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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 839c8aaabf68b72f9a02d7be96905671dd66b4ba / . / y2023 / y2023_imu.json
blob: 7744281800857ca957ed55774d1b18e74267e09a [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.timing.Report",
6 "source_node": "imu",
7 "frequency": 50,
8 "num_senders": 20,
9 "max_size": 4096
10 },
11 {
12 "name": "/imu/aos",
13 "type": "aos.logging.LogMessageFbs",
14 "source_node": "imu",
15 "frequency": 200,
16 "num_senders": 20
17 },
18 {
19 "name": "/imu/aos",
20 "type": "aos.starter.Status",
21 "source_node": "imu",
22 "logger": "LOCAL_AND_REMOTE_LOGGER",
23 "frequency": 50,
24 "num_senders": 20,
25 "logger_nodes": [
26 "roborio",
27 "logger"
28 ],
29 "destination_nodes": [
30 {
31 "name": "roborio",
32 "priority": 5,
33 "time_to_live": 5000000,
34 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
35 "timestamp_logger_nodes": [
36 "imu"
37 ]
38 },
39 {
40 "name": "logger",
41 "priority": 5,
42 "time_to_live": 5000000,
43 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
44 "timestamp_logger_nodes": [
45 "imu"
46 ]
47 }
48 ]
49 },
50 {
51 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-Status",
52 "type": "aos.message_bridge.RemoteMessage",
53 "frequency": 100,
54 "source_node": "imu",
55 "max_size": 208
56 },
57 {
58 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-Status",
59 "type": "aos.message_bridge.RemoteMessage",
60 "frequency": 100,
61 "source_node": "imu",
62 "max_size": 208
63 },
64 {
65 "name": "/imu/aos",
66 "type": "aos.starter.StarterRpc",
67 "source_node": "imu",
68 "frequency": 10,
69 "num_senders": 2,
70 "logger": "LOCAL_AND_REMOTE_LOGGER",
71 "logger_nodes": [
72 "roborio",
73 "logger"
74 ],
75 "destination_nodes": [
76 {
77 "name": "roborio",
78 "priority": 5,
79 "time_to_live": 5000000,
80 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
81 "timestamp_logger_nodes": [
82 "imu"
83 ]
84 },
85 {
86 "name": "logger",
87 "priority": 5,
88 "time_to_live": 5000000,
89 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
90 "timestamp_logger_nodes": [
91 "imu"
92 ]
93 }
94 ]
95 },
96 {
97 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-StarterRpc",
98 "type": "aos.message_bridge.RemoteMessage",
99 "frequency": 20,
100 "source_node": "imu",
101 "max_size": 208
102 },
103 {
104 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
105 "type": "aos.message_bridge.RemoteMessage",
106 "frequency": 20,
107 "source_node": "imu",
108 "max_size": 208
109 },
110 {
111 "name": "/imu/aos",
112 "type": "aos.message_bridge.ServerStatistics",
113 "source_node": "imu",
114 "frequency": 10,
115 "num_senders": 2
116 },
117 {
118 "name": "/imu/aos",
119 "type": "aos.message_bridge.ClientStatistics",
120 "source_node": "imu",
121 "frequency": 20,
122 "num_senders": 2
123 },
124 {
125 "name": "/imu/aos",
126 "type": "aos.logging.DynamicLogCommand",
127 "source_node": "imu",
128 "frequency": 10,
129 "num_senders": 2
130 },
131 {
132 "name": "/imu/aos",
133 "type": "aos.message_bridge.Timestamp",
134 "source_node": "imu",
135 "frequency": 15,
136 "num_senders": 2,
137 "logger": "LOCAL_AND_REMOTE_LOGGER",
138 "logger_nodes": [
139 "roborio",
140 "logger"
141 ],
142 "max_size": 400,
143 "destination_nodes": [
144 {
145 "name": "roborio",
146 "priority": 1,
147 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
148 "timestamp_logger_nodes": [
149 "imu"
150 ],
151 "time_to_live": 5000000
152 },
153 {
154 "name": "logger",
155 "priority": 1,
156 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
157 "timestamp_logger_nodes": [
158 "imu"
159 ],
160 "time_to_live": 5000000
161 }
162 ]
163 },
164 {
165 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
166 "type": "aos.message_bridge.RemoteMessage",
167 "frequency": 20,
168 "source_node": "imu",
169 "max_size": 208
170 },
171 {
172 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
173 "type": "aos.message_bridge.RemoteMessage",
174 "frequency": 20,
175 "source_node": "imu",
176 "max_size": 208
177 },
178 {
179 "name": "/logger/aos",
180 "type": "aos.starter.StarterRpc",
181 "source_node": "logger",
182 "logger": "LOCAL_AND_REMOTE_LOGGER",
183 "logger_nodes": [
184 "imu"
185 ],
186 "destination_nodes": [
187 {
188 "name": "imu",
189 "priority": 5,
190 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
191 "timestamp_logger_nodes": [
192 "logger"
193 ],
194 "time_to_live": 5000000
195 }
196 ]
197 },
198 {
199 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
200 "type": "aos.message_bridge.RemoteMessage",
201 "source_node": "logger",
202 "logger": "NOT_LOGGED",
203 "frequency": 20,
204 "num_senders": 2,
205 "max_size": 200
206 },
207 {
208 "name": "/logger/aos",
209 "type": "aos.starter.Status",
210 "source_node": "logger",
211 "logger": "LOCAL_AND_REMOTE_LOGGER",
212 "logger_nodes": [
213 "imu"
214 ],
215 "destination_nodes": [
216 {
217 "name": "imu",
218 "priority": 5,
219 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
220 "timestamp_logger_nodes": [
221 "logger"
222 ],
223 "time_to_live": 5000000
224 }
225 ]
226 },
227 {
228 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
229 "type": "aos.message_bridge.RemoteMessage",
230 "source_node": "logger",
231 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame^]232 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]233 "num_senders": 2,
234 "max_size": 200
235 },
236 {
237 "name": "/roborio/aos",
238 "type": "aos.starter.StarterRpc",
239 "source_node": "roborio",
240 "logger": "LOCAL_AND_REMOTE_LOGGER",
241 "logger_nodes": [
242 "imu"
243 ],
244 "destination_nodes": [
245 {
246 "name": "imu",
247 "priority": 5,
248 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
249 "timestamp_logger_nodes": [
250 "roborio"
251 ],
252 "time_to_live": 5000000
253 }
254 ]
255 },
256 {
257 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
258 "type": "aos.message_bridge.RemoteMessage",
259 "source_node": "roborio",
260 "logger": "NOT_LOGGED",
261 "frequency": 20,
262 "num_senders": 2,
263 "max_size": 200
264 },
265 {
266 "name": "/roborio/aos",
267 "type": "aos.starter.Status",
268 "source_node": "roborio",
269 "logger": "LOCAL_AND_REMOTE_LOGGER",
270 "logger_nodes": [
271 "imu"
272 ],
273 "destination_nodes": [
274 {
275 "name": "imu",
276 "priority": 5,
277 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
278 "timestamp_logger_nodes": [
279 "roborio"
280 ],
281 "time_to_live": 5000000
282 }
283 ]
284 },
285 {
286 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
287 "type": "aos.message_bridge.RemoteMessage",
288 "source_node": "roborio",
289 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame^]290 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]291 "num_senders": 2,
292 "max_size": 200
293 },
294 {
295 "name": "/localizer",
296 "type": "frc971.IMUValuesBatch",
297 "source_node": "imu",
298 "frequency": 2200,
299 "max_size": 1600,
300 "num_senders": 2
301 }
302 ],
303 "applications": [
304 {
305 "name": "message_bridge_client",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]306 "executable_name": "message_bridge_client.sh",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]307 "nodes": [
308 "imu"
309 ]
310 },
311 {
312 "name": "localizer",
313 "executable_name": "localizer_main",
314 /* TODO(james): Remove this once confident in the accelerometer code. */
315 "args": ["--ignore_accelerometer"],
316 "nodes": [
317 "imu"
318 ]
319 },
320 {
321 "name": "imu",
322 "executable_name": "imu_main",
323 "nodes": [
324 "imu"
325 ]
326 },
327 {
328 "name": "message_bridge_server",
329 "executable_name": "message_bridge_server",
330 "nodes": [
331 "imu"
332 ]
333 },
334 {
335 "name": "localizer_logger",
336 "executable_name": "logger_main",
337 "args": ["--logging_folder", "", "--snappy_compress"],
338 "nodes": [
339 "imu"
340 ]
341 },
342 {
343 "name": "web_proxy",
344 "executable_name": "web_proxy_main",
345 "nodes": [
346 "imu"
347 ]
348 }
349 ],
350 "maps": [
351 {
352 "match": {
353 "name": "/aos*",
354 "source_node": "imu"
355 },
356 "rename": {
357 "name": "/imu/aos"
358 }
359 }
360 ],
361 "nodes": [
362 {
363 "name": "imu",
364 "hostname": "imu",
365 "hostnames": [
366 "pi-971-5",
367 "pi-7971-5",
368 "pi-8971-5",
369 "pi-9971-5"
370 ],
371 "port": 9971
372 },
373 {
374 "name": "logger"
375 },
376 {
377 "name": "roborio"
378 }
379 ]
380}