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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 8f72a6324bb1ed369b4d6f95d907bd7376d054af / . / y2022 / y2022_imu.json
blob: 0e6121088362e746485d64224c108aee24429e75 [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 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]295 "name": "/localizer",
James Kuszmaul0dedb5e2022-03-05 16:02:20 -0800[diff] [blame]296 "type": "frc971.controls.LocalizerVisualization",
297 "source_node": "imu",
298 "frequency": 200,
James Kuszmaul8f72a632022-04-02 11:32:24 -0700[diff] [blame^]299 "max_size": 2000
James Kuszmaul0dedb5e2022-03-05 16:02:20 -0800[diff] [blame]300 },
301 {
302 "name": "/localizer",
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]303 "type": "frc971.controls.LocalizerOutput",
304 "source_node": "imu",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]305 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]306 "max_size": 200,
307 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]308 "logger_nodes": [
James Kuszmaul366a2472022-03-05 14:29:51 -0800[diff] [blame]309 "roborio",
310 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]311 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]312 "destination_nodes": [
313 {
314 "name": "roborio",
315 "priority": 5,
316 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
317 "timestamp_logger_nodes": [
318 "imu"
319 ],
320 "time_to_live": 5000000
321 },
322 {
323 "name": "logger",
324 "priority": 5,
325 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
326 "timestamp_logger_nodes": [
327 "imu"
328 ],
329 "time_to_live": 5000000
330 }
331 ]
332 },
333 {
334 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
335 "type": "aos.message_bridge.RemoteMessage",
336 "source_node": "imu",
337 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]338 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]339 "num_senders": 2,
340 "max_size": 200
341 },
342 {
343 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput",
344 "type": "aos.message_bridge.RemoteMessage",
345 "source_node": "imu",
346 "logger": "NOT_LOGGED",
347 "frequency": 200,
348 "num_senders": 2,
349 "max_size": 200
350 },
351 {
352 "name": "/localizer",
353 "type": "frc971.IMUValuesBatch",
354 "source_node": "imu",
355 "frequency": 2200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]356 "max_size": 1600,
James Kuszmaul8f72a632022-04-02 11:32:24 -0700[diff] [blame^]357 "num_senders": 2
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]358 }
359 ],
360 "applications": [
361 {
362 "name": "message_bridge_client",
363 "executable_name": "message_bridge_client",
364 "nodes": [
365 "imu"
366 ]
367 },
368 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]369 "name": "localizer",
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]370 "executable_name": "localizer_main",
James Kuszmaulce491e42022-03-12 21:02:10 -0800[diff] [blame]371 /* TODO(james): Remove this once confident in the accelerometer code. */
372 "args": ["--ignore_accelerometer"],
James Kuszmaul0ac35722022-02-25 21:13:03 -0800[diff] [blame]373 "nodes": [
374 "imu"
375 ]
376 },
377 {
378 "name": "imu",
379 "executable_name": "imu_main",
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]380 "nodes": [
381 "imu"
382 ]
383 },
384 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]385 "name": "message_bridge_server",
386 "executable_name": "message_bridge_server",
387 "nodes": [
388 "imu"
389 ]
390 },
391 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]392 "name": "localizer_logger",
393 "executable_name": "logger_main",
James Kuszmaulce491e42022-03-12 21:02:10 -0800[diff] [blame]394 "args": ["--logging_folder", "", "--snappy_compress"],
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]395 "nodes": [
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]396 "imu"
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]397 ]
398 },
399 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]400 "name": "web_proxy",
401 "executable_name": "web_proxy_main",
402 "nodes": [
403 "imu"
404 ]
405 }
406 ],
407 "maps": [
408 {
409 "match": {
410 "name": "/aos*",
411 "source_node": "imu"
412 },
413 "rename": {
414 "name": "/imu/aos"
415 }
416 }
417 ],
418 "nodes": [
419 {
420 "name": "imu",
421 "hostname": "imu",
422 "hostnames": [
James Kuszmaul4dc277d2022-02-26 19:14:05 -0800[diff] [blame]423 "pi-971-5",
424 "pi-7971-5",
425 "pi-8971-5",
426 "pi-9971-5"
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]427 ],
428 "port": 9971
429 },
430 {
431 "name": "logger"
432 },
433 {
434 "name": "roborio"
435 }
436 ]
437}