blob: df3a55b9f9eaa68bbaafda2c4cee9b2e72dd0384 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -08001{
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 -080016 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
17 "timestamp_logger_nodes": [
18 "roborio"
19 ]
Austin Schuh9f164e92022-12-29 16:15:28 -080020 }
21 ]
22 },
23 {
Jim Ostrowski817e0b92023-03-04 16:03:53 -080024 "name": "/logger/camera",
Filip Kujawa3004f202023-02-12 16:41:40 -080025 "type": "y2023.vision.GamePieces",
26 "source_node": "logger",
27 "logger": "LOCAL_AND_REMOTE_LOGGER",
28 "logger_nodes": [
29 "roborio"
30 ],
31 "frequency": 40,
32 "num_senders": 2,
33 "max_size": 1024,
34 "destination_nodes": [
35 {
36 "name": "roborio",
37 "priority": 2,
38 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
39 "timestamp_logger_nodes": [
Austin Schuh9dd0e3b2023-03-26 23:30:26 -070040 "logger"
Filip Kujawa3004f202023-02-12 16:41:40 -080041 ],
42 "time_to_live": 5000000
43 }
44 ]
45 },
46 {
Jim Ostrowski817e0b92023-03-04 16:03:53 -080047 "name": "/logger/aos/remote_timestamps/roborio/logger/camera/y2023-vision-GamePieces",
Filip Kujawa3004f202023-02-12 16:41:40 -080048 "type": "aos.message_bridge.RemoteMessage",
49 "source_node": "logger",
50 "logger": "NOT_LOGGED",
51 "frequency": 40,
52 "num_senders": 2,
53 "max_size": 200
54 },
55 {
Austin Schuh9f164e92022-12-29 16:15:28 -080056 "name": "/pi1/aos",
57 "type": "aos.message_bridge.Timestamp",
58 "source_node": "pi1",
59 "logger": "LOCAL_AND_REMOTE_LOGGER",
60 "logger_nodes": [
61 "logger"
62 ],
63 "destination_nodes": [
64 {
65 "name": "logger",
66 "priority": 1,
Austin Schuh9dd0e3b2023-03-26 23:30:26 -070067 "time_to_live": 5000000,
68 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
69 "timestamp_logger_nodes": [
70 "pi1"
71 ]
Austin Schuh9f164e92022-12-29 16:15:28 -080072 }
73 ]
74 },
75 {
76 "name": "/pi2/aos",
77 "type": "aos.message_bridge.Timestamp",
78 "source_node": "pi2",
79 "logger": "LOCAL_AND_REMOTE_LOGGER",
80 "logger_nodes": [
81 "logger"
82 ],
83 "destination_nodes": [
84 {
85 "name": "logger",
86 "priority": 1,
Austin Schuh9dd0e3b2023-03-26 23:30:26 -070087 "time_to_live": 5000000,
88 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
89 "timestamp_logger_nodes": [
90 "pi2"
91 ]
Austin Schuh9f164e92022-12-29 16:15:28 -080092 }
93 ]
94 },
95 {
96 "name": "/pi3/aos",
97 "type": "aos.message_bridge.Timestamp",
98 "source_node": "pi3",
99 "logger": "LOCAL_AND_REMOTE_LOGGER",
100 "logger_nodes": [
101 "logger"
102 ],
103 "destination_nodes": [
104 {
105 "name": "logger",
106 "priority": 1,
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700107 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
108 "timestamp_logger_nodes": [
109 "pi3"
110 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800111 "time_to_live": 5000000
112 }
113 ]
114 },
115 {
116 "name": "/pi4/aos",
117 "type": "aos.message_bridge.Timestamp",
118 "source_node": "pi4",
119 "logger": "LOCAL_AND_REMOTE_LOGGER",
120 "logger_nodes": [
121 "logger"
122 ],
123 "destination_nodes": [
124 {
125 "name": "logger",
126 "priority": 1,
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700127 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
128 "timestamp_logger_nodes": [
129 "pi4"
130 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800131 "time_to_live": 5000000
132 }
133 ]
134 },
135 {
136 "name": "/logger/aos",
137 "type": "aos.timing.Report",
138 "source_node": "logger",
139 "frequency": 50,
140 "num_senders": 20,
141 "max_size": 4096
142 },
143 {
144 "name": "/logger/aos",
145 "type": "aos.logging.LogMessageFbs",
146 "source_node": "logger",
147 "frequency": 400,
148 "num_senders": 20
149 },
150 {
151 "name": "/logger/aos",
152 "type": "aos.message_bridge.ServerStatistics",
153 "source_node": "logger",
154 "frequency": 10,
155 "num_senders": 2
156 },
157 {
158 "name": "/logger/aos",
159 "type": "aos.message_bridge.ClientStatistics",
160 "source_node": "logger",
161 "frequency": 20,
162 "max_size": 2000,
163 "num_senders": 2
164 },
165 {
166 "name": "/logger/aos",
167 "type": "aos.logging.DynamicLogCommand",
168 "source_node": "logger",
169 "frequency": 10,
170 "num_senders": 2
171 },
172 {
173 "name": "/logger/aos",
174 "type": "aos.starter.Status",
175 "source_node": "logger",
Austin Schuh9f164e92022-12-29 16:15:28 -0800176 "frequency": 50,
177 "num_senders": 20,
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700178 "max_size": 2000
Austin Schuh9f164e92022-12-29 16:15:28 -0800179 },
180 {
181 "name": "/logger/aos",
182 "type": "aos.starter.StarterRpc",
183 "source_node": "logger",
Austin Schuh9f164e92022-12-29 16:15:28 -0800184 "frequency": 10,
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700185 "num_senders": 2
Austin Schuh9f164e92022-12-29 16:15:28 -0800186 },
187 {
188 "name": "/logger/aos",
189 "type": "aos.message_bridge.Timestamp",
190 "source_node": "logger",
191 "frequency": 15,
192 "num_senders": 2,
193 "max_size": 400,
194 "logger": "LOCAL_AND_REMOTE_LOGGER",
195 "logger_nodes": [
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700196 "imu",
197 "pi1",
198 "pi2",
199 "pi3",
200 "pi4",
201 "roborio"
Austin Schuh9f164e92022-12-29 16:15:28 -0800202 ],
203 "destination_nodes": [
204 {
205 "name": "pi1",
206 "priority": 1,
207 "time_to_live": 5000000,
208 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
209 "timestamp_logger_nodes": [
210 "logger"
211 ]
212 },
213 {
214 "name": "pi2",
215 "priority": 1,
216 "time_to_live": 5000000,
217 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
218 "timestamp_logger_nodes": [
219 "logger"
220 ]
221 },
222 {
223 "name": "pi3",
224 "priority": 1,
225 "time_to_live": 5000000,
226 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
227 "timestamp_logger_nodes": [
228 "logger"
229 ]
230 },
231 {
232 "name": "pi4",
233 "priority": 1,
234 "time_to_live": 5000000,
235 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
236 "timestamp_logger_nodes": [
237 "logger"
238 ]
239 },
240 {
241 "name": "imu",
242 "priority": 1,
243 "time_to_live": 5000000,
244 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
245 "timestamp_logger_nodes": [
246 "logger"
247 ]
248 },
249 {
250 "name": "roborio",
251 "priority": 1,
252 "time_to_live": 5000000,
253 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
254 "timestamp_logger_nodes": [
255 "logger"
256 ]
257 }
258 ]
259 },
260 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800261 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
262 "type": "aos.message_bridge.RemoteMessage",
263 "source_node": "logger",
264 "logger": "NOT_LOGGED",
265 "frequency": 20,
266 "num_senders": 2,
267 "max_size": 200
268 },
269 {
270 "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
271 "type": "aos.message_bridge.RemoteMessage",
272 "source_node": "logger",
273 "logger": "NOT_LOGGED",
274 "frequency": 20,
275 "num_senders": 2,
276 "max_size": 200
277 },
278 {
279 "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
280 "type": "aos.message_bridge.RemoteMessage",
281 "source_node": "logger",
282 "logger": "NOT_LOGGED",
283 "frequency": 20,
284 "num_senders": 2,
285 "max_size": 200
286 },
287 {
288 "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
289 "type": "aos.message_bridge.RemoteMessage",
290 "source_node": "logger",
291 "logger": "NOT_LOGGED",
292 "frequency": 20,
293 "num_senders": 2,
294 "max_size": 200
295 },
296 {
297 "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
298 "type": "aos.message_bridge.RemoteMessage",
299 "source_node": "logger",
300 "logger": "NOT_LOGGED",
301 "frequency": 20,
302 "num_senders": 2,
303 "max_size": 200
304 },
305 {
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700306 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
307 "type": "aos.message_bridge.RemoteMessage",
308 "source_node": "logger",
309 "logger": "NOT_LOGGED",
310 "frequency": 20,
311 "num_senders": 2,
312 "max_size": 200
313 },
314 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800315 "name": "/logger/camera",
316 "type": "frc971.vision.CameraImage",
Austin Schuh9f164e92022-12-29 16:15:28 -0800317 "source_node": "logger",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800318 "frequency": 40,
319 "max_size": 1843456,
Austin Schuh9f164e92022-12-29 16:15:28 -0800320 "num_readers": 4,
321 "read_method": "PIN",
James Kuszmaul529a27f2023-02-23 14:23:14 -0800322 "num_senders": 18
Austin Schuh9f164e92022-12-29 16:15:28 -0800323 },
324 {
milind-ufd08c432023-02-05 15:15:21 -0800325 "name": "/logger/camera/downsized",
326 "type": "frc971.vision.CameraImage",
327 "logger": "NOT_LOGGED",
328 "source_node": "logger",
329 "frequency": 40,
330 "max_size": 921744,
331 "num_readers": 4,
332 "read_method": "PIN",
333 "num_senders": 18
334 },
335 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800336 "name": "/localizer",
337 "type": "frc971.IMUValuesBatch",
Austin Schuh9f164e92022-12-29 16:15:28 -0800338 "source_node": "imu",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800339 "logger": "LOCAL_AND_REMOTE_LOGGER",
Austin Schuh9f164e92022-12-29 16:15:28 -0800340 "logger_nodes": [
341 "logger"
342 ],
343 "destination_nodes": [
344 {
345 "name": "logger",
346 "priority": 3,
347 "time_to_live": 500000000
348 }
349 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800350 },
351 {
352 "name": "/logger/constants",
353 "type": "y2023.Constants",
354 "source_node": "logger",
355 "frequency": 1,
356 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800357 "max_size": 65536
Austin Schuh9f164e92022-12-29 16:15:28 -0800358 }
359 ],
360 "maps": [
361 {
362 "match": {
363 "name": "/aos*",
364 "source_node": "logger"
365 },
366 "rename": {
367 "name": "/logger/aos"
368 }
369 },
370 {
371 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800372 "name": "/constants*",
373 "source_node": "logger"
374 },
375 "rename": {
376 "name": "/logger/constants"
377 }
378 },
379 {
380 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800381 "name": "/camera*",
382 "source_node": "logger"
383 },
384 "rename": {
385 "name": "/logger/camera"
386 }
387 }
Austin Schuh9f164e92022-12-29 16:15:28 -0800388 ],
389 "applications": [
390 {
James Kuszmaul529a27f2023-02-23 14:23:14 -0800391 "name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800392 "nodes": [
393 "logger"
394 ]
395 },
396 {
James Kuszmaul529a27f2023-02-23 14:23:14 -0800397 "name": "message_bridge_server",
Austin Schuh9f164e92022-12-29 16:15:28 -0800398 "executable_name": "message_bridge_server",
James Kuszmaul529a27f2023-02-23 14:23:14 -0800399 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800400 "nodes": [
401 "logger"
402 ]
403 },
404 {
Jim Ostrowskiab5ba522023-02-12 17:34:28 -0800405 "name": "logger_camera_reader",
milind-ufd08c432023-02-05 15:15:21 -0800406 "executable_name": "camera_reader",
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800407 "user": "pi",
Jim Ostrowski1b3c8cf2023-03-03 21:17:20 -0800408 "args": [
409 "--enable_ftrace",
410 "--send_downsized_images",
411 "--exposure=650"
412 ],
milind-ufd08c432023-02-05 15:15:21 -0800413 "nodes": [
414 "logger"
415 ]
416 },
417 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800418 "name": "image_logger",
milind-ua96c5182023-03-10 23:31:11 -0800419 "executable_name": "image_logger",
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800420 "user": "pi",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800421 "args": [
Maxwell Hendersonad312342023-01-10 12:07:47 -0800422 "--logging_folder",
423 "",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800424 "--rotate_every",
Austin Schuh96e816e2023-02-11 15:12:04 -0800425 "60.0",
426 "--direct",
427 "--flush_size=4194304"
Maxwell Hendersonad312342023-01-10 12:07:47 -0800428 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800429 "nodes": [
430 "logger"
431 ]
432 },
433 {
434 "name": "image_streamer",
435 "executable_name": "image_streamer_start.sh",
milind-u8e98cb92023-02-05 16:07:10 -0800436 "autostart": true,
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800437 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800438 "nodes": [
439 "logger"
440 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800441 },
442 {
443 "name": "constants_sender",
444 "autorestart": false,
James Kuszmaulfa4121e2023-02-23 18:11:40 -0800445 "user": "pi",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800446 "nodes": [
447 "logger"
448 ]
Filip Kujawa3004f202023-02-12 16:41:40 -0800449 },
450 {
451 "name": "game_piece_detector",
452 "executable_name": "game_piece_detector",
453 "nodes": [
454 "logger"
455 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800456 }
457 ],
458 "nodes": [
459 {
460 "name": "logger",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800461 "hostname": "pi5",
Austin Schuh9f164e92022-12-29 16:15:28 -0800462 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800463 "pi-971-5",
464 "pi-9971-5",
465 "pi-7971-5"
Austin Schuh9f164e92022-12-29 16:15:28 -0800466 ],
467 "port": 9971
468 },
469 {
470 "name": "pi1"
471 },
472 {
473 "name": "pi2"
474 },
475 {
476 "name": "pi3"
477 },
478 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800479 "name": "imu"
480 },
481 {
482 "name": "pi4"
Austin Schuh9dd0e3b2023-03-26 23:30:26 -0700483 },
484 {
485 "name": "roborio"
Austin Schuh9f164e92022-12-29 16:15:28 -0800486 }
487 ]
488}