message_bridge.RemoteMessage",
168 "source_node": "logger",
169 "logger": "NOT_LOGGED",
170 "frequency": 20,
171 "num_senders": 2,
172 "max_size": 200
173 },
174 {
175 "name": "/logger/aos",
176 "type": "aos.starter.StarterRpc",
177 "source_node": "logger",
178 "frequency": 10,
179 "num_senders": 2,
180 "destination_nodes": [
181 {
182 "name": "roborio",
183 "priority": 5,
184 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
185 "timestamp_logger_nodes": [
186 "logger"
187 ],
188 "time_to_live": 5000000
189 }
190 ]
191 },
192 {
193 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
194 "type": "aos.message_bridge.RemoteMessage",
195 "source_node": "logger",
196 "logger": "NOT_LOGGED",
197 "frequency": 20,
198 "num_senders": 2,
199 "max_size": 200
200 },
201 {
202 "name": "/logger/aos",
203 "type": "aos.message_bridge.Timestamp",
204 "source_node": "logger",
205 "frequency": 15,
206 "num_senders": 2,
207 "max_size": 400,
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]208 "logger": "LOCAL_AND_REMOTE_LOGGER",
209 "logger_nodes": [
210 "roborio",
211 "imu"
212 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]213 "destination_nodes": [
214 {
215 "name": "pi1",
216 "priority": 1,
217 "time_to_live": 5000000,
218 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
219 "timestamp_logger_nodes": [
220 "logger"
221 ]
222 },
223 {
224 "name": "pi2",
225 "priority": 1,
226 "time_to_live": 5000000,
227 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
228 "timestamp_logger_nodes": [
229 "logger"
230 ]
231 },
232 {
233 "name": "pi3",
234 "priority": 1,
235 "time_to_live": 5000000,
236 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
237 "timestamp_logger_nodes": [
238 "logger"
239 ]
240 },
241 {
242 "name": "pi4",
243 "priority": 1,
244 "time_to_live": 5000000,
245 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
246 "timestamp_logger_nodes": [
247 "logger"
248 ]
249 },
250 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]251 "name": "imu",
252 "priority": 1,
253 "time_to_live": 5000000,
254 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
255 "timestamp_logger_nodes": [
256 "logger"
257 ]
258 },
259 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]260 "name": "roborio",
261 "priority": 1,
262 "time_to_live": 5000000,
263 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
264 "timestamp_logger_nodes": [
265 "logger"
266 ]
267 }
268 ]
269 },
270 {
271 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
272 "type": "aos.message_bridge.RemoteMessage",
273 "source_node": "logger",
274 "logger": "NOT_LOGGED",
275 "frequency": 20,
276 "num_senders": 2,
277 "max_size": 200
278 },
279 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]280 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
281 "type": "aos.message_bridge.RemoteMessage",
282 "source_node": "logger",
283 "logger": "NOT_LOGGED",
284 "frequency": 20,
285 "num_senders": 2,
286 "max_size": 200
287 },
288 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]289 "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
290 "type": "aos.message_bridge.RemoteMessage",
291 "source_node": "logger",
292 "logger": "NOT_LOGGED",
293 "frequency": 20,
294 "num_senders": 2,
295 "max_size": 200
296 },
297 {
298 "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
299 "type": "aos.message_bridge.RemoteMessage",
300 "source_node": "logger",
301 "logger": "NOT_LOGGED",
302 "frequency": 20,
303 "num_senders": 2,
304 "max_size": 200
305 },
306 {
307 "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
308 "type": "aos.message_bridge.RemoteMessage",
309 "source_node": "logger",
310 "logger": "NOT_LOGGED",
311 "frequency": 20,
312 "num_senders": 2,
313 "max_size": 200
314 },
315 {
316 "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
317 "type": "aos.message_bridge.RemoteMessage",
318 "source_node": "logger",
319 "logger": "NOT_LOGGED",
320 "frequency": 20,
321 "num_senders": 2,
322 "max_size": 200
323 },
324 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]325 "name": "/pi1/camera/decimated",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]326 "type": "frc971.vision.CameraImage",
327 "source_node": "pi1",
328 "logger": "LOCAL_AND_REMOTE_LOGGER",
329 "logger_nodes": [
330 "logger"
331 ],
332 "destination_nodes": [
333 {
334 "name": "logger",
335 "priority": 3,
336 "time_to_live": 5000000
337 }
338 ]
339 },
340 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]341 "name": "/pi2/camera/decimated",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]342 "type": "frc971.vision.CameraImage",
343 "source_node": "pi2",
344 "logger": "LOCAL_AND_REMOTE_LOGGER",
345 "logger_nodes": [
346 "logger"
347 ],
348 "destination_nodes": [
349 {
350 "name": "logger",
351 "priority": 3,
James Kuszmaul49fa97b2022-03-12 16:30:50 -0800[diff] [blame^]352 "time_to_live": 500000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]353 }
354 ]
355 },
356 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]357 "name": "/pi3/camera/decimated",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]358 "type": "frc971.vision.CameraImage",
359 "source_node": "pi3",
360 "logger": "LOCAL_AND_REMOTE_LOGGER",
361 "logger_nodes": [
362 "logger"
363 ],
364 "destination_nodes": [
365 {
366 "name": "logger",
367 "priority": 3,
368 "time_to_live": 5000000
369 }
370 ]
371 },
372 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]373 "name": "/pi4/camera/decimated",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]374 "type": "frc971.vision.CameraImage",
375 "source_node": "pi4",
376 "logger": "LOCAL_AND_REMOTE_LOGGER",
377 "logger_nodes": [
378 "logger"
379 ],
380 "destination_nodes": [
381 {
382 "name": "logger",
383 "priority": 3,
384 "time_to_live": 5000000
385 }
386 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]387 }
388 ],
389 "maps": [
390 {
391 "match": {
392 "name": "/aos*",
393 "source_node": "logger"
394 },
395 "rename": {
396 "name": "/logger/aos"
397 }
398 }
399 ],
400 "applications": [
401 {
James Kuszmaul49fa97b2022-03-12 16:30:50 -0800[diff] [blame^]402 "name": "logger_message_bridge_client",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]403 "executable_name": "message_bridge_client",
James Kuszmaul49fa97b2022-03-12 16:30:50 -0800[diff] [blame^]404 "args": ["--rmem=8388608", "--rt_priority=16"],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]405 "nodes": [
406 "logger"
407 ]
408 },
409 {
James Kuszmaul49fa97b2022-03-12 16:30:50 -0800[diff] [blame^]410 "name": "logger_message_bridge_server",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]411 "executable_name": "message_bridge_server",
James Kuszmaul49fa97b2022-03-12 16:30:50 -0800[diff] [blame^]412 "args": ["--rt_priority=16"],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]413 "nodes": [
414 "logger"
415 ]
416 },
417 {
418 "name": "image_logger",
419 "executable_name": "logger_main",
420 "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress"],
421 "nodes": [
422 "logger"
423 ]
424 }
425 ],
426 "nodes": [
427 {
428 "name": "logger",
429 "hostname": "logger",
430 "hostnames": [
431 "pi-971-6",
432 "pi-9971-6",
433 "ASchuh-T480s",
434 "aschuh-3950x"
435 ],
436 "port": 9971
437 },
438 {
439 "name": "pi1"
440 },
441 {
442 "name": "pi2"
443 },
444 {
445 "name": "pi3"
446 },
447 {
448 "name": "roborio"
449 },
450 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]451 "name": "imu"
452 },
453 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]454 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]455 }
456 ]
457}