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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 814d2810467905f83c26bf4b66b22a1738cf7f3f / . / y2022 / y2022_roborio.json
blob: 068c54327b38c381ecfc29747f5e8bbf8d14ea40 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]9 "logger_nodes" : [
milind-ud52e5b72022-04-14 18:54:32 -0700[diff] [blame]10 "imu",
11 "logger"
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]12 ],
13 "destination_nodes": [
14 {
15 "name": "imu",
16 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
milind-ud52e5b72022-04-14 18:54:32 -0700[diff] [blame]22 },
23 {
24 "name": "logger",
25 "priority": 5,
26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "roborio"
30 ]
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]31 }
32 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]33 },
34 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]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",
39 "frequency": 200,
40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
milind-ud52e5b72022-04-14 18:54:32 -0700[diff] [blame]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",
48 "frequency": 200,
49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]53 "name": "/roborio/aos",
54 "type": "aos.RobotState",
55 "source_node": "roborio",
56 "frequency": 200
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.timing.Report",
61 "source_node": "roborio",
62 "frequency": 50,
63 "num_senders": 20,
64 "max_size": 4096
65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.logging.LogMessageFbs",
69 "source_node": "roborio",
70 "frequency": 500,
71 "max_size": 344,
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,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]80 "max_size": 2000,
81 "logger": "LOCAL_AND_REMOTE_LOGGER",
82 "logger_nodes": [
83 "logger"
84 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]85 "destination_nodes": [
86 {
87 "name": "logger",
88 "priority": 5,
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,
milind-ude5a4222022-01-22 13:23:29 -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",
110 "frequency": 10,
111 "max_size": 400,
112 "num_senders": 2,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]113 "logger": "LOCAL_AND_REMOTE_LOGGER",
114 "logger_nodes": [
115 "logger"
116 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]117 "destination_nodes": [
118 {
119 "name": "logger",
120 "priority": 5,
121 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
122 "timestamp_logger_nodes": [
123 "roborio"
124 ],
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",
132 "source_node": "roborio",
133 "logger": "NOT_LOGGED",
134 "frequency": 20,
135 "num_senders": 2,
136 "max_size": 200
137 },
138 {
139 "name": "/roborio/aos",
140 "type": "aos.message_bridge.ServerStatistics",
141 "source_node": "roborio",
142 "frequency": 10,
143 "num_senders": 2
144 },
145 {
146 "name": "/roborio/aos",
147 "type": "aos.message_bridge.ClientStatistics",
148 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]149 "frequency": 20,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]150 "max_size": 2000,
151 "num_senders": 2
152 },
153 {
Sarah Newman45a64df2022-04-11 19:33:46 -0700[diff] [blame]154 "name": "/roborio/aos",
155 "type": "aos.logging.DynamicLogCommand",
156 "source_node": "roborio",
157 "frequency": 10,
158 "num_senders": 2
159 },
160 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]161 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
162 "type": "aos.message_bridge.RemoteMessage",
163 "frequency": 200,
164 "source_node": "roborio"
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
168 "type": "aos.message_bridge.RemoteMessage",
169 "frequency": 20,
170 "source_node": "roborio",
171 "max_size": 208
172 },
173 {
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175 "type": "aos.message_bridge.RemoteMessage",
176 "frequency": 20,
177 "source_node": "roborio",
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179 },
180 {
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182 "type": "aos.message_bridge.RemoteMessage",
183 "frequency": 20,
184 "source_node": "roborio"
185 },
186 {
187 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
188 "type": "aos.message_bridge.RemoteMessage",
189 "frequency": 20,
190 "source_node": "roborio"
191 },
192 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]193 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
194 "type": "aos.message_bridge.RemoteMessage",
195 "frequency": 20,
196 "source_node": "roborio",
197 "max_size": 208
198 },
199 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]200 "name": "/roborio/aos",
201 "type": "aos.message_bridge.Timestamp",
202 "source_node": "roborio",
203 "frequency": 15,
204 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]205 "max_size": 512,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]206 "logger": "LOCAL_AND_REMOTE_LOGGER",
207 "logger_nodes": [
208 "imu"
209 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]210 "destination_nodes": [
211 {
212 "name": "pi1",
213 "priority": 1,
214 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
215 "timestamp_logger_nodes": [
216 "roborio"
217 ],
218 "time_to_live": 5000000
219 },
220 {
221 "name": "pi2",
222 "priority": 1,
223 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
224 "timestamp_logger_nodes": [
225 "roborio"
226 ],
227 "time_to_live": 5000000
228 },
229 {
230 "name": "pi3",
231 "priority": 1,
232 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
233 "timestamp_logger_nodes": [
234 "roborio"
235 ],
236 "time_to_live": 5000000
237 },
238 {
239 "name": "pi4",
240 "priority": 1,
241 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
242 "timestamp_logger_nodes": [
243 "roborio"
244 ],
245 "time_to_live": 5000000
246 },
247 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]248 "name": "imu",
249 "priority": 1,
250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
252 "roborio"
253 ],
254 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]255 }
256 ]
257 },
258 {
259 "name": "/superstructure",
260 "type": "y2022.control_loops.superstructure.Goal",
261 "source_node": "roborio",
262 "frequency": 200,
263 "max_size": 512
264 },
265 {
266 "name": "/superstructure",
267 "type": "y2022.control_loops.superstructure.Status",
268 "source_node": "roborio",
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame]269 "frequency": 400,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]270 "num_senders": 2,
271 "logger": "LOCAL_AND_REMOTE_LOGGER",
272 "logger_nodes": [
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]273 "imu",
274 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]275 ],
276 "destination_nodes": [
277 {
278 "name": "imu",
279 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]280 "time_to_live": 50000000,
281 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
282 "timestamp_logger_nodes": [
283 "roborio"
284 ]
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]285 },
286 {
287 "name": "logger",
288 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]289 "time_to_live": 50000000,
290 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
291 "timestamp_logger_nodes": [
292 "roborio"
293 ]
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]294 }
295 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]296 },
297 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]298 "name": "/roborio/aos/remote_timestamps/imu/superstructure/y2022-control_loops-superstructure-Status",
299 "type": "aos.message_bridge.RemoteMessage",
300 "source_node": "roborio",
301 "logger": "NOT_LOGGED",
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303 "num_senders": 2,
304 "max_size": 200
305 },
306 {
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308 "type": "aos.message_bridge.RemoteMessage",
309 "source_node": "roborio",
310 "logger": "NOT_LOGGED",
311 "frequency": 400,
312 "num_senders": 2,
313 "max_size": 200
314 },
315 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]316 "name": "/superstructure",
317 "type": "y2022.control_loops.superstructure.Output",
318 "source_node": "roborio",
319 "frequency": 200,
320 "num_senders": 2,
321 "max_size": 224
322 },
323 {
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326 "source_node": "roborio",
327 "frequency": 200,
328 "num_senders": 2,
329 "max_size": 448
330 },
331 {
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]332 "name": "/superstructure",
333 "type": "y2022.control_loops.superstructure.CANPosition",
334 "source_node": "roborio",
335 "frequency": 200,
336 "num_senders": 2,
Jim Ostrowski814d2812022-12-11 23:17:14 -0800[diff] [blame^]337 "max_size": 200
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]338 },
339 {
Henry Speiser0b9b0052022-03-02 23:07:40 -0800[diff] [blame]340 "name": "/superstructure",
341 "type": "y2022.input.joysticks.Setpoint",
342 "source_node": "roborio",
343 "num_senders": 2
344 },
345 {
Ravago Jones32bd3cb2022-03-26 15:45:03 -0700[diff] [blame]346 "name": "/superstructure",
347 "type": "y2022.vision.BallColor",
348 "source_node": "logger",
349 "frequency": 200,
350 "num_senders": 2,
351 "max_size": 72,
352 "destination_nodes": [
353 {
354 "name": "roborio",
355 "priority": 2,
356 "time_to_live": 500000000
357 }
358 ]
359 },
360 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]361 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]362 "type": "frc971.sensors.GyroReading",
363 "source_node": "roborio",
364 "frequency": 200,
365 "num_senders": 2
366 },
367 {
368 "name": "/drivetrain",
369 "type": "frc971.sensors.Uid",
370 "source_node": "roborio",
371 "frequency": 200,
372 "num_senders": 2
373 },
374 {
375 "name": "/drivetrain",
376 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
377 "source_node": "roborio",
378 "max_size": 600000,
379 "frequency": 10,
380 "logger": "NOT_LOGGED",
381 "num_senders": 2,
382 "read_method": "PIN",
383 "num_readers": 10
384 },
385 {
386 "name": "/drivetrain",
387 "type": "frc971.control_loops.drivetrain.SplineGoal",
388 "source_node": "roborio",
389 "frequency": 10
390 },
391 {
392 "name": "/drivetrain",
393 "type": "frc971.control_loops.drivetrain.Goal",
394 "source_node": "roborio",
395 "max_size": 224,
396 "frequency": 200
397 },
398 {
399 "name": "/drivetrain",
400 "type": "frc971.control_loops.drivetrain.Position",
401 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]402 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]403 "max_size": 112,
404 "num_senders": 2
405 },
406 {
407 "name": "/drivetrain",
408 "type": "frc971.control_loops.drivetrain.Output",
409 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]410 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]411 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]412 "num_senders": 2,
413 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]414 "logger_nodes": [
415 "imu"
416 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]417 "destination_nodes": [
418 {
419 "name": "imu",
420 "priority": 5,
421 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
422 "timestamp_logger_nodes": [
Jim Ostrowski814d2812022-12-11 23:17:14 -0800[diff] [blame^]423 "roborio"
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]424 ],
425 "time_to_live": 5000000
426 }
427 ]
428 },
429 {
430 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
431 "type": "aos.message_bridge.RemoteMessage",
432 "source_node": "roborio",
433 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]434 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]435 "num_senders": 2,
436 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]437 },
438 {
439 "name": "/drivetrain",
440 "type": "frc971.control_loops.drivetrain.Status",
441 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]442 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]443 "max_size": 1616,
444 "num_senders": 2
445 },
446 {
447 "name": "/drivetrain",
448 "type": "frc971.control_loops.drivetrain.LocalizerControl",
449 "source_node": "roborio",
450 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]451 "max_size": 96,
452 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]453 "logger_nodes": [
454 "imu"
455 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]456 "destination_nodes": [
457 {
458 "name": "imu",
459 "priority": 5,
460 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
461 "timestamp_logger_nodes": [
462 "imu"
463 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]464 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]465 }
466 ]
467 },
468 {
469 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
470 "type": "aos.message_bridge.RemoteMessage",
471 "source_node": "roborio",
472 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]473 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]474 "num_senders": 2,
475 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]476 },
477 {
478 "name": "/drivetrain",
479 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
480 "source_node": "roborio"
481 },
482 {
483 "name": "/autonomous",
484 "type": "aos.common.actions.Status",
485 "source_node": "roborio"
486 },
487 {
488 "name": "/autonomous",
489 "type": "frc971.autonomous.Goal",
490 "source_node": "roborio"
491 },
492 {
493 "name": "/autonomous",
494 "type": "frc971.autonomous.AutonomousMode",
495 "source_node": "roborio",
496 "frequency": 200
497 },
498 {
499 "name": "/roborio/aos",
500 "type": "frc971.PDPValues",
501 "source_node": "roborio",
502 "frequency": 55,
503 "max_size": 368
504 },
505 {
506 "name": "/roborio/aos",
507 "type": "frc971.wpilib.PneumaticsToLog",
508 "source_node": "roborio",
509 "frequency": 50
510 }
511 ],
512 "applications": [
513 {
514 "name": "drivetrain",
515 "executable_name": "drivetrain",
516 "nodes": [
517 "roborio"
518 ]
519 },
520 {
521 "name": "trajectory_generator",
522 "executable_name": "trajectory_generator",
523 "nodes": [
524 "roborio"
525 ]
526 },
527 {
528 "name": "superstructure",
529 "executable_name": "superstructure",
530 "nodes": [
531 "roborio"
532 ]
533 },
534 {
535 "name": "joystick_reader",
536 "executable_name": "joystick_reader",
537 "nodes": [
538 "roborio"
539 ]
540 },
541 {
542 "name": "wpilib_interface",
543 "executable_name": "wpilib_interface",
544 "nodes": [
545 "roborio"
546 ]
547 },
548 {
549 "name": "autonomous_action",
550 "executable_name": "autonomous_action",
551 "nodes": [
552 "roborio"
553 ]
554 },
555 {
556 "name": "web_proxy",
557 "executable_name": "web_proxy_main",
558 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
559 "nodes": [
560 "roborio"
561 ]
562 },
563 {
Austin Schuh6b2edc62022-03-27 13:32:09 -0700[diff] [blame]564 "name": "roborio_message_bridge_client",
565 "executable_name": "message_bridge_client.sh",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]566 "args": ["--rt_priority=16"],
567 "nodes": [
568 "roborio"
569 ]
570 },
571 {
572 "name": "message_bridge_server",
573 "executable_name": "message_bridge_server",
574 "args": ["--rt_priority=16"],
575 "nodes": [
576 "roborio"
577 ]
578 },
579 {
580 "name": "logger",
581 "executable_name": "logger_main",
582 "args": ["--snappy_compress"],
583 "nodes": [
584 "roborio"
585 ]
586 }
587 ],
588 "maps": [
589 {
590 "match": {
591 "name": "/aos*",
592 "source_node": "roborio"
593 },
594 "rename": {
595 "name": "/roborio/aos"
596 }
597 }
598 ],
599 "nodes": [
600 {
601 "name": "roborio",
602 "hostname": "roborio",
603 "hostnames": [
604 "roboRIO-971-FRC",
605 "roboRIO-6971-FRC",
606 "roboRIO-7971-FRC",
607 "roboRIO-8971-FRC",
608 "roboRIO-9971-FRC"
609 ],
610 "port": 9971
611 },
612 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]613 "name": "imu"
614 },
615 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]616 "name": "logger"
617 },
618 {
619 "name": "pi1"
620 },
621 {
622 "name": "pi2"
623 },
624 {
625 "name": "pi3"
626 },
627 {
628 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]629 }
630 ]
631}