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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 564f1c303217c4fcf8259a4eda6a27b9b2c9fdd0 / . / y2024 / y2024_imu.json
blob: 12b00d4004155289aa190f77301ca125da769045 [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.JoystickState",
6 "source_node": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "orin1",
11 "orin2"
12 ],
13 "destination_nodes": [
14 {
15 "name": "orin1",
16 "priority": 5,
17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "imu"
21 ]
22 },
23 {
24 "name": "orin2",
25 "priority": 5,
26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "imu"
30 ]
31 },
32 ]
33 },
34 {
35 "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "imu",
38 "logger": "NOT_LOGGED",
39 "frequency": 300,
40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
44 "name": "/imu/aos/remote_timestamps/orin2/imu/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "imu",
47 "logger": "NOT_LOGGED",
48 "frequency": 300,
49 "num_senders": 2,
50 "max_size": 200
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]51 },
52 {
53 "name": "/imu/aos",
54 "type": "aos.timing.Report",
55 "source_node": "imu",
56 "frequency": 50,
57 "num_senders": 20,
58 "max_size": 4096
59 },
60 {
61 "name": "/imu/aos",
62 "type": "aos.logging.LogMessageFbs",
63 "source_node": "imu",
64 "frequency": 200,
65 "num_senders": 20
66 },
67 {
68 "name": "/imu/aos",
69 "type": "aos.starter.Status",
70 "source_node": "imu",
71 "frequency": 50,
72 "num_senders": 20,
73 "max_size": 2048
74 },
75 {
76 "name": "/imu/aos",
77 "type": "aos.starter.StarterRpc",
78 "source_node": "imu",
79 "frequency": 10,
80 "num_senders": 2
81 },
82 {
83 "name": "/imu/aos",
84 "type": "aos.message_bridge.ServerStatistics",
85 "source_node": "imu",
86 "max_size": 2048,
87 "frequency": 10,
88 "num_senders": 2
89 },
90 {
91 "name": "/imu/aos",
92 "type": "aos.message_bridge.ClientStatistics",
93 "source_node": "imu",
94 "frequency": 20,
95 "num_senders": 2
96 },
97 {
98 "name": "/imu/aos",
99 "type": "aos.logging.DynamicLogCommand",
100 "source_node": "imu",
101 "frequency": 10,
102 "num_senders": 2
103 },
104 {
105 "name": "/imu/aos",
106 "type": "aos.message_bridge.Timestamp",
107 "source_node": "imu",
108 "frequency": 15,
109 "num_senders": 2,
110 "logger_nodes": [
111 "roborio"
112 ],
113 "max_size": 400,
114 "destination_nodes": [
115 {
116 "name": "roborio",
117 "priority": 1,
118 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
119 "timestamp_logger_nodes": [
120 "imu"
121 ],
122 "time_to_live": 5000000
123 }
124 ]
125 },
126 {
127 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
128 "type": "aos.message_bridge.RemoteMessage",
129 "frequency": 20,
130 "source_node": "imu",
131 "max_size": 208
132 },
133 {
134 "name": "/roborio/aos",
135 "type": "aos.starter.StarterRpc",
136 "source_node": "roborio",
137 "logger": "LOCAL_AND_REMOTE_LOGGER",
138 "logger_nodes": [
139 "imu"
140 ],
141 "destination_nodes": [
142 {
143 "name": "imu",
144 "priority": 5,
145 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
146 "timestamp_logger_nodes": [
147 "roborio"
148 ],
149 "time_to_live": 5000000
150 }
151 ]
152 },
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]153 {
154 "name": "/localizer",
155 "type": "frc971.controls.LocalizerOutput",
156 "source_node": "imu",
157 "frequency": 52,
158 "logger": "LOCAL_AND_REMOTE_LOGGER",
159 "logger_nodes": [
160 "roborio"
161 ],
162 "destination_nodes": [
163 {
164 "name": "roborio",
165 "priority": 5,
166 "time_to_live": 5000000,
167 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
168 "timestamp_logger_nodes": [
169 "imu"
170 ]
171 }
172 ]
173 },
174 {
175 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
176 "type": "aos.message_bridge.RemoteMessage",
177 "source_node": "imu",
178 "logger": "NOT_LOGGED",
179 "frequency": 52,
180 "num_senders": 2,
181 "max_size": 200
182 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]183 {
184 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
185 "type": "aos.message_bridge.RemoteMessage",
186 "source_node": "roborio",
187 "logger": "NOT_LOGGED",
188 "frequency": 20,
189 "num_senders": 2,
190 "max_size": 200
191 },
192 {
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame]193 "name": "/imu",
194 "type": "frc971.imu.DualImu",
195 "source_node": "imu",
196 "frequency": 1100,
197 "num_senders": 1,
198 "max_size": 496
199 },
200 {
201 "name": "/imu",
202 "type": "frc971.imu.CanTranslatorStatus",
203 "source_node": "imu",
204 "frequency": 1000,
205 "num_senders": 1,
206 "max_size": 200
207 },
208 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]209 "name": "/can/cana",
210 "type": "frc971.can_logger.CanFrame",
211 "source_node": "imu",
212 "frequency": 6000,
213 "num_senders": 2,
214 "max_size": 200
215 },
216 {
217 "name": "/can/canb",
218 "type": "frc971.can_logger.CanFrame",
219 "source_node": "imu",
220 "frequency": 6000,
221 "num_senders": 2,
222 "max_size": 200
223 },
224 {
225 "name": "/can/canc",
226 "type": "frc971.can_logger.CanFrame",
227 "source_node": "imu",
228 "frequency": 6000,
229 "num_senders": 2,
230 "max_size": 200
231 },
232 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]233 "name": "/localizer",
234 "type": "frc971.IMUValuesBatch",
235 "source_node": "imu",
236 "frequency": 2200,
237 "max_size": 1600,
238 "num_senders": 2
239 },
240 {
241 "name": "/imu/constants",
242 "type": "y2024.Constants",
243 "source_node": "imu",
244 "frequency": 1,
245 "num_senders": 2,
246 "max_size": 65536
247 }
248 ],
249 "applications": [
250 {
251 "name": "message_bridge_client",
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]252 "args": [
253 "--rt_priority=16",
254 "--sinit_max_init_timeout=5000"
255 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]256 "nodes": [
257 "imu"
258 ]
259 },
260 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]261 "name": "joystick_republish",
262 "executable_name": "joystick_republish",
263 "user": "pi",
264 "nodes": [
265 "imu"
266 ]
267 },
268 {
269 "name": "message_bridge_server",
270 "executable_name": "message_bridge_server",
271 "user": "pi",
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]272 "args": [
273 "--rt_priority=16",
274 "--sinit_max_init_timeout=5000"
275 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]276 "nodes": [
277 "imu"
278 ]
279 },
280 {
281 "name": "localizer_logger",
282 "executable_name": "logger_main",
283 "args": [
284 "--logging_folder",
285 "",
286 "--snappy_compress",
287 "--rotate_every", "30.0"
288 ],
289 "user": "pi",
290 "nodes": [
291 "imu"
292 ]
293 },
294 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]295 "name": "can_logger",
296 "executable_name": "can_logger",
297 "nodes": [
298 "imu"
299 ]
300 },
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame]301 // TODO(max): Update the channel value with whatever channel the IMU is on.
302 {
303 "name": "can_translator",
304 "executable_name": "can_translator",
305 "args": [
306 "--channel=/can/canb"
307 ],
308 "nodes": [
309 "imu"
310 ]
311 },
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]312 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]313 "name": "web_proxy",
314 "executable_name": "web_proxy_main",
315 "args": [
316 "--min_ice_port=5800",
317 "--max_ice_port=5810"
318 ],
319 "user": "pi",
320 "nodes": [
321 "imu"
322 ]
323 },
324 {
325 "name": "foxglove_websocket",
326 "user": "pi",
327 "nodes": [
328 "imu"
329 ]
330 },
331 {
332 "name": "constants_sender",
333 "autorestart": false,
334 "user": "pi",
335 "nodes": [
336 "imu"
337 ]
338 }
339 ],
340 "maps": [
341 {
342 "match": {
343 "name": "/constants*",
344 "source_node": "imu"
345 },
346 "rename": {
347 "name": "/imu/constants"
348 }
349 },
350 {
351 "match": {
352 "name": "/aos*",
353 "source_node": "imu"
354 },
355 "rename": {
356 "name": "/imu/aos"
357 }
358 }
359 ],
360 "nodes": [
361 {
362 "name": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]363 "hostname": "orin3",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]364 "hostnames": [
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]365 "orin-971-3",
366 "orin-7971-3",
367 "orin-8971-3",
368 "orin-9971-3"
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]369 ],
370 "port": 9971
371 },
372 {
373 "name": "roborio"
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]374 },
375 {
376 "name": "orin1"
377 },
378 {
379 "name": "orin2"
380 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]381 ]
382}