y2020/y2020_pi_template.json

{
  "channels":
  [
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.timing.Report",
      "source_node": "pi{{ NUM }}",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 4096
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.logging.LogMessageFbs",
      "source_node": "pi{{ NUM }}",
      "frequency": 200,
      "num_senders": 20
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.starter.Status",
      "source_node": "pi{{ NUM }}",
      "frequency": 50,
      "num_senders": 20
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "pi{{ NUM }}",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.message_bridge.ServerStatistics",
      "source_node": "pi{{ NUM }}",
      "frequency": 2,
      "num_senders": 2
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.message_bridge.ClientStatistics",
      "source_node": "pi{{ NUM }}",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "pi{{ NUM }}",
      "frequency": 10,
      "num_senders": 2,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": ["roborio"],
      "max_size": 200,
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": ["roborio"]
        }
      ]
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "frc971.vision.CameraImage",
      "source_node": "pi{{ NUM }}",
      "frequency": 25,
      "max_size": 620000,
      "num_senders": 18
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "frc971.vision.sift.ImageMatchResult",
      "source_node": "pi{{ NUM }}",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": ["roborio"],
      "frequency": 25,
      "max_size": 10000,
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 1,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi{{ NUM }}/camera/detailed",
      "type": "frc971.vision.sift.ImageMatchResult",
      "source_node": "pi{{ NUM }}",
      "frequency": 25,
      "max_size": 1000000
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "frc971.vision.sift.TrainingData",
      "source_node": "pi{{ NUM }}",
      "frequency": 2,
      "max_size": 2000000
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "y2020.vision.GalacticSearchPath",
      "source_node": "pi{{ NUM }}",
      "max_size" : 104,
      "destination_nodes": [
        {
          "name": "roborio",
          "time_to_live": 100000000
        }
      ]
    }
  ],
  "applications": [
    {
      "name": "message_bridge_client",
      "executable_name": "message_bridge_client.stripped",
      "nodes": ["pi{{ NUM }}"]
    },
    {
      "name": "message_bridge_server",
      "executable_name": "message_bridge_server.stripped",
      "nodes": ["pi{{ NUM }}"]
    },
    {
      "name": "web_proxy",
      "executable_name": "web_proxy_main.stripped",
      "nodes": ["pi{{ NUM }}"]
    },
    {
      "name": "camera_reader",
      "executable_name": "camera_reader.stripped",
      "nodes": ["pi{{ NUM }}"]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/aos*",
        "source_node": "pi{{ NUM }}"
      },
      "rename": {
        "name": "/pi{{ NUM }}/aos"
      }
    },
    {
      "match": {
        "name": "/camera*",
        "source_node": "pi{{ NUM }}"
      },
      "rename": {
        "name": "/pi{{ NUM }}/camera"
      }
    }
  ],
  "nodes": [
    {
      "name": "pi{{ NUM }}",
      "hostname": "pi{{ NUM }}",
      "hostnames": [
        "pi-971-{{ NUM }}",
        "pi-7971-{{ NUM }}",
        "pi-8971-{{ NUM }}",
        "pi-9971-{{ NUM }}"
      ],
      "port": 9971
    },
    {
      "name": "roborio"
    }
  ]
}