Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 63f651611e680955bbb869dd4d66993ef6384ec3 / . / y2022 / y2022_imu.json
blob: 21750a0c166431b835b12e6787871b050d45dd1d [file] [log] [blame]
James Kuszmaulef35d732022-02-12 16:37:32 -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",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]22 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]23 "frequency": 50,
24 "num_senders": 20,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]25 "logger_nodes": [
26 "roborio",
27 "logger"
28 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]29 "destination_nodes": [
30 {
31 "name": "roborio",
32 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]33 "time_to_live": 5000000,
34 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
35 "timestamp_logger_nodes": [
36 "imu"
37 ]
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]38 },
39 {
40 "name": "logger",
41 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]42 "time_to_live": 5000000,
43 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
44 "timestamp_logger_nodes": [
45 "imu"
46 ]
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]47 }
48 ]
49 },
50 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]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 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]65 "name": "/imu/aos",
66 "type": "aos.starter.StarterRpc",
67 "source_node": "imu",
68 "frequency": 10,
69 "num_senders": 2,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]70 "logger": "LOCAL_AND_REMOTE_LOGGER",
71 "logger_nodes": [
72 "roborio",
73 "logger"
74 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]75 "destination_nodes": [
76 {
77 "name": "roborio",
78 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]79 "time_to_live": 5000000,
80 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
81 "timestamp_logger_nodes": [
82 "imu"
83 ]
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]84 },
85 {
86 "name": "logger",
87 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]88 "time_to_live": 5000000,
89 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
90 "timestamp_logger_nodes": [
91 "imu"
92 ]
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]93 }
94 ]
95 },
96 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]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 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]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",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]121 "frequency": 20,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]122 "num_senders": 2
123 },
124 {
125 "name": "/imu/aos",
126 "type": "aos.message_bridge.Timestamp",
127 "source_node": "imu",
128 "frequency": 15,
129 "num_senders": 2,
130 "logger": "LOCAL_AND_REMOTE_LOGGER",
131 "logger_nodes": [
132 "roborio",
133 "logger"
134 ],
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]135 "max_size": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]136 "destination_nodes": [
137 {
138 "name": "roborio",
139 "priority": 1,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]140 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
141 "timestamp_logger_nodes": [
142 "imu"
143 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]144 "time_to_live": 5000000
145 },
146 {
147 "name": "logger",
148 "priority": 1,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]149 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
150 "timestamp_logger_nodes": [
151 "imu"
152 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]153 "time_to_live": 5000000
154 }
155 ]
156 },
157 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]158 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
159 "type": "aos.message_bridge.RemoteMessage",
160 "frequency": 20,
161 "source_node": "imu",
162 "max_size": 208
163 },
164 {
165 "name": "/imu/aos/remote_timestamps/logger/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 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]172 "name": "/logger/aos",
173 "type": "aos.starter.StarterRpc",
174 "source_node": "logger",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]175 "logger": "LOCAL_AND_REMOTE_LOGGER",
176 "logger_nodes": [
177 "imu"
178 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]179 "destination_nodes": [
180 {
181 "name": "imu",
182 "priority": 5,
183 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
184 "timestamp_logger_nodes": [
185 "logger"
186 ],
187 "time_to_live": 5000000
188 }
189 ]
190 },
191 {
192 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
193 "type": "aos.message_bridge.RemoteMessage",
194 "source_node": "logger",
195 "logger": "NOT_LOGGED",
196 "frequency": 20,
197 "num_senders": 2,
198 "max_size": 200
199 },
200 {
201 "name": "/logger/aos",
202 "type": "aos.starter.Status",
203 "source_node": "logger",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]204 "logger": "LOCAL_AND_REMOTE_LOGGER",
205 "logger_nodes": [
206 "imu"
207 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]208 "destination_nodes": [
209 {
210 "name": "imu",
211 "priority": 5,
212 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
213 "timestamp_logger_nodes": [
214 "logger"
215 ],
216 "time_to_live": 5000000
217 }
218 ]
219 },
220 {
221 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
222 "type": "aos.message_bridge.RemoteMessage",
223 "source_node": "logger",
224 "logger": "NOT_LOGGED",
225 "frequency": 20,
226 "num_senders": 2,
227 "max_size": 200
228 },
229 {
230 "name": "/roborio/aos",
231 "type": "aos.starter.StarterRpc",
232 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]233 "logger": "LOCAL_AND_REMOTE_LOGGER",
234 "logger_nodes": [
235 "imu"
236 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]237 "destination_nodes": [
238 {
239 "name": "imu",
240 "priority": 5,
241 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
242 "timestamp_logger_nodes": [
243 "roborio"
244 ],
245 "time_to_live": 5000000
246 }
247 ]
248 },
249 {
250 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
251 "type": "aos.message_bridge.RemoteMessage",
252 "source_node": "roborio",
253 "logger": "NOT_LOGGED",
254 "frequency": 20,
255 "num_senders": 2,
256 "max_size": 200
257 },
258 {
259 "name": "/roborio/aos",
260 "type": "aos.starter.Status",
261 "source_node": "roborio",
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]262 "logger": "LOCAL_AND_REMOTE_LOGGER",
263 "logger_nodes": [
264 "imu"
265 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]266 "destination_nodes": [
267 {
268 "name": "imu",
269 "priority": 5,
270 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
271 "timestamp_logger_nodes": [
272 "roborio"
273 ],
274 "time_to_live": 5000000
275 }
276 ]
277 },
278 {
279 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
280 "type": "aos.message_bridge.RemoteMessage",
281 "source_node": "roborio",
282 "logger": "NOT_LOGGED",
283 "frequency": 20,
284 "num_senders": 2,
285 "max_size": 200
286 },
287 {
288 "name": "/localizer",
289 "type": "frc971.controls.LocalizerStatus",
290 "source_node": "imu",
291 "frequency": 2200,
James Kuszmaul9cb80af2022-03-12 18:26:35 -0800[diff] [blame]292 "max_size": 2000
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]293 },
294 {
295 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerStatus",
296 "type": "aos.message_bridge.RemoteMessage",
297 "source_node": "imu",
298 "logger": "NOT_LOGGED",
299 "frequency": 2200,
300 "num_senders": 2,
301 "max_size": 200
302 },
303 {
304 "name": "/localizer",
James Kuszmaul0dedb5e2022-03-05 16:02:20 -0800[diff] [blame]305 "type": "frc971.controls.LocalizerVisualization",
306 "source_node": "imu",
307 "frequency": 200,
308 "max_size": 2000,
309 "logger": "LOCAL_AND_REMOTE_LOGGER",
310 "logger_nodes": [
311 "logger"
312 ],
313 "destination_nodes": [
314 {
315 "name": "logger",
316 "priority": 5,
317 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
318 "timestamp_logger_nodes": [
319 "imu"
320 ],
321 "time_to_live": 5000000
322 }
323 ]
324 },
325 {
326 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerVisualization",
327 "type": "aos.message_bridge.RemoteMessage",
328 "source_node": "imu",
329 "logger": "NOT_LOGGED",
330 "frequency": 200,
331 "num_senders": 2,
332 "max_size": 200
333 },
334 {
335 "name": "/localizer",
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]336 "type": "frc971.controls.LocalizerOutput",
337 "source_node": "imu",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]338 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]339 "max_size": 200,
340 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]341 "logger_nodes": [
James Kuszmaul366a2472022-03-05 14:29:51 -0800[diff] [blame]342 "roborio",
343 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]344 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]345 "destination_nodes": [
346 {
347 "name": "roborio",
348 "priority": 5,
349 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
350 "timestamp_logger_nodes": [
351 "imu"
352 ],
353 "time_to_live": 5000000
354 },
355 {
356 "name": "logger",
357 "priority": 5,
358 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
359 "timestamp_logger_nodes": [
360 "imu"
361 ],
362 "time_to_live": 5000000
363 }
364 ]
365 },
366 {
367 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
368 "type": "aos.message_bridge.RemoteMessage",
369 "source_node": "imu",
370 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame^]371 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]372 "num_senders": 2,
373 "max_size": 200
374 },
375 {
376 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput",
377 "type": "aos.message_bridge.RemoteMessage",
378 "source_node": "imu",
379 "logger": "NOT_LOGGED",
380 "frequency": 200,
381 "num_senders": 2,
382 "max_size": 200
383 },
384 {
385 "name": "/localizer",
386 "type": "frc971.IMUValuesBatch",
387 "source_node": "imu",
388 "frequency": 2200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]389 "max_size": 1600,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]390 "num_senders": 2,
391 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]392 "logger_nodes": [
393 "logger"
394 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]395 "destination_nodes": [
396 {
397 "name": "logger",
398 "priority": 5,
399 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
400 "timestamp_logger_nodes": [
401 "imu"
402 ],
403 "time_to_live": 5000000
404 }
405 ]
406 },
407 {
408 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-IMUValuesBatch",
409 "type": "aos.message_bridge.RemoteMessage",
410 "source_node": "imu",
411 "logger": "NOT_LOGGED",
412 "frequency": 2200,
413 "num_senders": 2,
414 "max_size": 200
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]415 }
416 ],
417 "applications": [
418 {
419 "name": "message_bridge_client",
420 "executable_name": "message_bridge_client",
421 "nodes": [
422 "imu"
423 ]
424 },
425 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]426 "name": "localizer",
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]427 "executable_name": "localizer_main",
James Kuszmaulce491e42022-03-12 21:02:10 -0800[diff] [blame]428 /* TODO(james): Remove this once confident in the accelerometer code. */
429 "args": ["--ignore_accelerometer"],
James Kuszmaul0ac35722022-02-25 21:13:03 -0800[diff] [blame]430 "nodes": [
431 "imu"
432 ]
433 },
434 {
435 "name": "imu",
436 "executable_name": "imu_main",
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]437 "nodes": [
438 "imu"
439 ]
440 },
441 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]442 "name": "message_bridge_server",
443 "executable_name": "message_bridge_server",
444 "nodes": [
445 "imu"
446 ]
447 },
448 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]449 "name": "localizer_logger",
450 "executable_name": "logger_main",
James Kuszmaulce491e42022-03-12 21:02:10 -0800[diff] [blame]451 "args": ["--logging_folder", "", "--snappy_compress"],
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]452 "nodes": [
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]453 "imu"
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]454 ]
455 },
456 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]457 "name": "web_proxy",
458 "executable_name": "web_proxy_main",
459 "nodes": [
460 "imu"
461 ]
462 }
463 ],
464 "maps": [
465 {
466 "match": {
467 "name": "/aos*",
468 "source_node": "imu"
469 },
470 "rename": {
471 "name": "/imu/aos"
472 }
473 }
474 ],
475 "nodes": [
476 {
477 "name": "imu",
478 "hostname": "imu",
479 "hostnames": [
James Kuszmaul4dc277d2022-02-26 19:14:05 -0800[diff] [blame]480 "pi-971-5",
481 "pi-7971-5",
482 "pi-8971-5",
483 "pi-9971-5"
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]484 ],
485 "port": 9971
486 },
487 {
488 "name": "logger"
489 },
490 {
491 "name": "roborio"
492 }
493 ]
494}