y2024/y2024_roborio.json

{
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    },
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          ],
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      ]
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    {
      "name": "/superstructure/canivore",
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      "max_size": 1024
    },
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      "name": "/superstructure/rio",
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      "type": "frc971.sensors.GyroReading",
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      "name": "/drivetrain",
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    {
      "name": "/drivetrain",
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      "logger": "NOT_LOGGED",
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      "name": "/drivetrain",
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    },
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      "name": "/drivetrain",
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    },
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      "name": "/drivetrain",
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    {
      "name": "/drivetrain",
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        }
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    },
    {
      "name": "/drivetrain",
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      "num_senders": 2
    },
    {
      "name": "/drivetrain",
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      "max_size": 96,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
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          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 0
        }
      ]
    },
    {
      "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 400,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/autonomous",
      "type": "aos.common.actions.Status",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "frc971.autonomous.Goal",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "frc971.autonomous.AutonomousMode",
      "source_node": "roborio",
      "frequency": 250
    },

    {
      "name": "/roborio",
      "type": "frc971.CANConfiguration",
      "source_node": "roborio",
      "frequency": 2
    },
    {
      "name": "/roborio/constants",
      "type": "y2024.Constants",
      "source_node": "roborio",
      "frequency": 1,
      "num_senders": 2,
      "max_size": 65536
    }
  ],
  "applications": [
    {
      "name": "drivetrain",
      "executable_name": "drivetrain",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "trajectory_generator",
      "executable_name": "trajectory_generator",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "superstructure",
      "executable_name": "superstructure",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_irq_affinity",
      "executable_name": "irq_affinity",
      "args": [
        "--irq_config=/home/admin/bin/roborio_irq_config.json"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "joystick_reader",
      "executable_name": "joystick_reader",
      "args": [
        "--nodie_on_malloc"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "wpilib_interface",
      "executable_name": "wpilib_interface",
      "args": [
        "--nodie_on_malloc"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "autonomous_action",
      "executable_name": "autonomous_action",
      "args": [
        "--nodie_on_malloc"
      ],
      "autostart": true,
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_web_proxy",
      "executable_name": "web_proxy_main",
      "args": [
        "--min_ice_port=5800",
        "--max_ice_port=5810"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_message_bridge_client",
      "executable_name": "message_bridge_client",
      "args": [
        "--rt_priority=16",
        "--sinit_max_init_timeout=5000"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_message_bridge_server",
      "executable_name": "message_bridge_server",
      "args": [
        "--rt_priority=16"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "logger",
      "executable_name": "logger_main",
      "args": [
        "--snappy_compress",
        "--logging_folder=/home/admin/logs/",
        "--rotate_every", "30.0"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "constants_sender_roborio",
      "executable_name": "constants_sender",
      "autorestart": false,
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_can_logger",
      "executable_name": "can_logger",
      "autostart": false,
      "args": [
        "--poll"
      ],
      "nodes": [
        "roborio"
      ]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/constants*",
        "source_node": "roborio"
      },
      "rename": {
        "name": "/roborio/constants"
      }
    },
    {
      "match": {
        "name": "/aos*",
        "source_node": "roborio"
      },
      "rename": {
        "name": "/roborio/aos"
      }
    }
  ],
  "nodes": [
    {
      "name": "roborio",
      "hostname": "roborio",
      "hostnames": [
        "roboRIO-971-FRC",
        "roboRIO-6971-FRC",
        "roboRIO-7971-FRC",
        "roboRIO-8971-FRC",
        "roboRIO-9971-FRC"
      ],
      "port": 9971
    },
    {
      "name": "imu"
    }
  ]
}