Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 839c8aaabf68b72f9a02d7be96905671dd66b4ba / . / y2022_bot3 / y2022_bot3_roborio.json
blob: 6485ed8c0770f23e79c798d8b753508ee89ab344 [file] [log] [blame]
Henry Speiser354d2782022-07-22 13:56:48 -0700[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 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
16 "time_to_live": 50000000,
17 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
18 "timestamp_logger_nodes": [
19 "roborio"
20 ]
21 }
22 ]
23 },
24 {
25 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
26 "type": "aos.message_bridge.RemoteMessage",
27 "source_node": "roborio",
28 "logger": "NOT_LOGGED",
29 "frequency": 200,
30 "num_senders": 2,
31 "max_size": 200
32 },
33 {
34 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-JoystickState",
35 "type": "aos.message_bridge.RemoteMessage",
36 "source_node": "roborio",
37 "logger": "NOT_LOGGED",
38 "frequency": 200,
39 "num_senders": 2,
40 "max_size": 200
41 },
42 {
43 "name": "/roborio/aos",
44 "type": "aos.RobotState",
45 "source_node": "roborio",
46 "frequency": 200
47 },
48 {
49 "name": "/roborio/aos",
50 "type": "aos.timing.Report",
51 "source_node": "roborio",
52 "frequency": 50,
53 "num_senders": 20,
54 "max_size": 4096
55 },
56 {
57 "name": "/roborio/aos",
58 "type": "aos.logging.LogMessageFbs",
59 "source_node": "roborio",
60 "frequency": 500,
61 "max_size": 344,
62 "num_senders": 20
63 },
64 {
65 "name": "/roborio/aos",
66 "type": "aos.starter.Status",
67 "source_node": "roborio",
68 "frequency": 50,
69 "num_senders": 20,
70 "max_size": 2000,
71 "logger": "LOCAL_AND_REMOTE_LOGGER",
72 "logger_nodes": [
73 "imu"
74 ],
75 "destination_nodes": [
76 {
77 "name": "imu",
78 "priority": 5,
79 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
80 "timestamp_logger_nodes": [
81 "roborio"
82 ],
83 "time_to_live": 5000000
84 }
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame^]85 ]
Henry Speiser354d2782022-07-22 13:56:48 -0700[diff] [blame]86 },
87 {
88 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
89 "type": "aos.message_bridge.RemoteMessage",
90 "source_node": "roborio",
91 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame^]92 "frequency": 50,
Henry Speiser354d2782022-07-22 13:56:48 -0700[diff] [blame]93 "num_senders": 2,
94 "max_size": 200
95 },
96 {
97 "name": "/roborio/aos",
98 "type": "aos.starter.StarterRpc",
99 "source_node": "roborio",
100 "frequency": 10,
101 "max_size": 400,
102 "num_senders": 2,
103 "logger": "LOCAL_AND_REMOTE_LOGGER",
104 "logger_nodes": [
105 "imu"
106 ],
107 "destination_nodes": [
108 {
109 "name": "imu",
110 "priority": 5,
111 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
112 "timestamp_logger_nodes": [
113 "roborio"
114 ],
115 "time_to_live": 5000000
116 }
117 ]
118 },
119 {
120 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
121 "type": "aos.message_bridge.RemoteMessage",
122 "source_node": "roborio",
123 "logger": "NOT_LOGGED",
124 "frequency": 20,
125 "num_senders": 2,
126 "max_size": 200
127 },
128 {
129 "name": "/roborio/aos",
130 "type": "aos.message_bridge.ServerStatistics",
131 "source_node": "roborio",
132 "frequency": 10,
133 "num_senders": 2
134 },
135 {
136 "name": "/roborio/aos",
137 "type": "aos.message_bridge.ClientStatistics",
138 "source_node": "roborio",
139 "frequency": 20,
140 "max_size": 2000,
141 "num_senders": 2
142 },
143 {
144 "name": "/roborio/aos",
145 "type": "aos.logging.DynamicLogCommand",
146 "source_node": "roborio",
147 "frequency": 10,
148 "num_senders": 2
149 },
150 {
151 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
152 "type": "aos.message_bridge.RemoteMessage",
153 "frequency": 200,
154 "source_node": "roborio"
155 },
156 {
157 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
158 "type": "aos.message_bridge.RemoteMessage",
159 "frequency": 20,
160 "source_node": "roborio",
161 "max_size": 208
162 },
163 {
164 "name": "/roborio/aos",
165 "type": "aos.message_bridge.Timestamp",
166 "source_node": "roborio",
167 "frequency": 15,
168 "num_senders": 2,
169 "max_size": 512,
170 "logger": "LOCAL_AND_REMOTE_LOGGER",
171 "logger_nodes": [
172 "imu"
173 ],
174 "destination_nodes": [
175 {
176 "name": "imu",
177 "priority": 1,
178 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
179 "timestamp_logger_nodes": [
180 "roborio"
181 ],
182 "time_to_live": 5000000
183 }
184 ]
185 },
186 {
187 "name": "/superstructure",
188 "type": "y2022_bot3.control_loops.superstructure.Goal",
189 "source_node": "roborio",
190 "frequency": 200,
191 "max_size": 512
192 },
193 {
194 "name": "/superstructure",
195 "type": "y2022_bot3.control_loops.superstructure.Status",
196 "source_node": "roborio",
197 "frequency": 400,
198 "num_senders": 2,
199 "logger": "LOCAL_AND_REMOTE_LOGGER",
200 "logger_nodes": [
201 "imu"
202 ],
203 "destination_nodes": [
204 {
205 "name": "imu",
206 "priority": 5,
207 "time_to_live": 50000000,
208 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
209 "timestamp_logger_nodes": [
210 "roborio"
211 ]
212 }
213 ]
214 },
215 {
216 "name": "/roborio/aos/remote_timestamps/imu/superstructure/y2022_bot3-control_loops-superstructure-Status",
217 "type": "aos.message_bridge.RemoteMessage",
218 "source_node": "roborio",
219 "logger": "NOT_LOGGED",
220 "frequency": 400,
221 "num_senders": 2,
222 "max_size": 200
223 },
224 {
225 "name": "/roborio/aos/remote_timestamps/logger/superstructure/y2022_bot3-control_loops-superstructure-Status",
226 "type": "aos.message_bridge.RemoteMessage",
227 "source_node": "roborio",
228 "logger": "NOT_LOGGED",
229 "frequency": 400,
230 "num_senders": 2,
231 "max_size": 200
232 },
233 {
234 "name": "/superstructure",
235 "type": "y2022_bot3.control_loops.superstructure.Output",
236 "source_node": "roborio",
237 "frequency": 200,
238 "num_senders": 2,
239 "max_size": 224
240 },
241 {
242 "name": "/superstructure",
243 "type": "y2022_bot3.control_loops.superstructure.Position",
244 "source_node": "roborio",
245 "frequency": 200,
246 "num_senders": 2,
247 "max_size": 448
248 },
249 {
250 "name": "/drivetrain",
251 "type": "frc971.sensors.GyroReading",
252 "source_node": "roborio",
253 "frequency": 200,
254 "num_senders": 2
255 },
256 {
257 "name": "/drivetrain",
258 "type": "frc971.sensors.Uid",
259 "source_node": "roborio",
260 "frequency": 200,
261 "num_senders": 2
262 },
263 {
264 "name": "/drivetrain",
265 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
266 "source_node": "roborio",
267 "max_size": 600000,
268 "frequency": 10,
269 "logger": "NOT_LOGGED",
270 "num_senders": 2,
271 "read_method": "PIN",
272 "num_readers": 10
273 },
274 {
275 "name": "/drivetrain",
276 "type": "frc971.control_loops.drivetrain.SplineGoal",
277 "source_node": "roborio",
278 "frequency": 10
279 },
280 {
281 "name": "/drivetrain",
282 "type": "frc971.control_loops.drivetrain.Goal",
283 "source_node": "roborio",
284 "max_size": 224,
285 "frequency": 200
286 },
287 {
288 "name": "/drivetrain",
289 "type": "frc971.control_loops.drivetrain.Position",
290 "source_node": "roborio",
291 "frequency": 400,
292 "max_size": 112,
293 "num_senders": 2
294 },
295 {
296 "name": "/drivetrain",
297 "type": "frc971.control_loops.drivetrain.Output",
298 "source_node": "roborio",
299 "frequency": 400,
300 "max_size": 80,
301 "num_senders": 2,
302 "logger": "LOCAL_AND_REMOTE_LOGGER",
303 "logger_nodes": [
304 "imu"
305 ],
306 "destination_nodes": [
307 {
308 "name": "imu",
309 "priority": 5,
310 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
311 "timestamp_logger_nodes": [
312 "imu"
313 ],
314 "time_to_live": 5000000
315 }
316 ]
317 },
318 {
319 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
320 "type": "aos.message_bridge.RemoteMessage",
321 "source_node": "roborio",
322 "logger": "NOT_LOGGED",
323 "frequency": 400,
324 "num_senders": 2,
325 "max_size": 200
326 },
327 {
328 "name": "/drivetrain",
329 "type": "frc971.control_loops.drivetrain.Status",
330 "source_node": "roborio",
331 "frequency": 400,
332 "max_size": 1616,
333 "num_senders": 2
334 },
335 {
336 "name": "/drivetrain",
337 "type": "frc971.control_loops.drivetrain.LocalizerControl",
338 "source_node": "roborio",
339 "frequency": 200,
340 "max_size": 96,
341 "logger": "LOCAL_AND_REMOTE_LOGGER",
342 "logger_nodes": [
343 "imu"
344 ],
345 "destination_nodes": [
346 {
347 "name": "imu",
348 "priority": 5,
349 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
350 "timestamp_logger_nodes": [
351 "imu"
352 ],
353 "time_to_live": 0
354 }
355 ]
356 },
357 {
358 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
359 "type": "aos.message_bridge.RemoteMessage",
360 "source_node": "roborio",
361 "logger": "NOT_LOGGED",
362 "frequency": 400,
363 "num_senders": 2,
364 "max_size": 200
365 },
366 {
367 "name": "/drivetrain",
368 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
369 "source_node": "roborio"
370 },
371 {
372 "name": "/autonomous",
373 "type": "aos.common.actions.Status",
374 "source_node": "roborio"
375 },
376 {
377 "name": "/autonomous",
378 "type": "frc971.autonomous.Goal",
379 "source_node": "roborio"
380 },
381 {
382 "name": "/autonomous",
383 "type": "frc971.autonomous.AutonomousMode",
384 "source_node": "roborio",
385 "frequency": 200
386 },
387 {
388 "name": "/roborio/aos",
389 "type": "frc971.PDPValues",
390 "source_node": "roborio",
391 "frequency": 55,
392 "max_size": 368
393 },
394 {
395 "name": "/roborio/aos",
396 "type": "frc971.wpilib.PneumaticsToLog",
397 "source_node": "roborio",
398 "frequency": 50
399 }
400 ],
401 "applications": [
402 {
403 "name": "drivetrain",
404 "executable_name": "drivetrain",
405 "nodes": [
406 "roborio"
407 ]
408 },
409 {
410 "name": "trajectory_generator",
411 "executable_name": "trajectory_generator",
412 "nodes": [
413 "roborio"
414 ]
415 },
416 {
417 "name": "superstructure",
418 "executable_name": "superstructure",
419 "nodes": [
420 "roborio"
421 ]
422 },
423 {
424 "name": "joystick_reader",
425 "executable_name": "joystick_reader",
426 "nodes": [
427 "roborio"
428 ]
429 },
430 {
431 "name": "wpilib_interface",
432 "executable_name": "wpilib_interface",
433 "nodes": [
434 "roborio"
435 ]
436 },
437 {
438 "name": "autonomous_action",
439 "executable_name": "autonomous_action",
440 "nodes": [
441 "roborio"
442 ]
443 },
444 {
445 "name": "web_proxy",
446 "executable_name": "web_proxy_main",
447 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
448 "nodes": [
449 "roborio"
450 ]
451 },
452 {
453 "name": "roborio_message_bridge_client",
454 "executable_name": "message_bridge_client.sh",
455 "args": ["--rt_priority=16"],
456 "nodes": [
457 "roborio"
458 ]
459 },
460 {
461 "name": "message_bridge_server",
462 "executable_name": "message_bridge_server",
463 "args": ["--rt_priority=16"],
464 "nodes": [
465 "roborio"
466 ]
467 },
468 {
469 "name": "logger",
470 "executable_name": "logger_main",
471 "args": ["--snappy_compress"],
472 "nodes": [
473 "roborio"
474 ]
475 }
476 ],
477 "maps": [
478 {
479 "match": {
480 "name": "/aos*",
481 "source_node": "roborio"
482 },
483 "rename": {
484 "name": "/roborio/aos"
485 }
486 }
487 ],
488 "nodes": [
489 {
490 "name": "roborio",
491 "hostname": "roborio",
492 "hostnames": [
493 "roboRIO-971-FRC",
494 "roboRIO-6971-FRC",
495 "roboRIO-7971-FRC",
496 "roboRIO-8971-FRC",
497 "roboRIO-9971-FRC"
498 ],
499 "port": 9971
500 },
501 {
502 "name": "imu"
503 }
504 ]
505}