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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 8427395f67c69ce1b9d9b23aeb5c37e69b1d45f2 / . / y2024 / y2024_roborio.json
blob: 6af86f0703f30dd665c9ad9bb3aee51ec0735c78 [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 {
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame^]142 "name": "/superstructure/canivore",
143 "type": "y2024.control_loops.superstructure.CANPosition",
144 "source_node": "roborio",
145 "frequency": 220,
146 "num_senders": 2,
147 "max_size": 400
148 },
149 {
150 "name": "/superstructure/rio",
151 "type": "y2024.control_loops.superstructure.CANPosition",
152 "source_node": "roborio",
153 "frequency": 220,
154 "num_senders": 2,
155 "max_size": 400
156 },
157 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]158 "name": "/can",
159 "type": "frc971.can_logger.CanFrame",
160 "source_node": "roborio",
161 "frequency": 6000,
162 "num_senders": 2,
163 "max_size": 200
164 },
165 {
166 "name": "/drivetrain",
167 "type": "frc971.control_loops.drivetrain.CANPosition",
168 "source_node": "roborio",
169 "frequency": 220,
170 "num_senders": 2,
171 "max_size": 400
172 },
173 {
174 "name": "/drivetrain",
175 "type": "frc971.sensors.GyroReading",
176 "source_node": "roborio",
177 "frequency": 250,
178 "num_senders": 2
179 },
180 {
181 "name": "/drivetrain",
182 "type": "frc971.sensors.Uid",
183 "source_node": "roborio",
184 "frequency": 250,
185 "num_senders": 2
186 },
187 {
188 "name": "/drivetrain",
189 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
190 "source_node": "roborio",
191 "max_size": 600000,
192 "frequency": 10,
193 "logger": "NOT_LOGGED",
194 "num_senders": 2,
195 "read_method": "PIN",
196 "num_readers": 10
197 },
198 {
199 "name": "/drivetrain",
200 "type": "frc971.control_loops.drivetrain.SplineGoal",
201 "source_node": "roborio",
202 "frequency": 10
203 },
204 {
205 "name": "/drivetrain",
206 "type": "frc971.control_loops.drivetrain.Goal",
207 "source_node": "roborio",
208 "max_size": 224,
209 "frequency": 250
210 },
211 {
212 "name": "/drivetrain",
213 "type": "frc971.control_loops.drivetrain.Position",
214 "source_node": "roborio",
215 "frequency": 400,
216 "max_size": 112,
217 "num_senders": 2
218 },
219 {
220 "name": "/drivetrain",
221 "type": "frc971.control_loops.drivetrain.Output",
222 "source_node": "roborio",
223 "frequency": 400,
224 "max_size": 80,
225 "num_senders": 2,
226 "logger": "LOCAL_AND_REMOTE_LOGGER",
227 "logger_nodes": [
228 "imu"
229 ],
230 "destination_nodes": [
231 {
232 "name": "imu",
233 "priority": 5,
234 "time_to_live": 5000000
235 }
236 ]
237 },
238 {
239 "name": "/drivetrain",
240 "type": "frc971.control_loops.drivetrain.Status",
241 "source_node": "roborio",
242 "frequency": 400,
243 "max_size": 1616,
244 "num_senders": 2
245 },
246 {
247 "name": "/drivetrain",
248 "type": "frc971.control_loops.drivetrain.LocalizerControl",
249 "source_node": "roborio",
250 "frequency": 250,
251 "max_size": 96,
252 "logger": "LOCAL_AND_REMOTE_LOGGER",
253 "logger_nodes": [
254 "imu"
255 ],
256 "destination_nodes": [
257 {
258 "name": "imu",
259 "priority": 5,
260 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
261 "timestamp_logger_nodes": [
262 "roborio"
263 ],
264 "time_to_live": 0
265 }
266 ]
267 },
268 {
269 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
270 "type": "aos.message_bridge.RemoteMessage",
271 "source_node": "roborio",
272 "logger": "NOT_LOGGED",
273 "frequency": 400,
274 "num_senders": 2,
275 "max_size": 200
276 },
277 {
278 "name": "/autonomous",
279 "type": "aos.common.actions.Status",
280 "source_node": "roborio"
281 },
282 {
283 "name": "/autonomous",
284 "type": "frc971.autonomous.Goal",
285 "source_node": "roborio"
286 },
287 {
288 "name": "/autonomous",
289 "type": "frc971.autonomous.AutonomousMode",
290 "source_node": "roborio",
291 "frequency": 250
292 },
293
294 {
295 "name": "/roborio",
296 "type": "frc971.CANConfiguration",
297 "source_node": "roborio",
298 "frequency": 2
299 },
300 {
301 "name": "/roborio/constants",
302 "type": "y2024.Constants",
303 "source_node": "roborio",
304 "frequency": 1,
305 "num_senders": 2,
306 "max_size": 65536
307 }
308 ],
309 "applications": [
310 {
311 "name": "drivetrain",
312 "executable_name": "drivetrain",
313 "nodes": [
314 "roborio"
315 ]
316 },
317 {
318 "name": "trajectory_generator",
319 "executable_name": "trajectory_generator",
320 "nodes": [
321 "roborio"
322 ]
323 },
324 {
325 "name": "superstructure",
326 "executable_name": "superstructure",
327 "nodes": [
328 "roborio"
329 ]
330 },
331 {
332 "name": "roborio_irq_affinity",
333 "executable_name": "irq_affinity",
334 "args": [
335 "--irq_config=/home/admin/bin/roborio_irq_config.json"
336 ],
337 "nodes": [
338 "roborio"
339 ]
340 },
341 {
342 "name": "joystick_reader",
343 "executable_name": "joystick_reader",
344 "args": [
345 "--nodie_on_malloc"
346 ],
347 "nodes": [
348 "roborio"
349 ]
350 },
351 {
352 "name": "wpilib_interface",
353 "executable_name": "wpilib_interface",
354 "args": [
355 "--nodie_on_malloc"
356 ],
357 "nodes": [
358 "roborio"
359 ]
360 },
361 {
362 "name": "autonomous_action",
363 "executable_name": "autonomous_action",
364 "args": [
365 "--nodie_on_malloc"
366 ],
367 "autostart": true,
368 "nodes": [
369 "roborio"
370 ]
371 },
372 {
373 "name": "roborio_web_proxy",
374 "executable_name": "web_proxy_main",
375 "args": [
376 "--min_ice_port=5800",
377 "--max_ice_port=5810"
378 ],
379 "nodes": [
380 "roborio"
381 ]
382 },
383 {
384 "name": "roborio_message_bridge_client",
385 "executable_name": "message_bridge_client",
386 "args": [
387 "--rt_priority=16",
388 "--sinit_max_init_timeout=5000"
389 ],
390 "nodes": [
391 "roborio"
392 ]
393 },
394 {
395 "name": "roborio_message_bridge_server",
396 "executable_name": "message_bridge_server",
397 "args": [
398 "--rt_priority=16"
399 ],
400 "nodes": [
401 "roborio"
402 ]
403 },
404 {
405 "name": "logger",
406 "executable_name": "logger_main",
407 "args": [
408 "--snappy_compress",
409 "--logging_folder=/home/admin/logs/",
410 "--rotate_every", "30.0"
411 ],
412 "nodes": [
413 "roborio"
414 ]
415 },
416 {
417 "name": "constants_sender_roborio",
418 "executable_name": "constants_sender",
419 "autorestart": false,
420 "nodes": [
421 "roborio"
422 ]
423 },
424 {
425 "name": "can_logger",
426 "executable_name": "can_logger",
427 "nodes": [
428 "roborio"
429 ]
430 }
431 ],
432 "maps": [
433 {
434 "match": {
435 "name": "/constants*",
436 "source_node": "roborio"
437 },
438 "rename": {
439 "name": "/roborio/constants"
440 }
441 },
442 {
443 "match": {
444 "name": "/aos*",
445 "source_node": "roborio"
446 },
447 "rename": {
448 "name": "/roborio/aos"
449 }
450 }
451 ],
452 "nodes": [
453 {
454 "name": "roborio",
455 "hostname": "roborio",
456 "hostnames": [
457 "roboRIO-971-FRC",
458 "roboRIO-6971-FRC",
459 "roboRIO-7971-FRC",
460 "roboRIO-8971-FRC",
461 "roboRIO-9971-FRC"
462 ],
463 "port": 9971
464 },
465 {
466 "name": "imu"
467 }
468 ]
469}