Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 3a3b5b8e14d0a9f7beda670791d0dc0478645527 / . / y2022 / y2022_pi_template.json
blob: cb90fee6491010ad47529ede6601e40790692f30 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/pi{{ NUM }}/aos",
5 "type": "aos.timing.Report",
6 "source_node": "pi{{ NUM }}",
7 "frequency": 50,
8 "num_senders": 20,
9 "max_size": 4096
10 },
11 {
12 "name": "/pi{{ NUM }}/aos",
13 "type": "aos.logging.LogMessageFbs",
14 "source_node": "pi{{ NUM }}",
15 "frequency": 200,
16 "num_senders": 20
17 },
18 {
19 "name": "/pi{{ NUM }}/aos",
20 "type": "aos.starter.Status",
21 "source_node": "pi{{ NUM }}",
22 "frequency": 50,
23 "num_senders": 20,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]24 "max_size": 2000,
25 "logger": "LOCAL_AND_REMOTE_LOGGER",
26 "logger_nodes": [
27 "roborio",
28 "logger"
29 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]30 "destination_nodes": [
31 {
32 "name": "roborio",
33 "priority": 5,
34 "time_to_live": 5000000
35 },
36 {
37 "name": "logger",
38 "priority": 5,
39 "time_to_live": 5000000
40 }
41 ]
42 },
43 {
44 "name": "/pi{{ NUM }}/aos",
45 "type": "aos.starter.StarterRpc",
46 "source_node": "pi{{ NUM }}",
47 "frequency": 10,
48 "num_senders": 2,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]49 "logger": "LOCAL_AND_REMOTE_LOGGER",
50 "logger_nodes": [
51 "roborio",
52 "logger"
53 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]54 "destination_nodes": [
55 {
56 "name": "roborio",
57 "priority": 5,
58 "time_to_live": 5000000
59 },
60 {
61 "name": "logger",
62 "priority": 5,
63 "time_to_live": 5000000
64 }
65 ]
66 },
67 {
68 "name": "/pi{{ NUM }}/aos",
69 "type": "aos.message_bridge.ServerStatistics",
70 "source_node": "pi{{ NUM }}",
71 "frequency": 10,
72 "num_senders": 2
73 },
74 {
75 "name": "/pi{{ NUM }}/aos",
76 "type": "aos.message_bridge.ClientStatistics",
77 "source_node": "pi{{ NUM }}",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]78 "frequency": 20,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]79 "num_senders": 2
80 },
81 {
82 "name": "/pi{{ NUM }}/aos",
Sarah Newman45a64df2022-04-11 19:33:46 -0700[diff] [blame]83 "type": "aos.logging.DynamicLogCommand",
84 "source_node": "pi{{ NUM }}",
85 "frequency": 10,
86 "num_senders": 2
87 },
88 {
89 "name": "/pi{{ NUM }}/aos",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]90 "type": "aos.message_bridge.Timestamp",
91 "source_node": "pi{{ NUM }}",
92 "frequency": 15,
93 "num_senders": 2,
94 "logger": "LOCAL_AND_REMOTE_LOGGER",
95 "logger_nodes": [
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]96 "roborio",
97 "imu"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]98 ],
99 "max_size": 200,
100 "destination_nodes": [
101 {
102 "name": "roborio",
103 "priority": 1,
104 "time_to_live": 5000000,
105 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
106 "timestamp_logger_nodes": [
James Kuszmaulab236182023-05-16 21:10:40 -0700[diff] [blame]107 "pi{{ NUM }}"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]108 ]
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]109 },
110 {
111 "name": "imu",
112 "priority": 1,
113 "time_to_live": 5000000,
114 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
115 "timestamp_logger_nodes": [
James Kuszmaulab236182023-05-16 21:10:40 -0700[diff] [blame]116 "pi{{ NUM }}"
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]117 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]118 }
119 ]
120 },
121 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]122 "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
123 "type": "aos.message_bridge.RemoteMessage",
124 "frequency": 20,
125 "source_node": "pi{{ NUM }}",
126 "max_size": 208
127 },
128 {
129 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
130 "type": "aos.message_bridge.RemoteMessage",
131 "frequency": 20,
132 "source_node": "pi{{ NUM }}",
133 "max_size": 208
134 },
135 {
136 "name": "/imu/aos",
137 "type": "aos.message_bridge.Timestamp",
138 "source_node": "imu",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]139 "logger": "LOCAL_AND_REMOTE_LOGGER",
140 "logger_nodes": [
141 "pi{{ NUM }}"
142 ],
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]143 "destination_nodes": [
144 {
145 "name": "pi{{ NUM }}",
146 "priority": 1,
147 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
148 "timestamp_logger_nodes": [
149 "imu"
150 ],
151 "time_to_live": 5000000
152 }
153 ]
154 },
155 {
156 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/imu/aos/aos-message_bridge-Timestamp",
157 "type": "aos.message_bridge.RemoteMessage",
158 "frequency": 20,
159 "source_node": "imu",
160 "max_size": 208
161 },
162 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]163 "name": "/pi{{ NUM }}/camera",
164 "type": "frc971.vision.CameraImage",
165 "source_node": "pi{{ NUM }}",
Austin Schuh2e6e07c2022-04-16 14:26:31 -0700[diff] [blame]166 "frequency": 40,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]167 "max_size": 620000,
168 "num_senders": 18
169 },
170 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]171 "name": "/pi{{ NUM }}/camera/decimated",
172 "type": "frc971.vision.CameraImage",
173 "source_node": "pi{{ NUM }}",
174 "frequency": 2,
175 "max_size": 620000,
Milind Upadhyay222abc82022-04-13 19:57:34 -0700[diff] [blame]176 "num_senders": 2
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]177 },
178 {
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]179 "name": "/pi{{ NUM }}/camera",
Jim Ostrowski007e2ea2022-01-30 13:13:26 -0800[diff] [blame]180 "type": "frc971.vision.calibration.CalibrationData",
181 "source_node": "pi{{ NUM }}",
182 "frequency": 2,
183 "max_size": 100000
184 },
185 {
186 "name": "/pi{{ NUM }}/camera",
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]187 "type": "y2022.vision.TargetEstimate",
188 "source_node": "pi{{ NUM }}",
Austin Schuh37559162022-11-09 09:45:15 -0800[diff] [blame]189 "frequency": 80,
Jim Ostrowski3af082f2022-02-11 23:55:46 -0800[diff] [blame]190 "num_senders": 2,
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame]191 "max_size": 40000,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]192 "logger": "LOCAL_AND_REMOTE_LOGGER",
193 "logger_nodes": [
194 "imu",
195 "logger"
196 ],
197 "destination_nodes": [
198 {
199 "name": "imu",
200 "priority": 4,
201 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
202 "timestamp_logger_nodes": [
203 "pi{{ NUM }}"
204 ],
205 "time_to_live": 5000000
206 },
207 {
208 "name": "logger",
209 "priority": 4,
210 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
211 "timestamp_logger_nodes": [
212 "pi{{ NUM }}"
213 ],
214 "time_to_live": 5000000
215 }
216 ]
217 },
218 {
219 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
220 "type": "aos.message_bridge.RemoteMessage",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]221 "frequency": 80,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]222 "source_node": "pi{{ NUM }}",
223 "max_size": 208
224 },
225 {
226 "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
227 "type": "aos.message_bridge.RemoteMessage",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]228 "frequency": 80,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]229 "source_node": "pi{{ NUM }}",
230 "max_size": 208
milind-uf2f59aa2022-01-23 21:06:12 -0800[diff] [blame]231 },
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]232 {
Milind Upadhyayd67e9cf2022-03-13 13:56:57 -0700[diff] [blame]233 "name": "/localizer",
234 "type": "frc971.controls.LocalizerOutput",
235 "source_node": "imu",
236 "destination_nodes": [
237 {
238 "name": "pi{{ NUM }}",
239 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]240 "time_to_live": 5000000,
241 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
242 "timestamp_logger_nodes": [
243 "imu"
244 ]
Milind Upadhyayd67e9cf2022-03-13 13:56:57 -0700[diff] [blame]245 }
246 ]
247 },
248 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]249 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/localizer/frc971-controls-LocalizerOutput",
250 "type": "aos.message_bridge.RemoteMessage",
251 "source_node": "imu",
252 "logger": "NOT_LOGGED",
253 "frequency": 400,
254 "num_senders": 2,
255 "max_size": 200
256 },
257 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]258 "name": "/logger/aos",
259 "type": "aos.starter.StarterRpc",
260 "source_node": "logger",
261 "destination_nodes": [
262 {
263 "name": "pi{{ NUM }}",
264 "priority": 5,
265 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
266 "timestamp_logger_nodes": [
267 "logger"
268 ],
269 "time_to_live": 5000000
270 }
271 ]
272 },
273 {
274 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
275 "type": "aos.message_bridge.RemoteMessage",
276 "source_node": "logger",
277 "logger": "NOT_LOGGED",
278 "frequency": 20,
279 "num_senders": 2,
280 "max_size": 200
281 },
282 {
283 "name": "/logger/aos",
284 "type": "aos.starter.Status",
285 "source_node": "logger",
286 "destination_nodes": [
287 {
288 "name": "pi{{ NUM }}",
289 "priority": 5,
290 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
291 "timestamp_logger_nodes": [
292 "logger"
293 ],
294 "time_to_live": 5000000
295 }
296 ]
297 },
298 {
299 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
300 "type": "aos.message_bridge.RemoteMessage",
301 "source_node": "logger",
302 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]303 "frequency": 50,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]304 "num_senders": 2,
305 "max_size": 200
306 },
307 {
308 "name": "/roborio/aos",
309 "type": "aos.starter.StarterRpc",
310 "source_node": "roborio",
311 "destination_nodes": [
312 {
313 "name": "pi{{ NUM }}",
314 "priority": 5,
315 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
316 "timestamp_logger_nodes": [
317 "roborio"
318 ],
319 "time_to_live": 5000000
320 }
321 ]
322 },
323 {
324 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
325 "type": "aos.message_bridge.RemoteMessage",
326 "source_node": "roborio",
327 "logger": "NOT_LOGGED",
328 "frequency": 20,
329 "num_senders": 2,
330 "max_size": 200
331 },
332 {
333 "name": "/roborio/aos",
334 "type": "aos.starter.Status",
335 "source_node": "roborio",
336 "destination_nodes": [
337 {
338 "name": "pi{{ NUM }}",
339 "priority": 5,
340 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
341 "timestamp_logger_nodes": [
342 "roborio"
343 ],
344 "time_to_live": 5000000
345 }
346 ]
347 },
348 {
349 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
350 "type": "aos.message_bridge.RemoteMessage",
351 "source_node": "roborio",
352 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]353 "frequency": 50,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]354 "num_senders": 2,
355 "max_size": 200
356 }
357 ],
358 "applications": [
359 {
360 "name": "message_bridge_client",
Austin Schuh37559162022-11-09 09:45:15 -0800[diff] [blame]361 "executable_name": "message_bridge_client.sh",
Austin Schuh6b2edc62022-03-27 13:32:09 -0700[diff] [blame]362 "args": ["--rt_priority=16"],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]363 "nodes": [
364 "pi{{ NUM }}"
365 ]
366 },
367 {
368 "name": "message_bridge_server",
369 "executable_name": "message_bridge_server",
370 "nodes": [
371 "pi{{ NUM }}"
372 ]
373 },
374 {
375 "name": "web_proxy",
376 "executable_name": "web_proxy_main",
377 "nodes": [
378 "pi{{ NUM }}"
379 ]
380 },
381 {
382 "name": "camera_reader",
383 "executable_name": "camera_reader",
384 "nodes": [
385 "pi{{ NUM }}"
386 ]
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]387 },
388 {
389 "name": "image_decimator",
390 "executable_name": "image_decimator",
391 "nodes": [
392 "pi{{ NUM }}"
393 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]394 }
395 ],
396 "maps": [
397 {
398 "match": {
399 "name": "/aos*",
400 "source_node": "pi{{ NUM }}"
401 },
402 "rename": {
403 "name": "/pi{{ NUM }}/aos"
404 }
405 },
406 {
407 "match": {
408 "name": "/camera*",
409 "source_node": "pi{{ NUM }}"
410 },
411 "rename": {
412 "name": "/pi{{ NUM }}/camera"
413 }
414 }
415 ],
416 "nodes": [
417 {
418 "name": "pi{{ NUM }}",
419 "hostname": "pi{{ NUM }}",
420 "hostnames": [
421 "pi-971-{{ NUM }}",
422 "pi-7971-{{ NUM }}",
423 "pi-8971-{{ NUM }}",
424 "pi-9971-{{ NUM }}"
425 ],
426 "port": 9971
427 },
428 {
429 "name": "logger"
430 },
431 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]432 "name": "imu"
433 },
434 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]435 "name": "roborio"
436 }
437 ]
438}