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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 77747b7af5c6557856562ddf27fad15f5d3bb2e7 / . / y2022 / y2022_roborio.json
blob: e3420944a68121c0a45cb439cdfd5038801b0661 [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",
7 "frequency": 75
8 },
9 {
10 "name": "/roborio/aos",
11 "type": "aos.RobotState",
12 "source_node": "roborio",
13 "frequency": 200
14 },
15 {
16 "name": "/roborio/aos",
17 "type": "aos.timing.Report",
18 "source_node": "roborio",
19 "frequency": 50,
20 "num_senders": 20,
21 "max_size": 4096
22 },
23 {
24 "name": "/roborio/aos",
25 "type": "aos.logging.LogMessageFbs",
26 "source_node": "roborio",
27 "frequency": 500,
28 "max_size": 344,
29 "num_senders": 20
30 },
31 {
32 "name": "/roborio/aos",
33 "type": "aos.starter.Status",
34 "source_node": "roborio",
35 "frequency": 50,
36 "num_senders": 20,
37 "destination_nodes": [
38 {
39 "name": "logger",
40 "priority": 5,
41 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
42 "timestamp_logger_nodes": [
43 "roborio"
44 ],
45 "time_to_live": 5000000
46 }
47 ]
48 },
49 {
50 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
51 "type": "aos.message_bridge.RemoteMessage",
52 "source_node": "roborio",
53 "logger": "NOT_LOGGED",
54 "frequency": 20,
55 "num_senders": 2,
56 "max_size": 200
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.starter.StarterRpc",
61 "source_node": "roborio",
62 "frequency": 10,
63 "max_size": 400,
64 "num_senders": 2,
65 "destination_nodes": [
66 {
67 "name": "logger",
68 "priority": 5,
69 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
70 "timestamp_logger_nodes": [
71 "roborio"
72 ],
73 "time_to_live": 5000000
74 }
75 ]
76 },
77 {
78 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
79 "type": "aos.message_bridge.RemoteMessage",
80 "source_node": "roborio",
81 "logger": "NOT_LOGGED",
82 "frequency": 20,
83 "num_senders": 2,
84 "max_size": 200
85 },
86 {
87 "name": "/roborio/aos",
88 "type": "aos.message_bridge.ServerStatistics",
89 "source_node": "roborio",
90 "frequency": 10,
91 "num_senders": 2
92 },
93 {
94 "name": "/roborio/aos",
95 "type": "aos.message_bridge.ClientStatistics",
96 "source_node": "roborio",
97 "frequency": 15,
98 "max_size": 2000,
99 "num_senders": 2
100 },
101 {
102 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
103 "type": "aos.message_bridge.RemoteMessage",
104 "frequency": 200,
105 "source_node": "roborio"
106 },
107 {
108 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
109 "type": "aos.message_bridge.RemoteMessage",
110 "frequency": 20,
111 "source_node": "roborio",
112 "max_size": 208
113 },
114 {
115 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
116 "type": "aos.message_bridge.RemoteMessage",
117 "frequency": 20,
118 "source_node": "roborio",
119 "max_size": 208
120 },
121 {
122 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
123 "type": "aos.message_bridge.RemoteMessage",
124 "frequency": 20,
125 "source_node": "roborio"
126 },
127 {
128 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
129 "type": "aos.message_bridge.RemoteMessage",
130 "frequency": 20,
131 "source_node": "roborio"
132 },
133 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]134 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
135 "type": "aos.message_bridge.RemoteMessage",
136 "frequency": 20,
137 "source_node": "roborio",
138 "max_size": 208
139 },
140 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]141 "name": "/roborio/aos",
142 "type": "aos.message_bridge.Timestamp",
143 "source_node": "roborio",
144 "frequency": 15,
145 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]146 "max_size": 512,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]147 "logger": "LOCAL_AND_REMOTE_LOGGER",
148 "logger_nodes": [
149 "imu"
150 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]151 "destination_nodes": [
152 {
153 "name": "pi1",
154 "priority": 1,
155 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
156 "timestamp_logger_nodes": [
157 "roborio"
158 ],
159 "time_to_live": 5000000
160 },
161 {
162 "name": "pi2",
163 "priority": 1,
164 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
165 "timestamp_logger_nodes": [
166 "roborio"
167 ],
168 "time_to_live": 5000000
169 },
170 {
171 "name": "pi3",
172 "priority": 1,
173 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
174 "timestamp_logger_nodes": [
175 "roborio"
176 ],
177 "time_to_live": 5000000
178 },
179 {
180 "name": "pi4",
181 "priority": 1,
182 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
183 "timestamp_logger_nodes": [
184 "roborio"
185 ],
186 "time_to_live": 5000000
187 },
188 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]189 "name": "imu",
190 "priority": 1,
191 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
192 "timestamp_logger_nodes": [
193 "roborio"
194 ],
195 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]196 }
197 ]
198 },
199 {
200 "name": "/superstructure",
201 "type": "y2022.control_loops.superstructure.Goal",
202 "source_node": "roborio",
203 "frequency": 200,
204 "max_size": 512
205 },
206 {
207 "name": "/superstructure",
208 "type": "y2022.control_loops.superstructure.Status",
209 "source_node": "roborio",
210 "frequency": 200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]211 "num_senders": 2,
212 "logger": "LOCAL_AND_REMOTE_LOGGER",
213 "logger_nodes": [
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]214 "imu",
215 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]216 ],
217 "destination_nodes": [
218 {
219 "name": "imu",
220 "priority": 5,
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]221 "time_to_live": 50000000
222 },
223 {
224 "name": "logger",
225 "priority": 5,
226 "time_to_live": 50000000
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]227 }
228 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]229 },
230 {
231 "name": "/superstructure",
232 "type": "y2022.control_loops.superstructure.Output",
233 "source_node": "roborio",
234 "frequency": 200,
235 "num_senders": 2,
236 "max_size": 224
237 },
238 {
239 "name": "/superstructure",
240 "type": "y2022.control_loops.superstructure.Position",
241 "source_node": "roborio",
242 "frequency": 200,
243 "num_senders": 2,
244 "max_size": 448
245 },
246 {
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]247 "name": "/superstructure",
248 "type": "y2022.control_loops.superstructure.CANPosition",
249 "source_node": "roborio",
250 "frequency": 200,
251 "num_senders": 2,
252 "max_size": 72
253 },
254 {
Henry Speiser0b9b0052022-03-02 23:07:40 -0800[diff] [blame]255 "name": "/superstructure",
256 "type": "y2022.input.joysticks.Setpoint",
257 "source_node": "roborio",
258 "num_senders": 2
259 },
260 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]261 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]262 "type": "frc971.sensors.GyroReading",
263 "source_node": "roborio",
264 "frequency": 200,
265 "num_senders": 2
266 },
267 {
268 "name": "/drivetrain",
269 "type": "frc971.sensors.Uid",
270 "source_node": "roborio",
271 "frequency": 200,
272 "num_senders": 2
273 },
274 {
275 "name": "/drivetrain",
276 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
277 "source_node": "roborio",
278 "max_size": 600000,
279 "frequency": 10,
280 "logger": "NOT_LOGGED",
281 "num_senders": 2,
282 "read_method": "PIN",
283 "num_readers": 10
284 },
285 {
286 "name": "/drivetrain",
287 "type": "frc971.control_loops.drivetrain.SplineGoal",
288 "source_node": "roborio",
289 "frequency": 10
290 },
291 {
292 "name": "/drivetrain",
293 "type": "frc971.control_loops.drivetrain.Goal",
294 "source_node": "roborio",
295 "max_size": 224,
296 "frequency": 200
297 },
298 {
299 "name": "/drivetrain",
300 "type": "frc971.control_loops.drivetrain.Position",
301 "source_node": "roborio",
302 "frequency": 200,
303 "max_size": 112,
304 "num_senders": 2
305 },
306 {
307 "name": "/drivetrain",
308 "type": "frc971.control_loops.drivetrain.Output",
309 "source_node": "roborio",
310 "frequency": 200,
311 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]312 "num_senders": 2,
313 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]314 "logger_nodes": [
315 "imu"
316 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]317 "destination_nodes": [
318 {
319 "name": "imu",
320 "priority": 5,
321 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
322 "timestamp_logger_nodes": [
323 "imu"
324 ],
325 "time_to_live": 5000000
326 }
327 ]
328 },
329 {
330 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
331 "type": "aos.message_bridge.RemoteMessage",
332 "source_node": "roborio",
333 "logger": "NOT_LOGGED",
334 "frequency": 200,
335 "num_senders": 2,
336 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]337 },
338 {
339 "name": "/drivetrain",
340 "type": "frc971.control_loops.drivetrain.Status",
341 "source_node": "roborio",
342 "frequency": 200,
343 "max_size": 1616,
344 "num_senders": 2
345 },
346 {
347 "name": "/drivetrain",
348 "type": "frc971.control_loops.drivetrain.LocalizerControl",
349 "source_node": "roborio",
350 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]351 "max_size": 96,
352 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]353 "logger_nodes": [
354 "imu"
355 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]356 "destination_nodes": [
357 {
358 "name": "imu",
359 "priority": 5,
360 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
361 "timestamp_logger_nodes": [
362 "imu"
363 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]364 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]365 }
366 ]
367 },
368 {
369 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
370 "type": "aos.message_bridge.RemoteMessage",
371 "source_node": "roborio",
372 "logger": "NOT_LOGGED",
373 "frequency": 200,
374 "num_senders": 2,
375 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]376 },
377 {
378 "name": "/drivetrain",
379 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
380 "source_node": "roborio"
381 },
382 {
383 "name": "/autonomous",
384 "type": "aos.common.actions.Status",
385 "source_node": "roborio"
386 },
387 {
388 "name": "/autonomous",
389 "type": "frc971.autonomous.Goal",
390 "source_node": "roborio"
391 },
392 {
393 "name": "/autonomous",
394 "type": "frc971.autonomous.AutonomousMode",
395 "source_node": "roborio",
396 "frequency": 200
397 },
398 {
399 "name": "/roborio/aos",
400 "type": "frc971.PDPValues",
401 "source_node": "roborio",
402 "frequency": 55,
403 "max_size": 368
404 },
405 {
406 "name": "/roborio/aos",
407 "type": "frc971.wpilib.PneumaticsToLog",
408 "source_node": "roborio",
409 "frequency": 50
410 }
411 ],
412 "applications": [
413 {
414 "name": "drivetrain",
415 "executable_name": "drivetrain",
416 "nodes": [
417 "roborio"
418 ]
419 },
420 {
421 "name": "trajectory_generator",
422 "executable_name": "trajectory_generator",
423 "nodes": [
424 "roborio"
425 ]
426 },
427 {
428 "name": "superstructure",
429 "executable_name": "superstructure",
430 "nodes": [
431 "roborio"
432 ]
433 },
434 {
435 "name": "joystick_reader",
436 "executable_name": "joystick_reader",
437 "nodes": [
438 "roborio"
439 ]
440 },
441 {
442 "name": "wpilib_interface",
443 "executable_name": "wpilib_interface",
444 "nodes": [
445 "roborio"
446 ]
447 },
448 {
449 "name": "autonomous_action",
450 "executable_name": "autonomous_action",
451 "nodes": [
452 "roborio"
453 ]
454 },
455 {
456 "name": "web_proxy",
457 "executable_name": "web_proxy_main",
458 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
459 "nodes": [
460 "roborio"
461 ]
462 },
463 {
464 "name": "message_bridge_client",
465 "executable_name": "message_bridge_client",
466 "args": ["--rt_priority=16"],
467 "nodes": [
468 "roborio"
469 ]
470 },
471 {
472 "name": "message_bridge_server",
473 "executable_name": "message_bridge_server",
474 "args": ["--rt_priority=16"],
475 "nodes": [
476 "roborio"
477 ]
478 },
479 {
480 "name": "logger",
481 "executable_name": "logger_main",
482 "args": ["--snappy_compress"],
483 "nodes": [
484 "roborio"
485 ]
486 }
487 ],
488 "maps": [
489 {
490 "match": {
491 "name": "/aos*",
492 "source_node": "roborio"
493 },
494 "rename": {
495 "name": "/roborio/aos"
496 }
497 }
498 ],
499 "nodes": [
500 {
501 "name": "roborio",
502 "hostname": "roborio",
503 "hostnames": [
504 "roboRIO-971-FRC",
505 "roboRIO-6971-FRC",
506 "roboRIO-7971-FRC",
507 "roboRIO-8971-FRC",
508 "roboRIO-9971-FRC"
509 ],
510 "port": 9971
511 },
512 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]513 "name": "imu"
514 },
515 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]516 "name": "logger"
517 },
518 {
519 "name": "pi1"
520 },
521 {
522 "name": "pi2"
523 },
524 {
525 "name": "pi3"
526 },
527 {
528 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]529 }
530 ]
531}