Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 4f35c830a8674e284ed05e1f8172c3db2363ee83 / . / y2024 / y2024_imu.json
blob: 6a611ffd167f07da779a6dd3891b27718cefaf2a [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.JoystickState",
6 "source_node": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "orin1",
11 "orin2"
12 ],
13 "destination_nodes": [
14 {
15 "name": "orin1",
16 "priority": 5,
17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "imu"
21 ]
22 },
23 {
24 "name": "orin2",
25 "priority": 5,
26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "imu"
30 ]
31 },
32 ]
33 },
34 {
35 "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "imu",
38 "logger": "NOT_LOGGED",
39 "frequency": 300,
40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
44 "name": "/imu/aos/remote_timestamps/orin2/imu/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "imu",
47 "logger": "NOT_LOGGED",
48 "frequency": 300,
49 "num_senders": 2,
50 "max_size": 200
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]51 },
52 {
53 "name": "/imu/aos",
54 "type": "aos.timing.Report",
55 "source_node": "imu",
56 "frequency": 50,
57 "num_senders": 20,
58 "max_size": 4096
59 },
60 {
61 "name": "/imu/aos",
62 "type": "aos.logging.LogMessageFbs",
63 "source_node": "imu",
64 "frequency": 200,
65 "num_senders": 20
66 },
67 {
68 "name": "/imu/aos",
69 "type": "aos.starter.Status",
70 "source_node": "imu",
71 "frequency": 50,
72 "num_senders": 20,
73 "max_size": 2048
74 },
75 {
76 "name": "/imu/aos",
77 "type": "aos.starter.StarterRpc",
78 "source_node": "imu",
79 "frequency": 10,
80 "num_senders": 2
81 },
82 {
83 "name": "/imu/aos",
84 "type": "aos.message_bridge.ServerStatistics",
85 "source_node": "imu",
86 "max_size": 2048,
87 "frequency": 10,
88 "num_senders": 2
89 },
90 {
91 "name": "/imu/aos",
92 "type": "aos.message_bridge.ClientStatistics",
93 "source_node": "imu",
94 "frequency": 20,
95 "num_senders": 2
96 },
97 {
98 "name": "/imu/aos",
99 "type": "aos.logging.DynamicLogCommand",
100 "source_node": "imu",
101 "frequency": 10,
102 "num_senders": 2
103 },
104 {
105 "name": "/imu/aos",
106 "type": "aos.message_bridge.Timestamp",
107 "source_node": "imu",
108 "frequency": 15,
109 "num_senders": 2,
110 "logger_nodes": [
111 "roborio"
112 ],
113 "max_size": 400,
114 "destination_nodes": [
115 {
116 "name": "roborio",
117 "priority": 1,
118 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
119 "timestamp_logger_nodes": [
120 "imu"
121 ],
122 "time_to_live": 5000000
123 }
124 ]
125 },
126 {
127 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
128 "type": "aos.message_bridge.RemoteMessage",
129 "frequency": 20,
130 "source_node": "imu",
131 "max_size": 208
132 },
133 {
134 "name": "/roborio/aos",
135 "type": "aos.starter.StarterRpc",
136 "source_node": "roborio",
137 "logger": "LOCAL_AND_REMOTE_LOGGER",
138 "logger_nodes": [
139 "imu"
140 ],
141 "destination_nodes": [
142 {
143 "name": "imu",
144 "priority": 5,
145 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
146 "timestamp_logger_nodes": [
147 "roborio"
148 ],
149 "time_to_live": 5000000
150 }
151 ]
152 },
153 {
154 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
155 "type": "aos.message_bridge.RemoteMessage",
156 "source_node": "roborio",
157 "logger": "NOT_LOGGED",
158 "frequency": 20,
159 "num_senders": 2,
160 "max_size": 200
161 },
162 {
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame^]163 "name": "/imu",
164 "type": "frc971.imu.DualImu",
165 "source_node": "imu",
166 "frequency": 1100,
167 "num_senders": 1,
168 "max_size": 496
169 },
170 {
171 "name": "/imu",
172 "type": "frc971.imu.CanTranslatorStatus",
173 "source_node": "imu",
174 "frequency": 1000,
175 "num_senders": 1,
176 "max_size": 200
177 },
178 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]179 "name": "/can/cana",
180 "type": "frc971.can_logger.CanFrame",
181 "source_node": "imu",
182 "frequency": 6000,
183 "num_senders": 2,
184 "max_size": 200
185 },
186 {
187 "name": "/can/canb",
188 "type": "frc971.can_logger.CanFrame",
189 "source_node": "imu",
190 "frequency": 6000,
191 "num_senders": 2,
192 "max_size": 200
193 },
194 {
195 "name": "/can/canc",
196 "type": "frc971.can_logger.CanFrame",
197 "source_node": "imu",
198 "frequency": 6000,
199 "num_senders": 2,
200 "max_size": 200
201 },
202 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]203 "name": "/localizer",
204 "type": "frc971.IMUValuesBatch",
205 "source_node": "imu",
206 "frequency": 2200,
207 "max_size": 1600,
208 "num_senders": 2
209 },
210 {
211 "name": "/imu/constants",
212 "type": "y2024.Constants",
213 "source_node": "imu",
214 "frequency": 1,
215 "num_senders": 2,
216 "max_size": 65536
217 }
218 ],
219 "applications": [
220 {
221 "name": "message_bridge_client",
222 "nodes": [
223 "imu"
224 ]
225 },
226 {
227 "name": "localizer",
228 "executable_name": "localizer_main",
229 "user": "pi",
230 "nodes": [
231 "imu"
232 ]
233 },
234 {
235 "name": "imu",
236 "executable_name": "imu_main",
237 "user": "pi",
238 "nodes": [
239 "imu"
240 ]
241 },
242 {
243 "name": "joystick_republish",
244 "executable_name": "joystick_republish",
245 "user": "pi",
246 "nodes": [
247 "imu"
248 ]
249 },
250 {
251 "name": "message_bridge_server",
252 "executable_name": "message_bridge_server",
253 "user": "pi",
254 "nodes": [
255 "imu"
256 ]
257 },
258 {
259 "name": "localizer_logger",
260 "executable_name": "logger_main",
261 "args": [
262 "--logging_folder",
263 "",
264 "--snappy_compress",
265 "--rotate_every", "30.0"
266 ],
267 "user": "pi",
268 "nodes": [
269 "imu"
270 ]
271 },
272 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]273 "name": "can_logger",
274 "executable_name": "can_logger",
275 "nodes": [
276 "imu"
277 ]
278 },
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame^]279 // TODO(max): Update the channel value with whatever channel the IMU is on.
280 {
281 "name": "can_translator",
282 "executable_name": "can_translator",
283 "args": [
284 "--channel=/can/canb"
285 ],
286 "nodes": [
287 "imu"
288 ]
289 },
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]290 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]291 "name": "web_proxy",
292 "executable_name": "web_proxy_main",
293 "args": [
294 "--min_ice_port=5800",
295 "--max_ice_port=5810"
296 ],
297 "user": "pi",
298 "nodes": [
299 "imu"
300 ]
301 },
302 {
303 "name": "foxglove_websocket",
304 "user": "pi",
305 "nodes": [
306 "imu"
307 ]
308 },
309 {
310 "name": "constants_sender",
311 "autorestart": false,
312 "user": "pi",
313 "nodes": [
314 "imu"
315 ]
316 }
317 ],
318 "maps": [
319 {
320 "match": {
321 "name": "/constants*",
322 "source_node": "imu"
323 },
324 "rename": {
325 "name": "/imu/constants"
326 }
327 },
328 {
329 "match": {
330 "name": "/aos*",
331 "source_node": "imu"
332 },
333 "rename": {
334 "name": "/imu/aos"
335 }
336 }
337 ],
338 "nodes": [
339 {
340 "name": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]341 "hostname": "orin3",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]342 "hostnames": [
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]343 "orin-971-3",
344 "orin-7971-3",
345 "orin-8971-3",
346 "orin-9971-3"
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]347 ],
348 "port": 9971
349 },
350 {
351 "name": "roborio"
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]352 },
353 {
354 "name": "orin1"
355 },
356 {
357 "name": "orin2"
358 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]359 ]
360}