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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 7d4b98d17a5aa625319559ce84b06c472a392b87 / . / y2024 / y2024_roborio.json
blob: 93caaccaca4cd619d17ef9ca9f72bfcf3b2014dd [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -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 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
16 "time_to_live": 50000000
17 }
18 ]
19 },
20 {
21 "name": "/roborio/aos",
22 "type": "aos.RobotState",
23 "source_node": "roborio",
24 "frequency": 250
25 },
26 {
27 "name": "/roborio/aos",
28 "type": "aos.timing.Report",
29 "source_node": "roborio",
30 "frequency": 50,
31 "num_senders": 20,
32 "max_size": 8192
33 },
34 {
35 "name": "/roborio/aos",
36 "type": "aos.logging.LogMessageFbs",
37 "source_node": "roborio",
38 "frequency": 500,
39 "max_size": 1000,
40 "num_senders": 20
41 },
42 {
43 "name": "/roborio/aos",
44 "type": "aos.starter.Status",
45 "source_node": "roborio",
46 "frequency": 50,
47 "num_senders": 20,
48 "max_size": 2000
49 },
50 {
51 "name": "/roborio/aos",
52 "type": "aos.starter.StarterRpc",
53 "source_node": "roborio",
54 "frequency": 10,
55 "max_size": 400,
56 "num_senders": 2
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.message_bridge.ServerStatistics",
61 "source_node": "roborio",
62 "max_size": 2048,
63 "frequency": 10,
64 "num_senders": 2
65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.message_bridge.ClientStatistics",
69 "source_node": "roborio",
70 "frequency": 20,
71 "max_size": 2000,
72 "num_senders": 2
73 },
74 {
75 "name": "/roborio/aos",
76 "type": "aos.logging.DynamicLogCommand",
77 "source_node": "roborio",
78 "frequency": 10,
79 "num_senders": 2
80 },
81 {
82 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
83 "type": "aos.message_bridge.RemoteMessage",
84 "frequency": 20,
85 "source_node": "roborio",
86 "max_size": 208
87 },
88 {
89 "name": "/roborio/aos",
90 "type": "aos.message_bridge.Timestamp",
91 "source_node": "roborio",
92 "frequency": 15,
93 "num_senders": 2,
94 "max_size": 512,
95 "logger": "LOCAL_AND_REMOTE_LOGGER",
96 "logger_nodes": [
97 "imu"
98 ],
99 "destination_nodes": [
100 {
101 "name": "imu",
102 "priority": 1,
103 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
104 "timestamp_logger_nodes": [
105 "roborio"
106 ],
107 "time_to_live": 5000000
108 }
109 ]
110 },
111 {
112 "name": "/superstructure",
113 "type": "y2024.control_loops.superstructure.Goal",
114 "source_node": "roborio",
115 "frequency": 250,
116 "max_size": 512
117 },
118 {
119 "name": "/superstructure",
120 "type": "y2024.control_loops.superstructure.Status",
121 "source_node": "roborio",
122 "frequency": 400,
123 "num_senders": 2
124 },
125 {
126 "name": "/superstructure",
127 "type": "y2024.control_loops.superstructure.Output",
128 "source_node": "roborio",
129 "frequency": 250,
130 "num_senders": 2,
131 "max_size": 224
132 },
133 {
134 "name": "/superstructure",
135 "type": "y2024.control_loops.superstructure.Position",
136 "source_node": "roborio",
137 "frequency": 250,
138 "num_senders": 2,
139 "max_size": 448
140 },
141 {
142 "name": "/can",
143 "type": "frc971.can_logger.CanFrame",
144 "source_node": "roborio",
145 "frequency": 6000,
146 "num_senders": 2,
147 "max_size": 200
148 },
149 {
150 "name": "/drivetrain",
151 "type": "frc971.control_loops.drivetrain.CANPosition",
152 "source_node": "roborio",
153 "frequency": 220,
154 "num_senders": 2,
155 "max_size": 400
156 },
157 {
158 "name": "/drivetrain",
159 "type": "frc971.sensors.GyroReading",
160 "source_node": "roborio",
161 "frequency": 250,
162 "num_senders": 2
163 },
164 {
165 "name": "/drivetrain",
166 "type": "frc971.sensors.Uid",
167 "source_node": "roborio",
168 "frequency": 250,
169 "num_senders": 2
170 },
171 {
172 "name": "/drivetrain",
173 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
174 "source_node": "roborio",
175 "max_size": 600000,
176 "frequency": 10,
177 "logger": "NOT_LOGGED",
178 "num_senders": 2,
179 "read_method": "PIN",
180 "num_readers": 10
181 },
182 {
183 "name": "/drivetrain",
184 "type": "frc971.control_loops.drivetrain.SplineGoal",
185 "source_node": "roborio",
186 "frequency": 10
187 },
188 {
189 "name": "/drivetrain",
190 "type": "frc971.control_loops.drivetrain.Goal",
191 "source_node": "roborio",
192 "max_size": 224,
193 "frequency": 250
194 },
195 {
196 "name": "/drivetrain",
197 "type": "frc971.control_loops.drivetrain.Position",
198 "source_node": "roborio",
199 "frequency": 400,
200 "max_size": 112,
201 "num_senders": 2
202 },
203 {
204 "name": "/drivetrain",
205 "type": "frc971.control_loops.drivetrain.Output",
206 "source_node": "roborio",
207 "frequency": 400,
208 "max_size": 80,
209 "num_senders": 2,
210 "logger": "LOCAL_AND_REMOTE_LOGGER",
211 "logger_nodes": [
212 "imu"
213 ],
214 "destination_nodes": [
215 {
216 "name": "imu",
217 "priority": 5,
218 "time_to_live": 5000000
219 }
220 ]
221 },
222 {
223 "name": "/drivetrain",
224 "type": "frc971.control_loops.drivetrain.Status",
225 "source_node": "roborio",
226 "frequency": 400,
227 "max_size": 1616,
228 "num_senders": 2
229 },
230 {
231 "name": "/drivetrain",
232 "type": "frc971.control_loops.drivetrain.LocalizerControl",
233 "source_node": "roborio",
234 "frequency": 250,
235 "max_size": 96,
236 "logger": "LOCAL_AND_REMOTE_LOGGER",
237 "logger_nodes": [
238 "imu"
239 ],
240 "destination_nodes": [
241 {
242 "name": "imu",
243 "priority": 5,
244 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
245 "timestamp_logger_nodes": [
246 "roborio"
247 ],
248 "time_to_live": 0
249 }
250 ]
251 },
252 {
253 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
254 "type": "aos.message_bridge.RemoteMessage",
255 "source_node": "roborio",
256 "logger": "NOT_LOGGED",
257 "frequency": 400,
258 "num_senders": 2,
259 "max_size": 200
260 },
261 {
262 "name": "/autonomous",
263 "type": "aos.common.actions.Status",
264 "source_node": "roborio"
265 },
266 {
267 "name": "/autonomous",
268 "type": "frc971.autonomous.Goal",
269 "source_node": "roborio"
270 },
271 {
272 "name": "/autonomous",
273 "type": "frc971.autonomous.AutonomousMode",
274 "source_node": "roborio",
275 "frequency": 250
276 },
277
278 {
279 "name": "/roborio",
280 "type": "frc971.CANConfiguration",
281 "source_node": "roborio",
282 "frequency": 2
283 },
284 {
285 "name": "/roborio/constants",
286 "type": "y2024.Constants",
287 "source_node": "roborio",
288 "frequency": 1,
289 "num_senders": 2,
290 "max_size": 65536
291 }
292 ],
293 "applications": [
294 {
295 "name": "drivetrain",
296 "executable_name": "drivetrain",
297 "nodes": [
298 "roborio"
299 ]
300 },
301 {
302 "name": "trajectory_generator",
303 "executable_name": "trajectory_generator",
304 "nodes": [
305 "roborio"
306 ]
307 },
308 {
309 "name": "superstructure",
310 "executable_name": "superstructure",
311 "nodes": [
312 "roborio"
313 ]
314 },
315 {
316 "name": "roborio_irq_affinity",
317 "executable_name": "irq_affinity",
318 "args": [
319 "--irq_config=/home/admin/bin/roborio_irq_config.json"
320 ],
321 "nodes": [
322 "roborio"
323 ]
324 },
325 {
326 "name": "joystick_reader",
327 "executable_name": "joystick_reader",
328 "args": [
329 "--nodie_on_malloc"
330 ],
331 "nodes": [
332 "roborio"
333 ]
334 },
335 {
336 "name": "wpilib_interface",
337 "executable_name": "wpilib_interface",
338 "args": [
339 "--nodie_on_malloc"
340 ],
341 "nodes": [
342 "roborio"
343 ]
344 },
345 {
346 "name": "autonomous_action",
347 "executable_name": "autonomous_action",
348 "args": [
349 "--nodie_on_malloc"
350 ],
351 "autostart": true,
352 "nodes": [
353 "roborio"
354 ]
355 },
356 {
357 "name": "roborio_web_proxy",
358 "executable_name": "web_proxy_main",
359 "args": [
360 "--min_ice_port=5800",
361 "--max_ice_port=5810"
362 ],
363 "nodes": [
364 "roborio"
365 ]
366 },
367 {
368 "name": "roborio_message_bridge_client",
369 "executable_name": "message_bridge_client",
370 "args": [
371 "--rt_priority=16",
372 "--sinit_max_init_timeout=5000"
373 ],
374 "nodes": [
375 "roborio"
376 ]
377 },
378 {
379 "name": "roborio_message_bridge_server",
380 "executable_name": "message_bridge_server",
381 "args": [
382 "--rt_priority=16"
383 ],
384 "nodes": [
385 "roborio"
386 ]
387 },
388 {
389 "name": "logger",
390 "executable_name": "logger_main",
391 "args": [
392 "--snappy_compress",
393 "--logging_folder=/home/admin/logs/",
394 "--rotate_every", "30.0"
395 ],
396 "nodes": [
397 "roborio"
398 ]
399 },
400 {
401 "name": "constants_sender_roborio",
402 "executable_name": "constants_sender",
403 "autorestart": false,
404 "nodes": [
405 "roborio"
406 ]
407 },
408 {
409 "name": "can_logger",
410 "executable_name": "can_logger",
411 "nodes": [
412 "roborio"
413 ]
414 }
415 ],
416 "maps": [
417 {
418 "match": {
419 "name": "/constants*",
420 "source_node": "roborio"
421 },
422 "rename": {
423 "name": "/roborio/constants"
424 }
425 },
426 {
427 "match": {
428 "name": "/aos*",
429 "source_node": "roborio"
430 },
431 "rename": {
432 "name": "/roborio/aos"
433 }
434 }
435 ],
436 "nodes": [
437 {
438 "name": "roborio",
439 "hostname": "roborio",
440 "hostnames": [
441 "roboRIO-971-FRC",
442 "roboRIO-6971-FRC",
443 "roboRIO-7971-FRC",
444 "roboRIO-8971-FRC",
445 "roboRIO-9971-FRC"
446 ],
447 "port": 9971
448 },
449 {
450 "name": "imu"
451 }
452 ]
453}