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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / eff90702afbfacfcea74acf3acdd68f3621bb506 / . / y2023 / y2023_imu.json
blob: 5aae0a97159ba21e6bae06561284155ef2f1a88f [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]5 "type": "aos.JoystickState",
6 "source_node": "imu",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "logger",
15 "priority": 5,
16 "time_to_live": 50000000,
17 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
18 "timestamp_logger_nodes": [
19 "imu"
20 ]
21 },
22 {
23 "name": "pi1",
24 "priority": 5,
25 "time_to_live": 50000000,
26 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
27 "timestamp_logger_nodes": [
28 "imu"
29 ]
30 },
31 {
32 "name": "pi2",
33 "priority": 5,
34 "time_to_live": 50000000,
35 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
36 "timestamp_logger_nodes": [
37 "imu"
38 ]
39 },
40 {
41 "name": "pi3",
42 "priority": 5,
43 "time_to_live": 50000000,
44 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
45 "timestamp_logger_nodes": [
46 "imu"
47 ]
48 },
49 {
50 "name": "pi4",
51 "priority": 5,
52 "time_to_live": 50000000,
53 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
54 "timestamp_logger_nodes": [
55 "imu"
56 ]
57 }
58 ]
59 },
60 {
61 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-JoystickState",
62 "type": "aos.message_bridge.RemoteMessage",
63 "source_node": "imu",
64 "logger": "NOT_LOGGED",
65 "frequency": 300,
66 "num_senders": 2,
67 "max_size": 200
68 },
69 {
70 "name": "/imu/aos/remote_timestamps/pi1/imu/aos/aos-JoystickState",
71 "type": "aos.message_bridge.RemoteMessage",
72 "source_node": "imu",
73 "logger": "NOT_LOGGED",
74 "frequency": 300,
75 "num_senders": 2,
76 "max_size": 200
77 },
78 {
79 "name": "/imu/aos/remote_timestamps/pi2/imu/aos/aos-JoystickState",
80 "type": "aos.message_bridge.RemoteMessage",
81 "source_node": "imu",
82 "logger": "NOT_LOGGED",
83 "frequency": 300,
84 "num_senders": 2,
85 "max_size": 200
86 },
87 {
88 "name": "/imu/aos/remote_timestamps/pi3/imu/aos/aos-JoystickState",
89 "type": "aos.message_bridge.RemoteMessage",
90 "source_node": "imu",
91 "logger": "NOT_LOGGED",
92 "frequency": 300,
93 "num_senders": 2,
94 "max_size": 200
95 },
96 {
97 "name": "/imu/aos/remote_timestamps/pi4/imu/aos/aos-JoystickState",
98 "type": "aos.message_bridge.RemoteMessage",
99 "source_node": "imu",
100 "logger": "NOT_LOGGED",
101 "frequency": 300,
102 "num_senders": 2,
103 "max_size": 200
104 },
105 {
106 "name": "/imu/aos",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]107 "type": "aos.timing.Report",
108 "source_node": "imu",
109 "frequency": 50,
110 "num_senders": 20,
111 "max_size": 4096
112 },
113 {
114 "name": "/imu/aos",
115 "type": "aos.logging.LogMessageFbs",
116 "source_node": "imu",
117 "frequency": 200,
118 "num_senders": 20
119 },
120 {
121 "name": "/imu/aos",
122 "type": "aos.starter.Status",
123 "source_node": "imu",
124 "logger": "LOCAL_AND_REMOTE_LOGGER",
125 "frequency": 50,
126 "num_senders": 20,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]127 "max_size": 2048,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]128 "logger_nodes": [
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]129 "logger"
130 ],
131 "destination_nodes": [
132 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]133 "name": "logger",
134 "priority": 5,
135 "time_to_live": 5000000,
136 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
137 "timestamp_logger_nodes": [
138 "imu"
139 ]
140 }
141 ]
142 },
143 {
144 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-Status",
145 "type": "aos.message_bridge.RemoteMessage",
146 "frequency": 100,
147 "source_node": "imu",
148 "max_size": 208
149 },
150 {
151 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-Status",
152 "type": "aos.message_bridge.RemoteMessage",
153 "frequency": 100,
154 "source_node": "imu",
155 "max_size": 208
156 },
157 {
158 "name": "/imu/aos",
159 "type": "aos.starter.StarterRpc",
160 "source_node": "imu",
161 "frequency": 10,
162 "num_senders": 2,
163 "logger": "LOCAL_AND_REMOTE_LOGGER",
164 "logger_nodes": [
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]165 "logger"
166 ],
167 "destination_nodes": [
168 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]169 "name": "logger",
170 "priority": 5,
171 "time_to_live": 5000000,
172 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
173 "timestamp_logger_nodes": [
174 "imu"
175 ]
176 }
177 ]
178 },
179 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]180 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
181 "type": "aos.message_bridge.RemoteMessage",
182 "frequency": 20,
183 "source_node": "imu",
184 "max_size": 208
185 },
186 {
187 "name": "/imu/aos",
188 "type": "aos.message_bridge.ServerStatistics",
189 "source_node": "imu",
190 "frequency": 10,
191 "num_senders": 2
192 },
193 {
194 "name": "/imu/aos",
195 "type": "aos.message_bridge.ClientStatistics",
196 "source_node": "imu",
197 "frequency": 20,
198 "num_senders": 2
199 },
200 {
201 "name": "/imu/aos",
202 "type": "aos.logging.DynamicLogCommand",
203 "source_node": "imu",
204 "frequency": 10,
205 "num_senders": 2
206 },
207 {
208 "name": "/imu/aos",
209 "type": "aos.message_bridge.Timestamp",
210 "source_node": "imu",
211 "frequency": 15,
212 "num_senders": 2,
213 "logger": "LOCAL_AND_REMOTE_LOGGER",
214 "logger_nodes": [
215 "roborio",
216 "logger"
217 ],
218 "max_size": 400,
219 "destination_nodes": [
220 {
221 "name": "roborio",
222 "priority": 1,
223 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
224 "timestamp_logger_nodes": [
225 "imu"
226 ],
227 "time_to_live": 5000000
228 },
229 {
230 "name": "logger",
231 "priority": 1,
232 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
233 "timestamp_logger_nodes": [
234 "imu"
235 ],
236 "time_to_live": 5000000
237 }
238 ]
239 },
240 {
241 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
242 "type": "aos.message_bridge.RemoteMessage",
243 "frequency": 20,
244 "source_node": "imu",
245 "max_size": 208
246 },
247 {
248 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
249 "type": "aos.message_bridge.RemoteMessage",
250 "frequency": 20,
251 "source_node": "imu",
252 "max_size": 208
253 },
254 {
255 "name": "/logger/aos",
256 "type": "aos.starter.StarterRpc",
257 "source_node": "logger",
258 "logger": "LOCAL_AND_REMOTE_LOGGER",
259 "logger_nodes": [
260 "imu"
261 ],
262 "destination_nodes": [
263 {
264 "name": "imu",
265 "priority": 5,
266 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
267 "timestamp_logger_nodes": [
268 "logger"
269 ],
270 "time_to_live": 5000000
271 }
272 ]
273 },
274 {
275 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
276 "type": "aos.message_bridge.RemoteMessage",
277 "source_node": "logger",
278 "logger": "NOT_LOGGED",
279 "frequency": 20,
280 "num_senders": 2,
281 "max_size": 200
282 },
283 {
284 "name": "/logger/aos",
285 "type": "aos.starter.Status",
286 "source_node": "logger",
287 "logger": "LOCAL_AND_REMOTE_LOGGER",
288 "logger_nodes": [
289 "imu"
290 ],
291 "destination_nodes": [
292 {
293 "name": "imu",
294 "priority": 5,
295 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
296 "timestamp_logger_nodes": [
297 "logger"
298 ],
299 "time_to_live": 5000000
300 }
301 ]
302 },
303 {
304 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
305 "type": "aos.message_bridge.RemoteMessage",
306 "source_node": "logger",
307 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]308 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]309 "num_senders": 2,
310 "max_size": 200
311 },
312 {
313 "name": "/roborio/aos",
314 "type": "aos.starter.StarterRpc",
315 "source_node": "roborio",
316 "logger": "LOCAL_AND_REMOTE_LOGGER",
317 "logger_nodes": [
318 "imu"
319 ],
320 "destination_nodes": [
321 {
322 "name": "imu",
323 "priority": 5,
324 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
325 "timestamp_logger_nodes": [
326 "roborio"
327 ],
328 "time_to_live": 5000000
329 }
330 ]
331 },
332 {
333 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
334 "type": "aos.message_bridge.RemoteMessage",
335 "source_node": "roborio",
336 "logger": "NOT_LOGGED",
337 "frequency": 20,
338 "num_senders": 2,
339 "max_size": 200
340 },
341 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]342 "name": "/localizer",
343 "type": "frc971.IMUValuesBatch",
344 "source_node": "imu",
345 "frequency": 2200,
346 "max_size": 1600,
347 "num_senders": 2
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]348 },
349 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]350 "name": "/localizer",
351 "type": "y2023.localizer.Status",
352 "source_node": "imu",
353 "frequency": 2200,
milind-ub45c6d92023-03-11 18:56:15 -0800[diff] [blame]354 "max_size": 1504,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]355 "num_senders": 2
356 },
357 {
358 "name": "/localizer",
359 "type": "frc971.controls.LocalizerOutput",
360 "source_node": "imu",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]361 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]362 "logger": "LOCAL_AND_REMOTE_LOGGER",
363 "logger_nodes": [
364 "roborio"
365 ],
366 "destination_nodes": [
367 {
368 "name": "roborio",
369 "priority": 5,
370 "time_to_live": 5000000,
371 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
372 "timestamp_logger_nodes": [
373 "imu"
374 ]
375 }
376 ]
377 },
378 {
379 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
380 "type": "aos.message_bridge.RemoteMessage",
381 "source_node": "imu",
382 "logger": "NOT_LOGGED",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]383 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]384 "num_senders": 2,
385 "max_size": 200
386 },
387 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]388 "name": "/imu/constants",
389 "type": "y2023.Constants",
390 "source_node": "imu",
391 "frequency": 1,
392 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800[diff] [blame]393 "max_size": 65536
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]394 }
395 ],
396 "applications": [
397 {
398 "name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]399 "nodes": [
400 "imu"
401 ]
402 },
403 {
404 "name": "localizer",
405 "executable_name": "localizer_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]406 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]407 "nodes": [
408 "imu"
409 ]
410 },
411 {
412 "name": "imu",
413 "executable_name": "imu_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]414 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]415 "nodes": [
416 "imu"
417 ]
418 },
419 {
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]420 "name": "joystick_republish",
421 "executable_name": "joystick_republish",
422 "user": "pi",
423 "nodes": [
424 "imu"
425 ]
426 },
427 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]428 "name": "message_bridge_server",
429 "executable_name": "message_bridge_server",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]430 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]431 "nodes": [
432 "imu"
433 ]
434 },
435 {
436 "name": "localizer_logger",
437 "executable_name": "logger_main",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]438 "args": [
439 "--logging_folder",
440 "",
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]441 "--snappy_compress",
442 "--rotate_every", "30.0"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]443 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]444 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]445 "nodes": [
446 "imu"
447 ]
448 },
449 {
450 "name": "web_proxy",
451 "executable_name": "web_proxy_main",
Austin Schuh8313a9e2023-03-22 20:22:37 -0700[diff] [blame]452 "args": [
453 "--min_ice_port=5800",
454 "--max_ice_port=5810"
455 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]456 "user": "pi",
457 "nodes": [
458 "imu"
459 ]
460 },
461 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]462 "name": "foxglove_websocket",
463 "user": "pi",
464 "nodes": [
465 "imu"
466 ]
467 },
468 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]469 "name": "constants_sender",
470 "autorestart": false,
471 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]472 "nodes": [
473 "imu"
474 ]
475 }
476 ],
477 "maps": [
478 {
479 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]480 "name": "/constants*",
481 "source_node": "imu"
482 },
483 "rename": {
484 "name": "/imu/constants"
485 }
486 },
487 {
488 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]489 "name": "/aos*",
490 "source_node": "imu"
491 },
492 "rename": {
493 "name": "/imu/aos"
494 }
495 }
496 ],
497 "nodes": [
498 {
499 "name": "imu",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]500 "hostname": "pi6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]501 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]502 "pi-971-6",
503 "pi-7971-6",
504 "pi-8971-6",
505 "pi-9971-6"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]506 ],
507 "port": 9971
508 },
509 {
510 "name": "logger"
511 },
512 {
513 "name": "roborio"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]514 },
515 {
516 "name": "pi1"
517 },
518 {
519 "name": "pi2"
520 },
521 {
522 "name": "pi3"
523 },
524 {
525 "name": "pi4"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]526 }
527 ]
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]528}