Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 81e06dd01e9202760f97a6db4d7a99a4a553544f / . / y2024_swerve / y2024_swerve_roborio.json
blob: e5e40dd6a3d6203371b5b79e15cb6be1693222c3 [file] [log] [blame]
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
Nikolai Sohmers74e52ef2024-05-29 10:12:23 -0700[diff] [blame]5 "type": "aos.JoystickState",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]6 "source_node": "roborio",
Nikolai Sohmers74e52ef2024-05-29 10:12:23 -0700[diff] [blame]7 "frequency": 250,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
16 "time_to_live": 50000000
17 }
18 ]
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]19 },
20 {
21 "name": "/roborio/aos",
22 "type": "aos.timing.Report",
23 "source_node": "roborio",
24 "frequency": 50,
25 "num_senders": 20,
26 "max_size": 8192
27 },
28 {
29 "name": "/roborio/aos",
Nikolai Sohmers8412fe52024-06-09 18:01:18 -0700[diff] [blame]30 "type": "aos.RobotState",
31 "source_node": "roborio",
32 "frequency": 50,
33 "num_senders": 20,
34 "max_size": 192
35 },
36 {
37 "name": "/roborio/aos",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]38 "type": "aos.logging.LogMessageFbs",
39 "source_node": "roborio",
40 "frequency": 500,
41 "max_size": 1000,
42 "num_senders": 20
43 },
44 {
45 "name": "/roborio/aos",
46 "type": "aos.starter.Status",
47 "source_node": "roborio",
48 "frequency": 50,
49 "num_senders": 20,
Nikolai Sohmers8412fe52024-06-09 18:01:18 -0700[diff] [blame]50 "max_size": 3000
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]51 },
52 {
53 "name": "/roborio/aos",
54 "type": "aos.starter.StarterRpc",
55 "source_node": "roborio",
56 "frequency": 10,
57 "max_size": 400,
Sanjay Narayananbecad692024-06-22 14:46:51 -0700[diff] [blame]58 "num_senders": 2,
59 "logger": "LOCAL_AND_REMOTE_LOGGER",
60 "logger_nodes": [
61 "imu"
62 ],
63 "destination_nodes": [
64 {
65 "name": "imu",
66 "priority": 5,
67 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
68 "timestamp_logger_nodes": [
69 "roborio"
70 ],
71 "time_to_live": 5000000
72 }
73 ]
74 },
75 {
76 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
77 "type": "aos.message_bridge.RemoteMessage",
78 "source_node": "roborio",
79 "logger": "NOT_LOGGED",
80 "frequency": 20,
81 "num_senders": 2,
82 "max_size": 200
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]83 },
84 {
85 "name": "/roborio/aos",
86 "type": "aos.message_bridge.ServerStatistics",
87 "source_node": "roborio",
88 "frequency": 10,
89 "num_senders": 2
90 },
91 {
92 "name": "/roborio/aos",
93 "type": "aos.message_bridge.ClientStatistics",
94 "source_node": "roborio",
95 "frequency": 20,
96 "max_size": 2000,
97 "num_senders": 2
98 },
99 {
100 "name": "/roborio/aos",
101 "type": "aos.logging.DynamicLogCommand",
102 "source_node": "roborio",
103 "frequency": 10,
104 "num_senders": 2
105 },
106 {
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]107 "name": "/roborio/aos",
108 "type": "aos.message_bridge.Timestamp",
109 "source_node": "roborio",
110 "frequency": 15,
111 "num_senders": 2,
112 "max_size": 512,
113 "logger": "LOCAL_AND_REMOTE_LOGGER",
114 "logger_nodes": [
115 "imu"
116 ],
117 "destination_nodes": [
118 {
119 "name": "imu",
120 "priority": 1,
121 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
122 "timestamp_logger_nodes": [
123 "roborio"
124 ],
125 "time_to_live": 5000000
126 }
127 ]
128 },
129 {
Sanjay Narayananbecad692024-06-22 14:46:51 -0700[diff] [blame]130 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
131 "type": "aos.message_bridge.RemoteMessage",
132 "frequency": 20,
133 "source_node": "roborio",
134 "max_size": 208
135 },
136 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]137 "name": "/roborio/drivetrain",
Nikolai Sohmers3f2a5072024-06-08 14:05:59 -0700[diff] [blame]138 "type": "frc971.control_loops.swerve.Position",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]139 "source_node": "roborio",
140 "frequency": 250,
141 "num_senders": 1,
142 "max_size": 480
143 },
144 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]145 "name": "/roborio/drivetrain",
Nikolai Sohmers3f2a5072024-06-08 14:05:59 -0700[diff] [blame]146 "type": "frc971.control_loops.swerve.CanPosition",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]147 "source_node": "roborio",
148 "frequency": 250,
149 "num_senders": 1,
Nikolai Sohmers8412fe52024-06-09 18:01:18 -0700[diff] [blame]150 "max_size": 656
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]151 },
152 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]153 "name": "/roborio/can",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]154 "type": "frc971.can_logger.CanFrame",
155 "source_node": "roborio",
156 "frequency": 6000,
157 "num_senders": 2,
158 "max_size": 200
159 },
160 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]161 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]162 "type": "frc971.control_loops.drivetrain.CANPosition",
163 "source_node": "roborio",
164 "frequency": 220,
165 "num_senders": 2,
166 "max_size": 400
167 },
168 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]169 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]170 "type": "frc971.control_loops.drivetrain.SplineGoal",
171 "source_node": "roborio",
172 "frequency": 10
173 },
174 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]175 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]176 "type": "frc971.control_loops.drivetrain.Goal",
177 "source_node": "roborio",
178 "max_size": 224,
179 "frequency": 250
180 },
181 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]182 "name": "/roborio/drivetrain",
Nikolai Sohmers3f2a5072024-06-08 14:05:59 -0700[diff] [blame]183 "type": "frc971.control_loops.swerve.Output",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]184 "source_node": "roborio",
185 "frequency": 400,
186 "max_size": 200,
187 "num_senders": 2,
188 "logger": "LOCAL_AND_REMOTE_LOGGER",
189 "logger_nodes": [
190 "imu"
191 ],
192 "destination_nodes": [
193 {
194 "name": "imu",
195 "priority": 5,
196 "time_to_live": 5000000
197 }
198 ]
199 },
200 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]201 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]202 "type": "frc971.control_loops.drivetrain.Status",
203 "source_node": "roborio",
204 "frequency": 400,
205 "max_size": 1616,
206 "num_senders": 2
207 },
208 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]209 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]210 "type": "frc971.control_loops.drivetrain.LocalizerControl",
211 "source_node": "roborio",
212 "frequency": 250,
213 "max_size": 96,
214 "logger": "LOCAL_AND_REMOTE_LOGGER",
215 "logger_nodes": [
216 "imu"
217 ],
218 "destination_nodes": [
219 {
220 "name": "imu",
221 "priority": 5,
222 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
223 "timestamp_logger_nodes": [
224 "roborio"
225 ],
226 "time_to_live": 0
227 }
228 ]
229 },
230 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]231 "name": "/roborio/aos/remote_timestamps/imu/roborio/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]232 "type": "aos.message_bridge.RemoteMessage",
233 "source_node": "roborio",
234 "logger": "NOT_LOGGED",
235 "frequency": 400,
236 "num_senders": 2,
237 "max_size": 200
238 },
239 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]240 "name": "/roborio/autonomous",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]241 "type": "aos.common.actions.Status",
242 "source_node": "roborio"
243 },
244 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]245 "name": "/roborio/autonomous",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]246 "type": "frc971.autonomous.Goal",
247 "source_node": "roborio"
248 },
249 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]250 "name": "/roborio/autonomous",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]251 "type": "frc971.autonomous.AutonomousMode",
252 "source_node": "roborio",
253 "frequency": 250
254 },
255 {
256 "name": "/roborio/aos",
257 "type": "frc971.PDPValues",
258 "source_node": "roborio",
259 "frequency": 55,
260 "max_size": 368
261 },
262 {
263 "name": "/roborio/aos",
264 "type": "frc971.wpilib.PneumaticsToLog",
265 "source_node": "roborio",
266 "frequency": 50
267 },
268 {
269 "name": "/roborio",
270 "type": "frc971.CANConfiguration",
271 "source_node": "roborio",
272 "frequency": 2
273 }
274 ],
275 "applications": [
276 {
277 "name": "wpilib_interface",
278 "executable_name": "wpilib_interface",
279 "args": [
280 "--nodie_on_malloc",
281 "--ctre_diag_server"
282 ],
283 "nodes": [
284 "roborio"
285 ]
286 },
287 {
288 "name": "swerve_publisher",
289 "executable_name": "swerve_publisher",
290 "autostart": false,
291 "nodes": [
292 "roborio"
293 ]
294 },
295 {
296 "name": "roborio_web_proxy",
297 "executable_name": "web_proxy_main",
298 "args": [
299 "--min_ice_port=5800",
300 "--max_ice_port=5810"
301 ],
302 "nodes": [
303 "roborio"
304 ]
305 },
306 {
307 "name": "roborio_message_bridge_client",
308 "executable_name": "message_bridge_client",
309 "args": [
310 "--rt_priority=16",
311 "--sinit_max_init_timeout=5000"
312 ],
313 "nodes": [
314 "roborio"
315 ]
316 },
317 {
318 "name": "roborio_message_bridge_server",
319 "executable_name": "message_bridge_server",
320 "args": [
321 "--rt_priority=16"
322 ],
323 "nodes": [
324 "roborio"
325 ]
326 },
327 {
328 "name": "logger",
329 "executable_name": "logger_main",
330 "args": [
331 "--snappy_compress",
332 "--logging_folder=/home/admin/logs/",
333 "--rotate_every",
334 "30.0"
335 ],
336 "nodes": [
337 "roborio"
338 ]
339 },
340 {
341 "name": "can_logger",
342 "executable_name": "can_logger",
343 "nodes": [
344 "roborio"
345 ]
346 }
347 ],
348 "maps": [
349 {
350 "match": {
351 "name": "/aos*",
352 "source_node": "roborio"
353 },
354 "rename": {
355 "name": "/roborio/aos"
356 }
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame^]357 },
358 {
359 "match": {
360 "name": "/autonomous*",
361 "source_node": "roborio"
362 },
363 "rename": {
364 "name": "/roborio/autonomous"
365 }
366 },
367 {
368 "match": {
369 "name": "/can*",
370 "source_node": "roborio"
371 },
372 "rename": {
373 "name": "/roborio/can"
374 }
375 },
376 {
377 "match": {
378 "name": "/drivetrain*",
379 "source_node": "roborio"
380 },
381 "rename": {
382 "name": "/roborio/drivetrain"
383 }
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]384 }
385 ],
386 "nodes": [
387 {
388 "name": "roborio",
389 "hostname": "roborio",
390 "hostnames": [
391 "roboRIO-971-FRC",
392 "roboRIO-6971-FRC",
393 "roboRIO-7971-FRC",
394 "roboRIO-8971-FRC",
395 "roboRIO-9971-FRC"
396 ],
397 "port": 9971
398 },
399 {
400 "name": "imu"
Sanjay Narayananbecad692024-06-22 14:46:51 -0700[diff] [blame]401 }
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]402 ]
403}