| Austin Schuh | 9f164e9 | 2022-12-29 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, |
| 16 | "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER", |
| 17 | "timestamp_logger_nodes" : ["roborio"] |
| 18 | } |
| 19 | ] |
| 20 | }, |
| 21 | { |
| 22 | "name": "/pi1/aos", |
| 23 | "type": "aos.message_bridge.Timestamp", |
| 24 | "source_node": "pi1", |
| 25 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 26 | "logger_nodes": [ |
| 27 | "logger" |
| 28 | ], |
| 29 | "destination_nodes": [ |
| 30 | { |
| 31 | "name": "logger", |
| 32 | "priority": 1, |
| 33 | "time_to_live": 5000000 |
| 34 | } |
| 35 | ] |
| 36 | }, |
| 37 | { |
| 38 | "name": "/pi2/aos", |
| 39 | "type": "aos.message_bridge.Timestamp", |
| 40 | "source_node": "pi2", |
| 41 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 42 | "logger_nodes": [ |
| 43 | "logger" |
| 44 | ], |
| 45 | "destination_nodes": [ |
| 46 | { |
| 47 | "name": "logger", |
| 48 | "priority": 1, |
| 49 | "time_to_live": 5000000 |
| 50 | } |
| 51 | ] |
| 52 | }, |
| 53 | { |
| 54 | "name": "/pi3/aos", |
| 55 | "type": "aos.message_bridge.Timestamp", |
| 56 | "source_node": "pi3", |
| 57 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 58 | "logger_nodes": [ |
| 59 | "logger" |
| 60 | ], |
| 61 | "destination_nodes": [ |
| 62 | { |
| 63 | "name": "logger", |
| 64 | "priority": 1, |
| 65 | "time_to_live": 5000000 |
| 66 | } |
| 67 | ] |
| 68 | }, |
| 69 | { |
| 70 | "name": "/pi4/aos", |
| 71 | "type": "aos.message_bridge.Timestamp", |
| 72 | "source_node": "pi4", |
| 73 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 74 | "logger_nodes": [ |
| 75 | "logger" |
| 76 | ], |
| 77 | "destination_nodes": [ |
| 78 | { |
| 79 | "name": "logger", |
| 80 | "priority": 1, |
| 81 | "time_to_live": 5000000 |
| 82 | } |
| 83 | ] |
| 84 | }, |
| 85 | { |
| 86 | "name": "/logger/aos", |
| 87 | "type": "aos.timing.Report", |
| 88 | "source_node": "logger", |
| 89 | "frequency": 50, |
| 90 | "num_senders": 20, |
| 91 | "max_size": 4096 |
| 92 | }, |
| 93 | { |
| 94 | "name": "/logger/aos", |
| 95 | "type": "aos.logging.LogMessageFbs", |
| 96 | "source_node": "logger", |
| 97 | "frequency": 400, |
| 98 | "num_senders": 20 |
| 99 | }, |
| 100 | { |
| 101 | "name": "/logger/aos", |
| 102 | "type": "aos.message_bridge.ServerStatistics", |
| 103 | "source_node": "logger", |
| 104 | "frequency": 10, |
| 105 | "num_senders": 2 |
| 106 | }, |
| 107 | { |
| 108 | "name": "/logger/aos", |
| 109 | "type": "aos.message_bridge.ClientStatistics", |
| 110 | "source_node": "logger", |
| 111 | "frequency": 20, |
| 112 | "max_size": 2000, |
| 113 | "num_senders": 2 |
| 114 | }, |
| 115 | { |
| 116 | "name": "/logger/aos", |
| 117 | "type": "aos.logging.DynamicLogCommand", |
| 118 | "source_node": "logger", |
| 119 | "frequency": 10, |
| 120 | "num_senders": 2 |
| 121 | }, |
| 122 | { |
| 123 | "name": "/logger/aos", |
| 124 | "type": "aos.starter.Status", |
| 125 | "source_node": "logger", |
| 126 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 127 | "frequency": 50, |
| 128 | "num_senders": 20, |
| 129 | "max_size": 2000, |
| 130 | "logger_nodes": [ |
| 131 | "roborio" |
| 132 | ], |
| 133 | "destination_nodes": [ |
| 134 | { |
| 135 | "name": "roborio", |
| 136 | "priority": 5, |
| 137 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 138 | "timestamp_logger_nodes": [ |
| 139 | "logger" |
| 140 | ], |
| 141 | "time_to_live": 5000000 |
| 142 | } |
| 143 | ] |
| 144 | }, |
| 145 | { |
| 146 | "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status", |
| 147 | "type": "aos.message_bridge.RemoteMessage", |
| 148 | "source_node": "logger", |
| 149 | "logger": "NOT_LOGGED", |
| 150 | "frequency": 20, |
| 151 | "num_senders": 2, |
| 152 | "max_size": 200 |
| 153 | }, |
| 154 | { |
| 155 | "name": "/logger/aos", |
| 156 | "type": "aos.starter.StarterRpc", |
| 157 | "source_node": "logger", |
| 158 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 159 | "logger_nodes": [ |
| 160 | "roborio" |
| 161 | ], |
| 162 | "frequency": 10, |
| 163 | "num_senders": 2, |
| 164 | "destination_nodes": [ |
| 165 | { |
| 166 | "name": "roborio", |
| 167 | "priority": 5, |
| 168 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 169 | "timestamp_logger_nodes": [ |
| 170 | "logger" |
| 171 | ], |
| 172 | "time_to_live": 5000000 |
| 173 | } |
| 174 | ] |
| 175 | }, |
| 176 | { |
| 177 | "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc", |
| 178 | "type": "aos.message_bridge.RemoteMessage", |
| 179 | "source_node": "logger", |
| 180 | "logger": "NOT_LOGGED", |
| 181 | "frequency": 20, |
| 182 | "num_senders": 2, |
| 183 | "max_size": 200 |
| 184 | }, |
| 185 | { |
| 186 | "name": "/logger/aos", |
| 187 | "type": "aos.message_bridge.Timestamp", |
| 188 | "source_node": "logger", |
| 189 | "frequency": 15, |
| 190 | "num_senders": 2, |
| 191 | "max_size": 400, |
| 192 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 193 | "logger_nodes": [ |
| 194 | "roborio", |
| 195 | "imu" |
| 196 | ], |
| 197 | "destination_nodes": [ |
| 198 | { |
| 199 | "name": "pi1", |
| 200 | "priority": 1, |
| 201 | "time_to_live": 5000000, |
| 202 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 203 | "timestamp_logger_nodes": [ |
| 204 | "logger" |
| 205 | ] |
| 206 | }, |
| 207 | { |
| 208 | "name": "pi2", |
| 209 | "priority": 1, |
| 210 | "time_to_live": 5000000, |
| 211 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 212 | "timestamp_logger_nodes": [ |
| 213 | "logger" |
| 214 | ] |
| 215 | }, |
| 216 | { |
| 217 | "name": "pi3", |
| 218 | "priority": 1, |
| 219 | "time_to_live": 5000000, |
| 220 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 221 | "timestamp_logger_nodes": [ |
| 222 | "logger" |
| 223 | ] |
| 224 | }, |
| 225 | { |
| 226 | "name": "pi4", |
| 227 | "priority": 1, |
| 228 | "time_to_live": 5000000, |
| 229 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 230 | "timestamp_logger_nodes": [ |
| 231 | "logger" |
| 232 | ] |
| 233 | }, |
| 234 | { |
| 235 | "name": "imu", |
| 236 | "priority": 1, |
| 237 | "time_to_live": 5000000, |
| 238 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 239 | "timestamp_logger_nodes": [ |
| 240 | "logger" |
| 241 | ] |
| 242 | }, |
| 243 | { |
| 244 | "name": "roborio", |
| 245 | "priority": 1, |
| 246 | "time_to_live": 5000000, |
| 247 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 248 | "timestamp_logger_nodes": [ |
| 249 | "logger" |
| 250 | ] |
| 251 | } |
| 252 | ] |
| 253 | }, |
| 254 | { |
| 255 | "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp", |
| 256 | "type": "aos.message_bridge.RemoteMessage", |
| 257 | "source_node": "logger", |
| 258 | "logger": "NOT_LOGGED", |
| 259 | "frequency": 20, |
| 260 | "num_senders": 2, |
| 261 | "max_size": 200 |
| 262 | }, |
| 263 | { |
| 264 | "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp", |
| 265 | "type": "aos.message_bridge.RemoteMessage", |
| 266 | "source_node": "logger", |
| 267 | "logger": "NOT_LOGGED", |
| 268 | "frequency": 20, |
| 269 | "num_senders": 2, |
| 270 | "max_size": 200 |
| 271 | }, |
| 272 | { |
| 273 | "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp", |
| 274 | "type": "aos.message_bridge.RemoteMessage", |
| 275 | "source_node": "logger", |
| 276 | "logger": "NOT_LOGGED", |
| 277 | "frequency": 20, |
| 278 | "num_senders": 2, |
| 279 | "max_size": 200 |
| 280 | }, |
| 281 | { |
| 282 | "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp", |
| 283 | "type": "aos.message_bridge.RemoteMessage", |
| 284 | "source_node": "logger", |
| 285 | "logger": "NOT_LOGGED", |
| 286 | "frequency": 20, |
| 287 | "num_senders": 2, |
| 288 | "max_size": 200 |
| 289 | }, |
| 290 | { |
| 291 | "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp", |
| 292 | "type": "aos.message_bridge.RemoteMessage", |
| 293 | "source_node": "logger", |
| 294 | "logger": "NOT_LOGGED", |
| 295 | "frequency": 20, |
| 296 | "num_senders": 2, |
| 297 | "max_size": 200 |
| 298 | }, |
| 299 | { |
| 300 | "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp", |
| 301 | "type": "aos.message_bridge.RemoteMessage", |
| 302 | "source_node": "logger", |
| 303 | "logger": "NOT_LOGGED", |
| 304 | "frequency": 20, |
| 305 | "num_senders": 2, |
| 306 | "max_size": 200 |
| 307 | }, |
| 308 | { |
| 309 | "name": "/logger/camera", |
| 310 | "type": "frc971.vision.CameraImage", |
| 311 | "logger": "NOT_LOGGED", |
| 312 | "source_node": "logger", |
| 313 | "frequency": 100, |
| 314 | "max_size": 2600000, |
| 315 | "num_readers": 4, |
| 316 | "read_method": "PIN", |
| 317 | "num_senders": 1 |
| 318 | }, |
| 319 | { |
| 320 | "name": "/localizer", |
| 321 | "type": "frc971.IMUValuesBatch", |
| 322 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 323 | "source_node": "imu", |
| 324 | "logger_nodes": [ |
| 325 | "logger" |
| 326 | ], |
| 327 | "destination_nodes": [ |
| 328 | { |
| 329 | "name": "logger", |
| 330 | "priority": 3, |
| 331 | "time_to_live": 500000000 |
| 332 | } |
| 333 | ] |
| 334 | } |
| 335 | ], |
| 336 | "maps": [ |
| 337 | { |
| 338 | "match": { |
| 339 | "name": "/aos*", |
| 340 | "source_node": "logger" |
| 341 | }, |
| 342 | "rename": { |
| 343 | "name": "/logger/aos" |
| 344 | } |
| 345 | }, |
| 346 | { |
| 347 | "match": { |
| 348 | "name": "/camera*", |
| 349 | "source_node": "logger" |
| 350 | }, |
| 351 | "rename": { |
| 352 | "name": "/logger/camera" |
| 353 | } |
| 354 | } |
| 355 | |
| 356 | ], |
| 357 | "applications": [ |
| 358 | { |
| 359 | "name": "logger_message_bridge_client", |
| 360 | "executable_name": "message_bridge_client", |
| 361 | "autostart": false, |
| 362 | "args": ["--rmem=8388608", "--rt_priority=16"], |
| 363 | "nodes": [ |
| 364 | "logger" |
| 365 | ] |
| 366 | }, |
| 367 | { |
| 368 | "name": "logger_message_bridge_server", |
| 369 | "executable_name": "message_bridge_server", |
| 370 | "autostart": false, |
| 371 | "args": ["--rt_priority=16"], |
| 372 | "nodes": [ |
| 373 | "logger" |
| 374 | ] |
| 375 | }, |
| 376 | { |
| 377 | "name": "image_logger", |
| 378 | "executable_name": "logger_main", |
| 379 | "autostart": false, |
| 380 | "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress", "--rotate_every", "60.0"], |
| 381 | "nodes": [ |
| 382 | "logger" |
| 383 | ] |
| 384 | }, |
| 385 | { |
| 386 | "name": "image_streamer", |
| 387 | "executable_name": "image_streamer_start.sh", |
| 388 | "autostart": false, |
| 389 | "nodes": [ |
| 390 | "logger" |
| 391 | ] |
| 392 | } |
| 393 | ], |
| 394 | "nodes": [ |
| 395 | { |
| 396 | "name": "logger", |
| 397 | "hostname": "pi6", |
| 398 | "hostnames": [ |
| 399 | "pi-971-6", |
| 400 | "pi-9971-6", |
| 401 | "ASchuh-T480s", |
| 402 | "aschuh-3950x" |
| 403 | ], |
| 404 | "port": 9971 |
| 405 | }, |
| 406 | { |
| 407 | "name": "pi1" |
| 408 | }, |
| 409 | { |
| 410 | "name": "pi2" |
| 411 | }, |
| 412 | { |
| 413 | "name": "pi3" |
| 414 | }, |
| 415 | { |
| 416 | "name": "roborio" |
| 417 | }, |
| 418 | { |
| 419 | "name": "imu" |
| 420 | }, |
| 421 | { |
| 422 | "name": "pi4" |
| 423 | } |
| 424 | ] |
| 425 | } |