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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 6eee8a1619e4ee6b795b964f8d45feb4984f96e4 / . / y2024 / y2024_imu.json
blob: f0e7561c638db7436c2ddf18043396651313579f [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 Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]163 "name": "/can/cana",
164 "type": "frc971.can_logger.CanFrame",
165 "source_node": "imu",
166 "frequency": 6000,
167 "num_senders": 2,
168 "max_size": 200
169 },
170 {
171 "name": "/can/canb",
172 "type": "frc971.can_logger.CanFrame",
173 "source_node": "imu",
174 "frequency": 6000,
175 "num_senders": 2,
176 "max_size": 200
177 },
178 {
179 "name": "/can/canc",
180 "type": "frc971.can_logger.CanFrame",
181 "source_node": "imu",
182 "frequency": 6000,
183 "num_senders": 2,
184 "max_size": 200
185 },
186 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]187 "name": "/localizer",
188 "type": "frc971.IMUValuesBatch",
189 "source_node": "imu",
190 "frequency": 2200,
191 "max_size": 1600,
192 "num_senders": 2
193 },
194 {
195 "name": "/imu/constants",
196 "type": "y2024.Constants",
197 "source_node": "imu",
198 "frequency": 1,
199 "num_senders": 2,
200 "max_size": 65536
201 }
202 ],
203 "applications": [
204 {
205 "name": "message_bridge_client",
206 "nodes": [
207 "imu"
208 ]
209 },
210 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]211 "name": "joystick_republish",
212 "executable_name": "joystick_republish",
213 "user": "pi",
214 "nodes": [
215 "imu"
216 ]
217 },
218 {
219 "name": "message_bridge_server",
220 "executable_name": "message_bridge_server",
221 "user": "pi",
222 "nodes": [
223 "imu"
224 ]
225 },
226 {
227 "name": "localizer_logger",
228 "executable_name": "logger_main",
229 "args": [
230 "--logging_folder",
231 "",
232 "--snappy_compress",
233 "--rotate_every", "30.0"
234 ],
235 "user": "pi",
236 "nodes": [
237 "imu"
238 ]
239 },
240 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]241 "name": "can_logger",
242 "executable_name": "can_logger",
243 "nodes": [
244 "imu"
245 ]
246 },
247 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]248 "name": "web_proxy",
249 "executable_name": "web_proxy_main",
250 "args": [
251 "--min_ice_port=5800",
252 "--max_ice_port=5810"
253 ],
254 "user": "pi",
255 "nodes": [
256 "imu"
257 ]
258 },
259 {
260 "name": "foxglove_websocket",
261 "user": "pi",
262 "nodes": [
263 "imu"
264 ]
265 },
266 {
267 "name": "constants_sender",
268 "autorestart": false,
269 "user": "pi",
270 "nodes": [
271 "imu"
272 ]
273 }
274 ],
275 "maps": [
276 {
277 "match": {
278 "name": "/constants*",
279 "source_node": "imu"
280 },
281 "rename": {
282 "name": "/imu/constants"
283 }
284 },
285 {
286 "match": {
287 "name": "/aos*",
288 "source_node": "imu"
289 },
290 "rename": {
291 "name": "/imu/aos"
292 }
293 }
294 ],
295 "nodes": [
296 {
297 "name": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]298 "hostname": "orin3",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]299 "hostnames": [
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]300 "orin-971-3",
301 "orin-7971-3",
302 "orin-8971-3",
303 "orin-9971-3"
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]304 ],
305 "port": 9971
306 },
307 {
308 "name": "roborio"
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]309 },
310 {
311 "name": "orin1"
312 },
313 {
314 "name": "orin2"
315 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]316 ]
317}