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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 562eb783f9e1b5426c98a1d6a20b4ebe596b28ac / . / y2022 / y2022_roborio.json
blob: 6e14bae019ec43b8b43fbcc08cf8d7a6ee9af296 [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",
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame^]7 "frequency": 75,
8 "logger_nodes" : [
9 "imu"
10 ],
11 "destination_nodes": [
12 {
13 "name": "imu",
14 "priority": 5,
15 "time_to_live": 50000000
16 }
17 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]18 },
19 {
20 "name": "/roborio/aos",
21 "type": "aos.RobotState",
22 "source_node": "roborio",
23 "frequency": 200
24 },
25 {
26 "name": "/roborio/aos",
27 "type": "aos.timing.Report",
28 "source_node": "roborio",
29 "frequency": 50,
30 "num_senders": 20,
31 "max_size": 4096
32 },
33 {
34 "name": "/roborio/aos",
35 "type": "aos.logging.LogMessageFbs",
36 "source_node": "roborio",
37 "frequency": 500,
38 "max_size": 344,
39 "num_senders": 20
40 },
41 {
42 "name": "/roborio/aos",
43 "type": "aos.starter.Status",
44 "source_node": "roborio",
45 "frequency": 50,
46 "num_senders": 20,
47 "destination_nodes": [
48 {
49 "name": "logger",
50 "priority": 5,
51 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
52 "timestamp_logger_nodes": [
53 "roborio"
54 ],
55 "time_to_live": 5000000
56 }
57 ]
58 },
59 {
60 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
61 "type": "aos.message_bridge.RemoteMessage",
62 "source_node": "roborio",
63 "logger": "NOT_LOGGED",
64 "frequency": 20,
65 "num_senders": 2,
66 "max_size": 200
67 },
68 {
69 "name": "/roborio/aos",
70 "type": "aos.starter.StarterRpc",
71 "source_node": "roborio",
72 "frequency": 10,
73 "max_size": 400,
74 "num_senders": 2,
75 "destination_nodes": [
76 {
77 "name": "logger",
78 "priority": 5,
79 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
80 "timestamp_logger_nodes": [
81 "roborio"
82 ],
83 "time_to_live": 5000000
84 }
85 ]
86 },
87 {
88 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
89 "type": "aos.message_bridge.RemoteMessage",
90 "source_node": "roborio",
91 "logger": "NOT_LOGGED",
92 "frequency": 20,
93 "num_senders": 2,
94 "max_size": 200
95 },
96 {
97 "name": "/roborio/aos",
98 "type": "aos.message_bridge.ServerStatistics",
99 "source_node": "roborio",
100 "frequency": 10,
101 "num_senders": 2
102 },
103 {
104 "name": "/roborio/aos",
105 "type": "aos.message_bridge.ClientStatistics",
106 "source_node": "roborio",
107 "frequency": 15,
108 "max_size": 2000,
109 "num_senders": 2
110 },
111 {
112 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
113 "type": "aos.message_bridge.RemoteMessage",
114 "frequency": 200,
115 "source_node": "roborio"
116 },
117 {
118 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
119 "type": "aos.message_bridge.RemoteMessage",
120 "frequency": 20,
121 "source_node": "roborio",
122 "max_size": 208
123 },
124 {
125 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
126 "type": "aos.message_bridge.RemoteMessage",
127 "frequency": 20,
128 "source_node": "roborio",
129 "max_size": 208
130 },
131 {
132 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
133 "type": "aos.message_bridge.RemoteMessage",
134 "frequency": 20,
135 "source_node": "roborio"
136 },
137 {
138 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
139 "type": "aos.message_bridge.RemoteMessage",
140 "frequency": 20,
141 "source_node": "roborio"
142 },
143 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]144 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
145 "type": "aos.message_bridge.RemoteMessage",
146 "frequency": 20,
147 "source_node": "roborio",
148 "max_size": 208
149 },
150 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]151 "name": "/roborio/aos",
152 "type": "aos.message_bridge.Timestamp",
153 "source_node": "roborio",
154 "frequency": 15,
155 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]156 "max_size": 512,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]157 "logger": "LOCAL_AND_REMOTE_LOGGER",
158 "logger_nodes": [
159 "imu"
160 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]161 "destination_nodes": [
162 {
163 "name": "pi1",
164 "priority": 1,
165 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
166 "timestamp_logger_nodes": [
167 "roborio"
168 ],
169 "time_to_live": 5000000
170 },
171 {
172 "name": "pi2",
173 "priority": 1,
174 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
175 "timestamp_logger_nodes": [
176 "roborio"
177 ],
178 "time_to_live": 5000000
179 },
180 {
181 "name": "pi3",
182 "priority": 1,
183 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
184 "timestamp_logger_nodes": [
185 "roborio"
186 ],
187 "time_to_live": 5000000
188 },
189 {
190 "name": "pi4",
191 "priority": 1,
192 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
193 "timestamp_logger_nodes": [
194 "roborio"
195 ],
196 "time_to_live": 5000000
197 },
198 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]199 "name": "imu",
200 "priority": 1,
201 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
202 "timestamp_logger_nodes": [
203 "roborio"
204 ],
205 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]206 }
207 ]
208 },
209 {
210 "name": "/superstructure",
211 "type": "y2022.control_loops.superstructure.Goal",
212 "source_node": "roborio",
213 "frequency": 200,
214 "max_size": 512
215 },
216 {
217 "name": "/superstructure",
218 "type": "y2022.control_loops.superstructure.Status",
219 "source_node": "roborio",
220 "frequency": 200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]221 "num_senders": 2,
222 "logger": "LOCAL_AND_REMOTE_LOGGER",
223 "logger_nodes": [
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]224 "imu",
225 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]226 ],
227 "destination_nodes": [
228 {
229 "name": "imu",
230 "priority": 5,
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]231 "time_to_live": 50000000
232 },
233 {
234 "name": "logger",
235 "priority": 5,
236 "time_to_live": 50000000
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]237 }
238 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]239 },
240 {
241 "name": "/superstructure",
242 "type": "y2022.control_loops.superstructure.Output",
243 "source_node": "roborio",
244 "frequency": 200,
245 "num_senders": 2,
246 "max_size": 224
247 },
248 {
249 "name": "/superstructure",
250 "type": "y2022.control_loops.superstructure.Position",
251 "source_node": "roborio",
252 "frequency": 200,
253 "num_senders": 2,
254 "max_size": 448
255 },
256 {
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]257 "name": "/superstructure",
258 "type": "y2022.control_loops.superstructure.CANPosition",
259 "source_node": "roborio",
260 "frequency": 200,
261 "num_senders": 2,
262 "max_size": 72
263 },
264 {
Henry Speiser0b9b0052022-03-02 23:07:40 -0800[diff] [blame]265 "name": "/superstructure",
266 "type": "y2022.input.joysticks.Setpoint",
267 "source_node": "roborio",
268 "num_senders": 2
269 },
270 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]271 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]272 "type": "frc971.sensors.GyroReading",
273 "source_node": "roborio",
274 "frequency": 200,
275 "num_senders": 2
276 },
277 {
278 "name": "/drivetrain",
279 "type": "frc971.sensors.Uid",
280 "source_node": "roborio",
281 "frequency": 200,
282 "num_senders": 2
283 },
284 {
285 "name": "/drivetrain",
286 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
287 "source_node": "roborio",
288 "max_size": 600000,
289 "frequency": 10,
290 "logger": "NOT_LOGGED",
291 "num_senders": 2,
292 "read_method": "PIN",
293 "num_readers": 10
294 },
295 {
296 "name": "/drivetrain",
297 "type": "frc971.control_loops.drivetrain.SplineGoal",
298 "source_node": "roborio",
299 "frequency": 10
300 },
301 {
302 "name": "/drivetrain",
303 "type": "frc971.control_loops.drivetrain.Goal",
304 "source_node": "roborio",
305 "max_size": 224,
306 "frequency": 200
307 },
308 {
309 "name": "/drivetrain",
310 "type": "frc971.control_loops.drivetrain.Position",
311 "source_node": "roborio",
312 "frequency": 200,
313 "max_size": 112,
314 "num_senders": 2
315 },
316 {
317 "name": "/drivetrain",
318 "type": "frc971.control_loops.drivetrain.Output",
319 "source_node": "roborio",
320 "frequency": 200,
321 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]322 "num_senders": 2,
323 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]324 "logger_nodes": [
325 "imu"
326 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]327 "destination_nodes": [
328 {
329 "name": "imu",
330 "priority": 5,
331 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
332 "timestamp_logger_nodes": [
333 "imu"
334 ],
335 "time_to_live": 5000000
336 }
337 ]
338 },
339 {
340 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
341 "type": "aos.message_bridge.RemoteMessage",
342 "source_node": "roborio",
343 "logger": "NOT_LOGGED",
344 "frequency": 200,
345 "num_senders": 2,
346 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]347 },
348 {
349 "name": "/drivetrain",
350 "type": "frc971.control_loops.drivetrain.Status",
351 "source_node": "roborio",
352 "frequency": 200,
353 "max_size": 1616,
354 "num_senders": 2
355 },
356 {
357 "name": "/drivetrain",
358 "type": "frc971.control_loops.drivetrain.LocalizerControl",
359 "source_node": "roborio",
360 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]361 "max_size": 96,
362 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]363 "logger_nodes": [
364 "imu"
365 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]366 "destination_nodes": [
367 {
368 "name": "imu",
369 "priority": 5,
370 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
371 "timestamp_logger_nodes": [
372 "imu"
373 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]374 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]375 }
376 ]
377 },
378 {
379 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
380 "type": "aos.message_bridge.RemoteMessage",
381 "source_node": "roborio",
382 "logger": "NOT_LOGGED",
383 "frequency": 200,
384 "num_senders": 2,
385 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]386 },
387 {
388 "name": "/drivetrain",
389 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
390 "source_node": "roborio"
391 },
392 {
393 "name": "/autonomous",
394 "type": "aos.common.actions.Status",
395 "source_node": "roborio"
396 },
397 {
398 "name": "/autonomous",
399 "type": "frc971.autonomous.Goal",
400 "source_node": "roborio"
401 },
402 {
403 "name": "/autonomous",
404 "type": "frc971.autonomous.AutonomousMode",
405 "source_node": "roborio",
406 "frequency": 200
407 },
408 {
409 "name": "/roborio/aos",
410 "type": "frc971.PDPValues",
411 "source_node": "roborio",
412 "frequency": 55,
413 "max_size": 368
414 },
415 {
416 "name": "/roborio/aos",
417 "type": "frc971.wpilib.PneumaticsToLog",
418 "source_node": "roborio",
419 "frequency": 50
420 }
421 ],
422 "applications": [
423 {
424 "name": "drivetrain",
425 "executable_name": "drivetrain",
426 "nodes": [
427 "roborio"
428 ]
429 },
430 {
431 "name": "trajectory_generator",
432 "executable_name": "trajectory_generator",
433 "nodes": [
434 "roborio"
435 ]
436 },
437 {
438 "name": "superstructure",
439 "executable_name": "superstructure",
440 "nodes": [
441 "roborio"
442 ]
443 },
444 {
445 "name": "joystick_reader",
446 "executable_name": "joystick_reader",
447 "nodes": [
448 "roborio"
449 ]
450 },
451 {
452 "name": "wpilib_interface",
453 "executable_name": "wpilib_interface",
454 "nodes": [
455 "roborio"
456 ]
457 },
458 {
459 "name": "autonomous_action",
460 "executable_name": "autonomous_action",
461 "nodes": [
462 "roborio"
463 ]
464 },
465 {
466 "name": "web_proxy",
467 "executable_name": "web_proxy_main",
468 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
469 "nodes": [
470 "roborio"
471 ]
472 },
473 {
474 "name": "message_bridge_client",
475 "executable_name": "message_bridge_client",
476 "args": ["--rt_priority=16"],
477 "nodes": [
478 "roborio"
479 ]
480 },
481 {
482 "name": "message_bridge_server",
483 "executable_name": "message_bridge_server",
484 "args": ["--rt_priority=16"],
485 "nodes": [
486 "roborio"
487 ]
488 },
489 {
490 "name": "logger",
491 "executable_name": "logger_main",
492 "args": ["--snappy_compress"],
493 "nodes": [
494 "roborio"
495 ]
496 }
497 ],
498 "maps": [
499 {
500 "match": {
501 "name": "/aos*",
502 "source_node": "roborio"
503 },
504 "rename": {
505 "name": "/roborio/aos"
506 }
507 }
508 ],
509 "nodes": [
510 {
511 "name": "roborio",
512 "hostname": "roborio",
513 "hostnames": [
514 "roboRIO-971-FRC",
515 "roboRIO-6971-FRC",
516 "roboRIO-7971-FRC",
517 "roboRIO-8971-FRC",
518 "roboRIO-9971-FRC"
519 ],
520 "port": 9971
521 },
522 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]523 "name": "imu"
524 },
525 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]526 "name": "logger"
527 },
528 {
529 "name": "pi1"
530 },
531 {
532 "name": "pi2"
533 },
534 {
535 "name": "pi3"
536 },
537 {
538 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]539 }
540 ]
541}