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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 96e816e870b161db5c2881d20a5b197083c930d5 / . / y2023 / y2023_logger.json
blob: d8b5aee3be50e3eda5152ef1cbff0243ac23f628 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.message_bridge.Timestamp",
6 "source_node": "roborio",
7 "logger": "LOCAL_AND_REMOTE_LOGGER",
8 "logger_nodes": [
9 "logger"
10 ],
11 "destination_nodes": [
12 {
13 "name": "logger",
14 "priority": 1,
15 "time_to_live": 5000000,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]16 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
17 "timestamp_logger_nodes": [
18 "roborio"
19 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]20 }
21 ]
22 },
23 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]24 "name": "/drivetrain",
25 "type": "frc971.control_loops.drivetrain.Position",
26 "source_node": "roborio",
27 "logger": "LOCAL_AND_REMOTE_LOGGER",
28 "logger_nodes": [
29 "logger"
30 ],
31 "destination_nodes": [
32 {
33 "name": "logger",
34 "priority": 2,
35 "time_to_live": 500000000,
36 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
37 "timestamp_logger_nodes": [
38 "roborio"
39 ]
40 }
41 ]
42 },
43 {
44 "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Position",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "roborio",
47 "logger": "NOT_LOGGED",
48 "frequency": 400,
49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
53 "name": "/drivetrain",
54 "type": "frc971.control_loops.drivetrain.Output",
55 "source_node": "roborio",
56 "logger": "LOCAL_AND_REMOTE_LOGGER",
57 "logger_nodes": [
58 "logger"
59 ],
60 "destination_nodes": [
61 {
62 "name": "logger",
63 "priority": 2,
64 "time_to_live": 500000000,
65 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
66 "timestamp_logger_nodes": [
67 "roborio"
68 ]
69 }
70 ]
71 },
72 {
73 "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Output",
74 "type": "aos.message_bridge.RemoteMessage",
75 "source_node": "roborio",
76 "logger": "NOT_LOGGED",
77 "frequency": 400,
78 "num_senders": 2,
79 "max_size": 400
80 },
81 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]82 "name": "/pi1/aos",
83 "type": "aos.message_bridge.Timestamp",
84 "source_node": "pi1",
85 "logger": "LOCAL_AND_REMOTE_LOGGER",
86 "logger_nodes": [
87 "logger"
88 ],
89 "destination_nodes": [
90 {
91 "name": "logger",
92 "priority": 1,
93 "time_to_live": 5000000
94 }
95 ]
96 },
97 {
98 "name": "/pi2/aos",
99 "type": "aos.message_bridge.Timestamp",
100 "source_node": "pi2",
101 "logger": "LOCAL_AND_REMOTE_LOGGER",
102 "logger_nodes": [
103 "logger"
104 ],
105 "destination_nodes": [
106 {
107 "name": "logger",
108 "priority": 1,
109 "time_to_live": 5000000
110 }
111 ]
112 },
113 {
114 "name": "/pi3/aos",
115 "type": "aos.message_bridge.Timestamp",
116 "source_node": "pi3",
117 "logger": "LOCAL_AND_REMOTE_LOGGER",
118 "logger_nodes": [
119 "logger"
120 ],
121 "destination_nodes": [
122 {
123 "name": "logger",
124 "priority": 1,
125 "time_to_live": 5000000
126 }
127 ]
128 },
129 {
130 "name": "/pi4/aos",
131 "type": "aos.message_bridge.Timestamp",
132 "source_node": "pi4",
133 "logger": "LOCAL_AND_REMOTE_LOGGER",
134 "logger_nodes": [
135 "logger"
136 ],
137 "destination_nodes": [
138 {
139 "name": "logger",
140 "priority": 1,
141 "time_to_live": 5000000
142 }
143 ]
144 },
145 {
146 "name": "/logger/aos",
147 "type": "aos.timing.Report",
148 "source_node": "logger",
149 "frequency": 50,
150 "num_senders": 20,
151 "max_size": 4096
152 },
153 {
154 "name": "/logger/aos",
155 "type": "aos.logging.LogMessageFbs",
156 "source_node": "logger",
157 "frequency": 400,
158 "num_senders": 20
159 },
160 {
161 "name": "/logger/aos",
162 "type": "aos.message_bridge.ServerStatistics",
163 "source_node": "logger",
164 "frequency": 10,
165 "num_senders": 2
166 },
167 {
168 "name": "/logger/aos",
169 "type": "aos.message_bridge.ClientStatistics",
170 "source_node": "logger",
171 "frequency": 20,
172 "max_size": 2000,
173 "num_senders": 2
174 },
175 {
176 "name": "/logger/aos",
177 "type": "aos.logging.DynamicLogCommand",
178 "source_node": "logger",
179 "frequency": 10,
180 "num_senders": 2
181 },
182 {
183 "name": "/logger/aos",
184 "type": "aos.starter.Status",
185 "source_node": "logger",
186 "logger": "LOCAL_AND_REMOTE_LOGGER",
187 "frequency": 50,
188 "num_senders": 20,
189 "max_size": 2000,
190 "logger_nodes": [
191 "roborio"
192 ],
193 "destination_nodes": [
194 {
195 "name": "roborio",
196 "priority": 5,
197 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
198 "timestamp_logger_nodes": [
199 "logger"
200 ],
201 "time_to_live": 5000000
202 }
203 ]
204 },
205 {
206 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
207 "type": "aos.message_bridge.RemoteMessage",
208 "source_node": "logger",
209 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]210 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]211 "num_senders": 2,
212 "max_size": 200
213 },
214 {
215 "name": "/logger/aos",
216 "type": "aos.starter.StarterRpc",
217 "source_node": "logger",
218 "logger": "LOCAL_AND_REMOTE_LOGGER",
219 "logger_nodes": [
220 "roborio"
221 ],
222 "frequency": 10,
223 "num_senders": 2,
224 "destination_nodes": [
225 {
226 "name": "roborio",
227 "priority": 5,
228 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
229 "timestamp_logger_nodes": [
230 "logger"
231 ],
232 "time_to_live": 5000000
233 }
234 ]
235 },
236 {
237 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
238 "type": "aos.message_bridge.RemoteMessage",
239 "source_node": "logger",
240 "logger": "NOT_LOGGED",
241 "frequency": 20,
242 "num_senders": 2,
243 "max_size": 200
244 },
245 {
246 "name": "/logger/aos",
247 "type": "aos.message_bridge.Timestamp",
248 "source_node": "logger",
249 "frequency": 15,
250 "num_senders": 2,
251 "max_size": 400,
252 "logger": "LOCAL_AND_REMOTE_LOGGER",
253 "logger_nodes": [
254 "roborio",
255 "imu"
256 ],
257 "destination_nodes": [
258 {
259 "name": "pi1",
260 "priority": 1,
261 "time_to_live": 5000000,
262 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
263 "timestamp_logger_nodes": [
264 "logger"
265 ]
266 },
267 {
268 "name": "pi2",
269 "priority": 1,
270 "time_to_live": 5000000,
271 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
272 "timestamp_logger_nodes": [
273 "logger"
274 ]
275 },
276 {
277 "name": "pi3",
278 "priority": 1,
279 "time_to_live": 5000000,
280 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
281 "timestamp_logger_nodes": [
282 "logger"
283 ]
284 },
285 {
286 "name": "pi4",
287 "priority": 1,
288 "time_to_live": 5000000,
289 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
290 "timestamp_logger_nodes": [
291 "logger"
292 ]
293 },
294 {
295 "name": "imu",
296 "priority": 1,
297 "time_to_live": 5000000,
298 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
299 "timestamp_logger_nodes": [
300 "logger"
301 ]
302 },
303 {
304 "name": "roborio",
305 "priority": 1,
306 "time_to_live": 5000000,
307 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
308 "timestamp_logger_nodes": [
309 "logger"
310 ]
311 }
312 ]
313 },
314 {
315 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
316 "type": "aos.message_bridge.RemoteMessage",
317 "source_node": "logger",
318 "logger": "NOT_LOGGED",
319 "frequency": 20,
320 "num_senders": 2,
321 "max_size": 200
322 },
323 {
324 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
325 "type": "aos.message_bridge.RemoteMessage",
326 "source_node": "logger",
327 "logger": "NOT_LOGGED",
328 "frequency": 20,
329 "num_senders": 2,
330 "max_size": 200
331 },
332 {
333 "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
334 "type": "aos.message_bridge.RemoteMessage",
335 "source_node": "logger",
336 "logger": "NOT_LOGGED",
337 "frequency": 20,
338 "num_senders": 2,
339 "max_size": 200
340 },
341 {
342 "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
343 "type": "aos.message_bridge.RemoteMessage",
344 "source_node": "logger",
345 "logger": "NOT_LOGGED",
346 "frequency": 20,
347 "num_senders": 2,
348 "max_size": 200
349 },
350 {
351 "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
352 "type": "aos.message_bridge.RemoteMessage",
353 "source_node": "logger",
354 "logger": "NOT_LOGGED",
355 "frequency": 20,
356 "num_senders": 2,
357 "max_size": 200
358 },
359 {
360 "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
361 "type": "aos.message_bridge.RemoteMessage",
362 "source_node": "logger",
363 "logger": "NOT_LOGGED",
364 "frequency": 20,
365 "num_senders": 2,
366 "max_size": 200
367 },
368 {
369 "name": "/logger/camera",
370 "type": "frc971.vision.CameraImage",
371 "logger": "NOT_LOGGED",
372 "source_node": "logger",
373 "frequency": 100,
374 "max_size": 2600000,
375 "num_readers": 4,
376 "read_method": "PIN",
377 "num_senders": 1
378 },
379 {
380 "name": "/localizer",
381 "type": "frc971.IMUValuesBatch",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]382 "source_node": "imu",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]383 "logger": "LOCAL_AND_REMOTE_LOGGER",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]384 "logger_nodes": [
385 "logger"
386 ],
387 "destination_nodes": [
388 {
389 "name": "logger",
390 "priority": 3,
391 "time_to_live": 500000000
392 }
393 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]394 },
395 {
396 "name": "/logger/constants",
397 "type": "y2023.Constants",
398 "source_node": "logger",
399 "frequency": 1,
400 "num_senders": 2,
401 "max_size": 4096
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]402 }
403 ],
404 "maps": [
405 {
406 "match": {
407 "name": "/aos*",
408 "source_node": "logger"
409 },
410 "rename": {
411 "name": "/logger/aos"
412 }
413 },
414 {
415 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]416 "name": "/constants*",
417 "source_node": "logger"
418 },
419 "rename": {
420 "name": "/logger/constants"
421 }
422 },
423 {
424 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]425 "name": "/camera*",
426 "source_node": "logger"
427 },
428 "rename": {
429 "name": "/logger/camera"
430 }
431 }
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]432 ],
433 "applications": [
434 {
435 "name": "logger_message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]436 "autostart": false,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]437 "executable_name": "message_bridge_client.sh",
438 "args": [
439 "--rmem=8388608",
440 "--rt_priority=16"
441 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]442 "nodes": [
443 "logger"
444 ]
445 },
446 {
447 "name": "logger_message_bridge_server",
448 "executable_name": "message_bridge_server",
449 "autostart": false,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]450 "args": [
451 "--rt_priority=16"
452 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]453 "nodes": [
454 "logger"
455 ]
456 },
457 {
458 "name": "image_logger",
459 "executable_name": "logger_main",
460 "autostart": false,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]461 "args": [
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]462 "--logging_folder",
463 "",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]464 "--rotate_every",
Austin Schuh96e816e2023-02-11 15:12:04 -0800[diff] [blame^]465 "60.0",
466 "--direct",
467 "--flush_size=4194304"
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]468 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]469 "nodes": [
470 "logger"
471 ]
472 },
473 {
474 "name": "image_streamer",
475 "executable_name": "image_streamer_start.sh",
476 "autostart": false,
477 "nodes": [
478 "logger"
479 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]480 },
481 {
482 "name": "constants_sender",
483 "autorestart": false,
484 "nodes": [
485 "logger"
486 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]487 }
488 ],
489 "nodes": [
490 {
491 "name": "logger",
492 "hostname": "pi6",
493 "hostnames": [
494 "pi-971-6",
495 "pi-9971-6",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]496 "pi-7971-6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]497 "ASchuh-T480s",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]498 "tarvalon",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]499 "aschuh-3950x"
500 ],
501 "port": 9971
502 },
503 {
504 "name": "pi1"
505 },
506 {
507 "name": "pi2"
508 },
509 {
510 "name": "pi3"
511 },
512 {
513 "name": "roborio"
514 },
515 {
516 "name": "imu"
517 },
518 {
519 "name": "pi4"
520 }
521 ]
522}