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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 1798c077a76b5aa7ed3d87911f226119b946aa4a / . / y2022 / y2022_imu.json
blob: 793d31a73d7e6dbe36827ce10c3ae60ea49cc02c [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",
22 "frequency": 50,
23 "num_senders": 20,
24 "destination_nodes": [
25 {
26 "name": "roborio",
27 "priority": 5,
28 "time_to_live": 5000000
29 },
30 {
31 "name": "logger",
32 "priority": 5,
33 "time_to_live": 5000000
34 }
35 ]
36 },
37 {
38 "name": "/imu/aos",
39 "type": "aos.starter.StarterRpc",
40 "source_node": "imu",
41 "frequency": 10,
42 "num_senders": 2,
43 "destination_nodes": [
44 {
45 "name": "roborio",
46 "priority": 5,
47 "time_to_live": 5000000
48 },
49 {
50 "name": "logger",
51 "priority": 5,
52 "time_to_live": 5000000
53 }
54 ]
55 },
56 {
57 "name": "/imu/aos",
58 "type": "aos.message_bridge.ServerStatistics",
59 "source_node": "imu",
60 "frequency": 10,
61 "num_senders": 2
62 },
63 {
64 "name": "/imu/aos",
65 "type": "aos.message_bridge.ClientStatistics",
66 "source_node": "imu",
67 "frequency": 10,
68 "num_senders": 2
69 },
70 {
71 "name": "/imu/aos",
72 "type": "aos.message_bridge.Timestamp",
73 "source_node": "imu",
74 "frequency": 15,
75 "num_senders": 2,
76 "logger": "LOCAL_AND_REMOTE_LOGGER",
77 "logger_nodes": [
78 "roborio",
79 "logger"
80 ],
81 "max_size": 200,
82 "destination_nodes": [
83 {
84 "name": "roborio",
85 "priority": 1,
86 "time_to_live": 5000000
87 },
88 {
89 "name": "logger",
90 "priority": 1,
91 "time_to_live": 5000000
92 }
93 ]
94 },
95 {
96 "name": "/logger/aos",
97 "type": "aos.starter.StarterRpc",
98 "source_node": "logger",
99 "destination_nodes": [
100 {
101 "name": "imu",
102 "priority": 5,
103 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
104 "timestamp_logger_nodes": [
105 "logger"
106 ],
107 "time_to_live": 5000000
108 }
109 ]
110 },
111 {
112 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
113 "type": "aos.message_bridge.RemoteMessage",
114 "source_node": "logger",
115 "logger": "NOT_LOGGED",
116 "frequency": 20,
117 "num_senders": 2,
118 "max_size": 200
119 },
120 {
121 "name": "/logger/aos",
122 "type": "aos.starter.Status",
123 "source_node": "logger",
124 "destination_nodes": [
125 {
126 "name": "imu",
127 "priority": 5,
128 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
129 "timestamp_logger_nodes": [
130 "logger"
131 ],
132 "time_to_live": 5000000
133 }
134 ]
135 },
136 {
137 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
138 "type": "aos.message_bridge.RemoteMessage",
139 "source_node": "logger",
140 "logger": "NOT_LOGGED",
141 "frequency": 20,
142 "num_senders": 2,
143 "max_size": 200
144 },
145 {
146 "name": "/roborio/aos",
147 "type": "aos.starter.StarterRpc",
148 "source_node": "roborio",
149 "destination_nodes": [
150 {
151 "name": "imu",
152 "priority": 5,
153 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
154 "timestamp_logger_nodes": [
155 "roborio"
156 ],
157 "time_to_live": 5000000
158 }
159 ]
160 },
161 {
162 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
163 "type": "aos.message_bridge.RemoteMessage",
164 "source_node": "roborio",
165 "logger": "NOT_LOGGED",
166 "frequency": 20,
167 "num_senders": 2,
168 "max_size": 200
169 },
170 {
171 "name": "/roborio/aos",
172 "type": "aos.starter.Status",
173 "source_node": "roborio",
174 "destination_nodes": [
175 {
176 "name": "imu",
177 "priority": 5,
178 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
179 "timestamp_logger_nodes": [
180 "roborio"
181 ],
182 "time_to_live": 5000000
183 }
184 ]
185 },
186 {
187 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
188 "type": "aos.message_bridge.RemoteMessage",
189 "source_node": "roborio",
190 "logger": "NOT_LOGGED",
191 "frequency": 20,
192 "num_senders": 2,
193 "max_size": 200
194 },
195 {
196 "name": "/localizer",
197 "type": "frc971.controls.LocalizerStatus",
198 "source_node": "imu",
199 "frequency": 2200,
200 "max_size": 2000,
201 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]202 "logger_nodes": [
203 "roborio"
204 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]205 "destination_nodes": [
206 {
207 "name": "logger",
208 "priority": 5,
209 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
210 "timestamp_logger_nodes": [
211 "imu"
212 ],
213 "time_to_live": 5000000
214 }
215 ]
216 },
217 {
218 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerStatus",
219 "type": "aos.message_bridge.RemoteMessage",
220 "source_node": "imu",
221 "logger": "NOT_LOGGED",
222 "frequency": 2200,
223 "num_senders": 2,
224 "max_size": 200
225 },
226 {
227 "name": "/localizer",
228 "type": "frc971.controls.LocalizerOutput",
229 "source_node": "imu",
230 "frequency": 200,
231 "max_size": 200,
232 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]233 "logger_nodes": [
234 "roborio"
235 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]236 "destination_nodes": [
237 {
238 "name": "roborio",
239 "priority": 5,
240 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
241 "timestamp_logger_nodes": [
242 "imu"
243 ],
244 "time_to_live": 5000000
245 },
246 {
247 "name": "logger",
248 "priority": 5,
249 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
250 "timestamp_logger_nodes": [
251 "imu"
252 ],
253 "time_to_live": 5000000
254 }
255 ]
256 },
257 {
258 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
259 "type": "aos.message_bridge.RemoteMessage",
260 "source_node": "imu",
261 "logger": "NOT_LOGGED",
262 "frequency": 200,
263 "num_senders": 2,
264 "max_size": 200
265 },
266 {
267 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput",
268 "type": "aos.message_bridge.RemoteMessage",
269 "source_node": "imu",
270 "logger": "NOT_LOGGED",
271 "frequency": 200,
272 "num_senders": 2,
273 "max_size": 200
274 },
275 {
276 "name": "/localizer",
277 "type": "frc971.IMUValuesBatch",
278 "source_node": "imu",
279 "frequency": 2200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]280 "max_size": 1600,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]281 "num_senders": 2,
282 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]283 "logger_nodes": [
284 "logger"
285 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]286 "destination_nodes": [
287 {
288 "name": "logger",
289 "priority": 5,
290 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
291 "timestamp_logger_nodes": [
292 "imu"
293 ],
294 "time_to_live": 5000000
295 }
296 ]
297 },
298 {
299 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-IMUValuesBatch",
300 "type": "aos.message_bridge.RemoteMessage",
301 "source_node": "imu",
302 "logger": "NOT_LOGGED",
303 "frequency": 2200,
304 "num_senders": 2,
305 "max_size": 200
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]306 }
307 ],
308 "applications": [
309 {
310 "name": "message_bridge_client",
311 "executable_name": "message_bridge_client",
312 "nodes": [
313 "imu"
314 ]
315 },
316 {
317 "name": "message_bridge_server",
318 "executable_name": "message_bridge_server",
319 "nodes": [
320 "imu"
321 ]
322 },
323 {
324 "name": "web_proxy",
325 "executable_name": "web_proxy_main",
326 "nodes": [
327 "imu"
328 ]
329 }
330 ],
331 "maps": [
332 {
333 "match": {
334 "name": "/aos*",
335 "source_node": "imu"
336 },
337 "rename": {
338 "name": "/imu/aos"
339 }
340 }
341 ],
342 "nodes": [
343 {
344 "name": "imu",
345 "hostname": "imu",
346 "hostnames": [
347 "pi-971-7",
348 "pi-7971-7",
349 "pi-8971-7",
350 "pi-9971-7"
351 ],
352 "port": 9971
353 },
354 {
355 "name": "logger"
356 },
357 {
358 "name": "roborio"
359 }
360 ]
361}