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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 6aa77beab1d38a92c85c2365b456b074d8faa7f8 / . / y2020 / y2020.json
blob: 3673eee392a44629c5410e62bbcb605e7f0ff1fa [file] [log] [blame]
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]1{
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]2 "channel_storage_duration": 5000000000,
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]3 "channels":
4 [
5 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]6 "name": "/aos/roborio",
7 "type": "aos.JoystickState",
8 "source_node": "roborio",
9 "frequency": 75
10 },
11 {
12 "name": "/aos/roborio",
13 "type": "aos.RobotState",
14 "source_node": "roborio",
15 "frequency": 200,
16 "destination_nodes": [
17 {
18 "name": "pi1",
19 "priority": 2,
20 "timestamp_logger": "LOCAL_LOGGER",
21 "time_to_live": 10000000
22 },
23 {
24 "name": "pi2",
25 "priority": 2,
26 "timestamp_logger": "LOCAL_LOGGER",
27 "time_to_live": 10000000
28 },
29 {
30 "name": "pi3",
31 "priority": 2,
32 "timestamp_logger": "LOCAL_LOGGER",
33 "time_to_live": 10000000
34 }
35 ]
36 },
37 {
38 "name": "/aos/roborio",
39 "type": "aos.timing.Report",
40 "source_node": "roborio",
41 "frequency": 50,
42 "num_senders": 20,
43 "max_size": 2048
44 },
45 {
46 "name": "/aos/roborio",
47 "type": "aos.logging.LogMessageFbs",
48 "source_node": "roborio",
49 "frequency": 200,
50 "num_senders": 20
51 },
52 {
53 "name": "/aos/roborio",
54 "type": "aos.message_bridge.ServerStatistics",
55 "source_node": "roborio",
56 "frequency": 2,
57 "num_senders": 2
58 },
59 {
60 "name": "/aos/roborio",
61 "type": "aos.message_bridge.ClientStatistics",
62 "source_node": "roborio",
63 "frequency": 2,
64 "num_senders": 2
65 },
66 {
67 "name": "/aos/roborio",
68 "type": "aos.message_bridge.Timestamp",
69 "source_node": "roborio",
70 "frequency": 10,
71 "num_senders": 2,
72 "max_size": 200,
73 "destination_nodes": [
74 {
75 "name": "pi1",
76 "priority": 1,
77 "time_to_live": 5000000
78 },
79 {
80 "name": "pi2",
81 "priority": 1,
82 "time_to_live": 5000000
83 },
84 {
85 "name": "pi3",
86 "priority": 1,
87 "time_to_live": 5000000
88 }
89 ]
90 },
91 {
92 "name": "/aos/pi1",
93 "type": "aos.timing.Report",
94 "source_node": "pi1",
95 "frequency": 50,
96 "num_senders": 20,
97 "max_size": 2048
98 },
99 {
100 "name": "/aos/pi1",
101 "type": "aos.logging.LogMessageFbs",
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103 "frequency": 200,
104 "num_senders": 20
105 },
106 {
107 "name": "/aos/pi1",
108 "type": "aos.message_bridge.ServerStatistics",
109 "source_node": "pi1",
110 "frequency": 2,
111 "num_senders": 2
112 },
113 {
114 "name": "/aos/pi1",
115 "type": "aos.message_bridge.ClientStatistics",
116 "source_node": "pi1",
117 "frequency": 2,
118 "num_senders": 2
119 },
120 {
121 "name": "/aos/pi1",
122 "type": "aos.message_bridge.Timestamp",
123 "source_node": "pi1",
124 "frequency": 10,
125 "num_senders": 2,
126 "max_size": 200,
127 "destination_nodes": [
128 {
129 "name": "roborio",
130 "priority": 1,
131 "time_to_live": 5000000
132 }
133 ]
134 },
135 {
136 "name": "/aos/pi2",
137 "type": "aos.timing.Report",
138 "source_node": "pi2",
139 "frequency": 50,
140 "num_senders": 20,
141 "max_size": 2048
142 },
143 {
144 "name": "/aos/pi2",
145 "type": "aos.logging.LogMessageFbs",
146 "source_node": "pi2",
147 "frequency": 200,
148 "num_senders": 20
149 },
150 {
151 "name": "/aos/pi2",
152 "type": "aos.message_bridge.ServerStatistics",
153 "source_node": "pi2",
154 "frequency": 2,
155 "num_senders": 2
156 },
157 {
158 "name": "/aos/pi2",
159 "type": "aos.message_bridge.ClientStatistics",
160 "source_node": "pi2",
161 "frequency": 2,
162 "num_senders": 2
163 },
164 {
165 "name": "/aos/pi2",
166 "type": "aos.message_bridge.Timestamp",
167 "source_node": "pi2",
168 "frequency": 10,
169 "num_senders": 2,
170 "max_size": 200,
171 "destination_nodes": [
172 {
173 "name": "roborio",
174 "priority": 1,
175 "time_to_live": 5000000
176 }
177 ]
178 },
179 {
180 "name": "/aos/pi3",
181 "type": "aos.timing.Report",
182 "source_node": "pi3",
183 "frequency": 50,
184 "num_senders": 20,
185 "max_size": 2048
186 },
187 {
188 "name": "/aos/pi3",
189 "type": "aos.logging.LogMessageFbs",
190 "source_node": "pi3",
191 "frequency": 200,
192 "num_senders": 20
193 },
194 {
195 "name": "/aos/pi3",
196 "type": "aos.message_bridge.ServerStatistics",
197 "source_node": "pi3",
198 "frequency": 2,
199 "num_senders": 2
200 },
201 {
202 "name": "/aos/pi3",
203 "type": "aos.message_bridge.ClientStatistics",
204 "source_node": "pi3",
205 "frequency": 2,
206 "num_senders": 2
207 },
208 {
209 "name": "/aos/pi3",
210 "type": "aos.message_bridge.Timestamp",
211 "source_node": "pi3",
212 "frequency": 10,
213 "num_senders": 2,
214 "max_size": 200,
215 "destination_nodes": [
216 {
217 "name": "roborio",
218 "priority": 1,
219 "time_to_live": 5000000
220 }
221 ]
222 },
223 {
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]224 "name": "/superstructure",
225 "type": "y2020.control_loops.superstructure.Goal",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]226 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]227 "frequency": 200
228 },
229 {
230 "name": "/superstructure",
231 "type": "y2020.control_loops.superstructure.Status",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]232 "source_node": "roborio",
233 "frequency": 200,
234 "num_senders": 2
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]235 },
236 {
237 "name": "/superstructure",
238 "type": "y2020.control_loops.superstructure.Output",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]239 "source_node": "roborio",
240 "frequency": 200,
241 "num_senders": 2
James Kuszmaula244a912020-01-18 13:50:50 -0800[diff] [blame]242 },
243 {
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]244 "name": "/superstructure",
245 "type": "y2020.control_loops.superstructure.Position",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]246 "source_node": "roborio",
247 "frequency": 200,
248 "num_senders": 2
249 },
250 {
251 "name": "/drivetrain",
252 "type": "frc971.IMUValues",
253 "source_node": "roborio",
254 "frequency": 2000,
255 "num_senders": 2
256 },
257 {
258 "name": "/drivetrain",
259 "type": "frc971.sensors.GyroReading",
260 "source_node": "roborio",
261 "frequency": 200,
262 "num_senders": 2
263 },
264 {
265 "name": "/drivetrain",
266 "type": "frc971.sensors.Uid",
267 "source_node": "roborio",
268 "frequency": 200,
269 "num_senders": 2
270 },
271 {
272 "name": "/drivetrain",
273 "type": "frc971.control_loops.drivetrain.Goal",
274 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]275 "frequency": 200
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]276 },
277 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]278 "name": "/drivetrain",
279 "type": "frc971.control_loops.drivetrain.Position",
280 "source_node": "roborio",
281 "frequency": 200,
282 "num_senders": 2
283 },
284 {
285 "name": "/drivetrain",
286 "type": "frc971.control_loops.drivetrain.Status",
287 "source_node": "roborio",
288 "frequency": 200,
289 "max_size": 2000,
290 "num_senders": 2
291 },
292 {
293 "name": "/drivetrain",
294 "type": "frc971.control_loops.drivetrain.Output",
295 "source_node": "roborio",
296 "frequency": 200,
297 "num_senders": 2
298 },
299 {
300 "name": "/drivetrain",
301 "type": "frc971.control_loops.drivetrain.LocalizerControl",
302 "source_node": "roborio",
303 "frequency": 200
304 },
305 {
306 "name": "/drivetrain",
307 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
308 "source_node": "roborio"
309 },
310 {
311 "name": "/pi1/camera",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]312 "type": "frc971.vision.CameraImage",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]313 "source_node": "pi1",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]314 "frequency": 25,
315 "max_size": 620000,
316 "num_senders": 18
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]317 },
318 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]319 "name": "/pi1/camera",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]320 "type": "frc971.vision.sift.ImageMatchResult",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]321 "source_node": "pi1",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]322 "frequency": 25,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]323 "max_size": 300000,
324 "destination_nodes": [
325 {
326 "name": "roborio",
327 "priority": 1,
328 "time_to_live": 5000000
329 }
330 ]
331 },
332 {
333 "name": "/autonomous",
334 "type": "aos.common.actions.Status",
335 "source_node": "roborio"
336 },
337 {
338 "name": "/autonomous",
339 "type": "frc971.autonomous.Goal",
340 "source_node": "roborio"
341 },
342 {
343 "name": "/autonomous",
344 "type": "frc971.autonomous.AutonomousMode",
345 "source_node": "roborio",
346 "frequency": 200
347 },
348 {
349 "name": "/aos/roborio",
350 "type": "frc971.PDPValues",
351 "source_node": "roborio",
352 "frequency": 50
353 },
354 {
355 "name": "/aos/roborio",
356 "type": "frc971.wpilib.PneumaticsToLog",
357 "source_node": "roborio",
358 "frequency": 50
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]359 }
360 ],
361 "applications": [
362 {
363 "name": "drivetrain"
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]364 },
365 {
366 "name": "camera_reader"
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]367 }
368 ],
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame^]369 "maps": [
370 {
371 "match": {
372 "name": "/aos",
373 "source_node": "roborio"
374 },
375 "rename": {
376 "name": "/aos/roborio"
377 }
378 },
379 {
380 "match": {
381 "name": "/aos",
382 "source_node": "pi1"
383 },
384 "rename": {
385 "name": "/aos/pi1"
386 }
387 },
388 {
389 "match": {
390 "name": "/aos",
391 "source_node": "pi2"
392 },
393 "rename": {
394 "name": "/aos/pi2"
395 }
396 },
397 {
398 "match": {
399 "name": "/aos",
400 "source_node": "pi3"
401 },
402 "rename": {
403 "name": "/aos/pi3"
404 }
405 },
406 {
407 "match": {
408 "name": "/aos",
409 "type": "aos.RobotState"
410 },
411 "rename": {
412 "name": "/aos/roborio"
413 }
414 }
415 ],
416 "nodes": [
417 {
418 "name": "roborio",
419 "hostname": "roborio",
420 "hostnames": [
421 "roboRIO-971-FRC",
422 "roboRIO-7971-FRC",
423 "roboRIO-8971-FRC",
424 "roboRIO-9971-FRC"
425 ],
426 "port": 9971
427 },
428 {
429 "name": "pi1",
430 "hostname": "pi1",
431 "hostnames": [
432 "pi-971-1",
433 "pi-7971-1",
434 "pi-8971-1",
435 "pi-9971-1"
436 ],
437 "port": 9971
438 },
439 {
440 "name": "pi2",
441 "hostname": "pi2",
442 "hostnames": [
443 "pi-971-2",
444 "pi-7971-2",
445 "pi-8971-2",
446 "pi-9971-2"
447 ],
448 "port": 9971
449 },
450 {
451 "name": "pi3",
452 "hostname": "pi3",
453 "hostnames": [
454 "pi-971-3",
455 "pi-7971-3",
456 "pi-8971-3",
457 "pi-9971-3"
458 ],
459 "port": 9971
460 }
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]461 ]
462}