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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 713c5ce716a6c21d199b0b2d028307fbfb8efaf6 / . / y2023 / y2023_roborio.json
blob: 1c0beac255c7ce458cd8cfd99e6191377bd02a7b [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes" : [
10 "imu",
11 "logger"
12 ],
13 "destination_nodes": [
14 {
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16 "priority": 5,
17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
22 },
23 {
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26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "roborio"
30 ]
31 }
32 ]
33 },
34 {
35 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "roborio",
38 "logger": "NOT_LOGGED",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]39 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
44 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "roborio",
47 "logger": "NOT_LOGGED",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]48 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
53 "name": "/roborio/aos",
54 "type": "aos.RobotState",
55 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]56 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.timing.Report",
61 "source_node": "roborio",
62 "frequency": 50,
63 "num_senders": 20,
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]64 "max_size": 8192
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.logging.LogMessageFbs",
69 "source_node": "roborio",
70 "frequency": 500,
Austin Schuhd653aed2023-02-24 16:28:17 -0800[diff] [blame]71 "max_size": 1000,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]72 "num_senders": 20
73 },
74 {
75 "name": "/roborio/aos",
76 "type": "aos.starter.Status",
77 "source_node": "roborio",
78 "frequency": 50,
79 "num_senders": 20,
80 "max_size": 2000,
81 "logger": "LOCAL_AND_REMOTE_LOGGER",
82 "logger_nodes": [
83 "logger"
84 ],
85 "destination_nodes": [
86 {
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89 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
90 "timestamp_logger_nodes": [
91 "roborio"
92 ],
93 "time_to_live": 5000000
94 }
95 ]
96 },
97 {
98 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
99 "type": "aos.message_bridge.RemoteMessage",
100 "source_node": "roborio",
101 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]102 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]103 "num_senders": 2,
104 "max_size": 200
105 },
106 {
107 "name": "/roborio/aos",
108 "type": "aos.starter.StarterRpc",
109 "source_node": "roborio",
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118 {
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125 "time_to_live": 5000000
126 }
127 ]
128 },
129 {
130 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
131 "type": "aos.message_bridge.RemoteMessage",
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137 },
138 {
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142 "frequency": 10,
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144 },
145 {
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152 },
153 {
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157 "frequency": 10,
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159 },
160 {
161 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
162 "type": "aos.message_bridge.RemoteMessage",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]163 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]164 "source_node": "roborio"
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
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172 },
173 {
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179 },
180 {
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183 "frequency": 20,
184 "source_node": "roborio"
185 },
186 {
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188 "type": "aos.message_bridge.RemoteMessage",
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190 "source_node": "roborio"
191 },
192 {
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194 "type": "aos.message_bridge.RemoteMessage",
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198 },
199 {
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206 "logger": "LOCAL_AND_REMOTE_LOGGER",
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208 "imu"
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211 {
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215 "timestamp_logger_nodes": [
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217 ],
218 "time_to_live": 5000000
219 },
220 {
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226 ],
227 "time_to_live": 5000000
228 },
229 {
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233 "timestamp_logger_nodes": [
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235 ],
236 "time_to_live": 5000000
237 },
238 {
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242 "timestamp_logger_nodes": [
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244 ],
245 "time_to_live": 5000000
246 },
247 {
248 "name": "imu",
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250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
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253 ],
254 "time_to_live": 5000000
255 }
256 ]
257 },
258 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]259 "name": "/superstructure",
260 "type": "y2023.control_loops.superstructure.Goal",
261 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]262 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]263 "max_size": 512
264 },
265 {
266 "name": "/superstructure",
267 "type": "y2023.control_loops.superstructure.Status",
268 "source_node": "roborio",
269 "frequency": 400,
270 "num_senders": 2
271 },
272 {
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274 "type": "y2023.control_loops.superstructure.Output",
275 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]276 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]277 "num_senders": 2,
278 "max_size": 224
279 },
280 {
281 "name": "/superstructure",
282 "type": "y2023.control_loops.superstructure.Position",
283 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]284 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]285 "num_senders": 2,
286 "max_size": 448
287 },
288 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]289 "name": "/drivetrain",
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]290 "type": "y2023.control_loops.drivetrain.CANPosition",
291 "source_node": "roborio",
292 "frequency": 220,
293 "num_senders": 2,
294 "max_size": 400
295 },
296 {
297 "name": "/drivetrain",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]298 "type": "frc971.sensors.GyroReading",
299 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]300 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]301 "num_senders": 2
302 },
303 {
304 "name": "/drivetrain",
305 "type": "frc971.sensors.Uid",
306 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]307 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]308 "num_senders": 2
309 },
310 {
311 "name": "/drivetrain",
312 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
313 "source_node": "roborio",
314 "max_size": 600000,
315 "frequency": 10,
316 "logger": "NOT_LOGGED",
317 "num_senders": 2,
318 "read_method": "PIN",
319 "num_readers": 10
320 },
321 {
322 "name": "/drivetrain",
323 "type": "frc971.control_loops.drivetrain.SplineGoal",
324 "source_node": "roborio",
325 "frequency": 10
326 },
327 {
328 "name": "/drivetrain",
329 "type": "frc971.control_loops.drivetrain.Goal",
330 "source_node": "roborio",
331 "max_size": 224,
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]332 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]333 },
334 {
335 "name": "/drivetrain",
336 "type": "frc971.control_loops.drivetrain.Position",
337 "source_node": "roborio",
338 "frequency": 400,
339 "max_size": 112,
340 "num_senders": 2
341 },
342 {
343 "name": "/drivetrain",
344 "type": "frc971.control_loops.drivetrain.Output",
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346 "frequency": 400,
347 "max_size": 80,
348 "num_senders": 2,
349 "logger": "LOCAL_AND_REMOTE_LOGGER",
350 "logger_nodes": [
351 "imu"
352 ],
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354 {
355 "name": "imu",
356 "priority": 5,
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358 "timestamp_logger_nodes": [
359 "imu"
360 ],
361 "time_to_live": 5000000
362 }
363 ]
364 },
365 {
366 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
367 "type": "aos.message_bridge.RemoteMessage",
368 "source_node": "roborio",
369 "logger": "NOT_LOGGED",
370 "frequency": 400,
371 "num_senders": 2,
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373 },
374 {
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380 "num_senders": 2
381 },
382 {
383 "name": "/drivetrain",
384 "type": "frc971.control_loops.drivetrain.LocalizerControl",
385 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]386 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]387 "max_size": 96,
388 "logger": "LOCAL_AND_REMOTE_LOGGER",
389 "logger_nodes": [
390 "imu"
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393 {
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396 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
397 "timestamp_logger_nodes": [
398 "imu"
399 ],
400 "time_to_live": 0
401 }
402 ]
403 },
404 {
405 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
406 "type": "aos.message_bridge.RemoteMessage",
407 "source_node": "roborio",
408 "logger": "NOT_LOGGED",
409 "frequency": 400,
410 "num_senders": 2,
411 "max_size": 200
412 },
413 {
414 "name": "/drivetrain",
415 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
416 "source_node": "roborio"
417 },
418 {
419 "name": "/autonomous",
420 "type": "aos.common.actions.Status",
421 "source_node": "roborio"
422 },
423 {
424 "name": "/autonomous",
425 "type": "frc971.autonomous.Goal",
426 "source_node": "roborio"
427 },
428 {
429 "name": "/autonomous",
430 "type": "frc971.autonomous.AutonomousMode",
431 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]432 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]433 },
434 {
435 "name": "/roborio/aos",
436 "type": "frc971.PDPValues",
437 "source_node": "roborio",
438 "frequency": 55,
439 "max_size": 368
440 },
441 {
442 "name": "/roborio/aos",
443 "type": "frc971.wpilib.PneumaticsToLog",
444 "source_node": "roborio",
445 "frequency": 50
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]446 },
447 {
Austin Schuhbb4c9ac2023-02-28 22:04:20 -0800[diff] [blame]448 "name": "/roborio",
449 "type": "y2023.CANConfiguration",
450 "source_node": "roborio",
451 "frequency": 2
452 },
453 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]454 "name": "/roborio/constants",
455 "type": "y2023.Constants",
456 "source_node": "roborio",
457 "frequency": 1,
458 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800[diff] [blame]459 "max_size": 65536
James Kuszmauldb730d72023-02-25 16:01:27 -0800[diff] [blame]460 },
461 {
462 "name": "/drivetrain",
463 "type": "y2023.control_loops.drivetrain.TargetSelectorHint",
464 "source_node": "roborio"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]465 }
466 ],
467 "applications": [
468 {
469 "name": "drivetrain",
470 "executable_name": "drivetrain",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]471 "args": [
472 "--die_on_malloc"
473 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]474 "nodes": [
475 "roborio"
476 ]
477 },
478 {
479 "name": "trajectory_generator",
480 "executable_name": "trajectory_generator",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]481 "args": [
482 "--die_on_malloc"
483 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]484 "nodes": [
485 "roborio"
486 ]
487 },
488 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]489 "name": "superstructure",
490 "executable_name": "superstructure",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]491 "args": [
492 "--die_on_malloc"
493 ],
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]494 "nodes": [
495 "roborio"
496 ]
497 },
498 {
Xander Yee1ad2f7b2023-02-21 14:46:56 -0800[diff] [blame]499 "name": "roborio_irq_affinity",
500 "executable_name": "irq_affinity",
501 "args": [
502 "--irq_config=/home/admin/bin/roborio_irq_config.json"
503 ],
504 "nodes": [
505 "roborio"
506 ]
507 },
508 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]509 "name": "joystick_reader",
510 "executable_name": "joystick_reader",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]511 "args": [
James Kuszmaul713c5ce2023-03-04 18:23:24 -0800[diff] [blame^]512 "--nodie_on_malloc"
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]513 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]514 "nodes": [
515 "roborio"
516 ]
517 },
518 {
519 "name": "wpilib_interface",
520 "executable_name": "wpilib_interface",
521 "nodes": [
522 "roborio"
523 ]
524 },
525 {
526 "name": "autonomous_action",
527 "executable_name": "autonomous_action",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]528 "args": [
James Kuszmaul713c5ce2023-03-04 18:23:24 -0800[diff] [blame^]529 "--nodie_on_malloc"
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]530 ],
James Kuszmaul713c5ce2023-03-04 18:23:24 -0800[diff] [blame^]531 "autostart": true,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]532 "nodes": [
533 "roborio"
534 ]
535 },
536 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]537 "name": "roborio_web_proxy",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]538 "executable_name": "web_proxy_main",
539 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
540 "nodes": [
541 "roborio"
542 ]
543 },
544 {
545 "name": "roborio_message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]546 "executable_name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]547 "args": ["--rt_priority=16"],
548 "nodes": [
549 "roborio"
550 ]
551 },
552 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]553 "name": "roborio_message_bridge_server",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]554 "executable_name": "message_bridge_server",
555 "args": ["--rt_priority=16"],
556 "nodes": [
557 "roborio"
558 ]
559 },
560 {
561 "name": "logger",
562 "executable_name": "logger_main",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]563 "args": ["--snappy_compress", "--logging_folder=/home/admin/logs/"],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]564 "nodes": [
565 "roborio"
566 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]567 },
568 {
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]569 "name": "constants_sender_roborio",
James Kuszmaule22680a2023-02-26 17:33:43 -0800[diff] [blame]570 "executable_name": "constants_sender",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]571 "autorestart": false,
572 "nodes": [
573 "roborio"
574 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]575 }
576 ],
577 "maps": [
578 {
579 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]580 "name": "/constants*",
581 "source_node": "roborio"
582 },
583 "rename": {
584 "name": "/roborio/constants"
585 }
586 },
587 {
588 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]589 "name": "/aos*",
590 "source_node": "roborio"
591 },
592 "rename": {
593 "name": "/roborio/aos"
594 }
595 }
596 ],
597 "nodes": [
598 {
599 "name": "roborio",
600 "hostname": "roborio",
601 "hostnames": [
602 "roboRIO-971-FRC",
603 "roboRIO-6971-FRC",
604 "roboRIO-7971-FRC",
605 "roboRIO-8971-FRC",
606 "roboRIO-9971-FRC"
607 ],
608 "port": 9971
609 },
610 {
611 "name": "imu"
612 },
613 {
614 "name": "logger"
615 },
616 {
617 "name": "pi1"
618 },
619 {
620 "name": "pi2"
621 },
622 {
623 "name": "pi3"
624 },
625 {
626 "name": "pi4"
627 }
628 ]
629}