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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 9177bc6b355c6af36de463e23f622cc51bfeb027 / . / y2023 / y2023_roborio.json
blob: 572aadc9188c40d5705b7c8cd7cd845606c78e0b [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -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 "logger"
12 ],
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14 {
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17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
22 },
23 {
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26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "roborio"
30 ]
31 }
32 ]
33 },
34 {
35 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
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40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
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45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "roborio",
47 "logger": "NOT_LOGGED",
48 "frequency": 200,
49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
53 "name": "/roborio/aos",
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55 "source_node": "roborio",
56 "frequency": 200
57 },
58 {
59 "name": "/roborio/aos",
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62 "frequency": 50,
63 "num_senders": 20,
64 "max_size": 4096
65 },
66 {
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72 "num_senders": 20
73 },
74 {
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81 "logger": "LOCAL_AND_REMOTE_LOGGER",
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94 }
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101 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]102 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]103 "num_senders": 2,
104 "max_size": 200
105 },
106 {
107 "name": "/roborio/aos",
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109 "source_node": "roborio",
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126 }
127 ]
128 },
129 {
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131 "type": "aos.message_bridge.RemoteMessage",
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137 },
138 {
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144 },
145 {
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152 },
153 {
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159 },
160 {
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164 "source_node": "roborio"
165 },
166 {
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172 },
173 {
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177 "source_node": "roborio",
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179 },
180 {
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185 },
186 {
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190 "source_node": "roborio"
191 },
192 {
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194 "type": "aos.message_bridge.RemoteMessage",
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198 },
199 {
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206 "logger": "LOCAL_AND_REMOTE_LOGGER",
207 "logger_nodes": [
208 "imu"
209 ],
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211 {
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214 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
215 "timestamp_logger_nodes": [
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217 ],
218 "time_to_live": 5000000
219 },
220 {
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223 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
224 "timestamp_logger_nodes": [
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226 ],
227 "time_to_live": 5000000
228 },
229 {
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237 },
238 {
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246 },
247 {
248 "name": "imu",
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251 "timestamp_logger_nodes": [
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253 ],
254 "time_to_live": 5000000
255 }
256 ]
257 },
258 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]259 "name": "/superstructure",
260 "type": "y2023.control_loops.superstructure.Goal",
261 "source_node": "roborio",
262 "frequency": 200,
263 "max_size": 512
264 },
265 {
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269 "frequency": 400,
270 "num_senders": 2
271 },
272 {
273 "name": "/superstructure",
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275 "source_node": "roborio",
276 "frequency": 200,
277 "num_senders": 2,
278 "max_size": 224
279 },
280 {
281 "name": "/superstructure",
282 "type": "y2023.control_loops.superstructure.Position",
283 "source_node": "roborio",
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285 "num_senders": 2,
286 "max_size": 448
287 },
288 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]289 "name": "/drivetrain",
290 "type": "frc971.sensors.GyroReading",
291 "source_node": "roborio",
292 "frequency": 200,
293 "num_senders": 2
294 },
295 {
296 "name": "/drivetrain",
297 "type": "frc971.sensors.Uid",
298 "source_node": "roborio",
299 "frequency": 200,
300 "num_senders": 2
301 },
302 {
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308 "logger": "NOT_LOGGED",
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311 "num_readers": 10
312 },
313 {
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315 "type": "frc971.control_loops.drivetrain.SplineGoal",
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317 "frequency": 10
318 },
319 {
320 "name": "/drivetrain",
321 "type": "frc971.control_loops.drivetrain.Goal",
322 "source_node": "roborio",
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324 "frequency": 200
325 },
326 {
327 "name": "/drivetrain",
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331 "max_size": 112,
332 "num_senders": 2
333 },
334 {
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339 "max_size": 80,
340 "num_senders": 2,
341 "logger": "LOCAL_AND_REMOTE_LOGGER",
342 "logger_nodes": [
343 "imu"
344 ],
345 "destination_nodes": [
346 {
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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 },
357 {
358 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
359 "type": "aos.message_bridge.RemoteMessage",
360 "source_node": "roborio",
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363 "num_senders": 2,
364 "max_size": 200
365 },
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371 "max_size": 1616,
372 "num_senders": 2
373 },
374 {
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380 "logger": "LOCAL_AND_REMOTE_LOGGER",
381 "logger_nodes": [
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383 ],
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396 {
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398 "type": "aos.message_bridge.RemoteMessage",
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404 },
405 {
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408 "source_node": "roborio"
409 },
410 {
411 "name": "/autonomous",
412 "type": "aos.common.actions.Status",
413 "source_node": "roborio"
414 },
415 {
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419 },
420 {
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422 "type": "frc971.autonomous.AutonomousMode",
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431 "max_size": 368
432 },
433 {
434 "name": "/roborio/aos",
435 "type": "frc971.wpilib.PneumaticsToLog",
436 "source_node": "roborio",
437 "frequency": 50
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]438 },
439 {
440 "name": "/roborio/constants",
441 "type": "y2023.Constants",
442 "source_node": "roborio",
443 "frequency": 1,
444 "num_senders": 2,
445 "max_size": 4096
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]446 }
447 ],
448 "applications": [
449 {
450 "name": "drivetrain",
451 "executable_name": "drivetrain",
452 "nodes": [
453 "roborio"
454 ]
455 },
456 {
457 "name": "trajectory_generator",
458 "executable_name": "trajectory_generator",
459 "nodes": [
460 "roborio"
461 ]
462 },
463 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]464 "name": "superstructure",
465 "executable_name": "superstructure",
466 "nodes": [
467 "roborio"
468 ]
469 },
470 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]471 "name": "joystick_reader",
472 "executable_name": "joystick_reader",
473 "nodes": [
474 "roborio"
475 ]
476 },
477 {
478 "name": "wpilib_interface",
479 "executable_name": "wpilib_interface",
480 "nodes": [
481 "roborio"
482 ]
483 },
484 {
485 "name": "autonomous_action",
486 "executable_name": "autonomous_action",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame^]487 "autostart": false,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]488 "nodes": [
489 "roborio"
490 ]
491 },
492 {
493 "name": "web_proxy",
494 "executable_name": "web_proxy_main",
495 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
496 "nodes": [
497 "roborio"
498 ]
499 },
500 {
501 "name": "roborio_message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame^]502 "executable_name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]503 "args": ["--rt_priority=16"],
504 "nodes": [
505 "roborio"
506 ]
507 },
508 {
509 "name": "message_bridge_server",
510 "executable_name": "message_bridge_server",
511 "args": ["--rt_priority=16"],
512 "nodes": [
513 "roborio"
514 ]
515 },
516 {
517 "name": "logger",
518 "executable_name": "logger_main",
519 "args": ["--snappy_compress"],
520 "nodes": [
521 "roborio"
522 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]523 },
524 {
525 "name": "constants_sender",
526 "autorestart": false,
527 "nodes": [
528 "roborio"
529 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]530 }
531 ],
532 "maps": [
533 {
534 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]535 "name": "/constants*",
536 "source_node": "roborio"
537 },
538 "rename": {
539 "name": "/roborio/constants"
540 }
541 },
542 {
543 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]544 "name": "/aos*",
545 "source_node": "roborio"
546 },
547 "rename": {
548 "name": "/roborio/aos"
549 }
550 }
551 ],
552 "nodes": [
553 {
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555 "hostname": "roborio",
556 "hostnames": [
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558 "roboRIO-6971-FRC",
559 "roboRIO-7971-FRC",
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561 "roboRIO-9971-FRC"
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564 },
565 {
566 "name": "imu"
567 },
568 {
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570 },
571 {
572 "name": "pi1"
573 },
574 {
575 "name": "pi2"
576 },
577 {
578 "name": "pi3"
579 },
580 {
581 "name": "pi4"
582 }
583 ]
584}