Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 3a3b5b8e14d0a9f7beda670791d0dc0478645527 / . / y2023 / y2023_imu.json
blob: 1982c6ec649bc0861feb19c4a83da0e82c16e875 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]5 "type": "aos.JoystickState",
6 "source_node": "imu",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
Filip Kujawa84966462023-04-14 22:03:01 -0700[diff] [blame]10 "logger",
11 "pi1",
12 "pi2",
13 "pi3",
14 "pi4"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]15 ],
16 "destination_nodes": [
17 {
18 "name": "logger",
19 "priority": 5,
20 "time_to_live": 50000000,
21 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
22 "timestamp_logger_nodes": [
23 "imu"
24 ]
25 },
26 {
27 "name": "pi1",
28 "priority": 5,
29 "time_to_live": 50000000,
30 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
31 "timestamp_logger_nodes": [
32 "imu"
33 ]
34 },
35 {
36 "name": "pi2",
37 "priority": 5,
38 "time_to_live": 50000000,
39 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
40 "timestamp_logger_nodes": [
41 "imu"
42 ]
43 },
44 {
45 "name": "pi3",
46 "priority": 5,
47 "time_to_live": 50000000,
48 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
49 "timestamp_logger_nodes": [
50 "imu"
51 ]
52 },
53 {
54 "name": "pi4",
55 "priority": 5,
56 "time_to_live": 50000000,
57 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
58 "timestamp_logger_nodes": [
59 "imu"
60 ]
61 }
62 ]
63 },
64 {
65 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-JoystickState",
66 "type": "aos.message_bridge.RemoteMessage",
67 "source_node": "imu",
68 "logger": "NOT_LOGGED",
69 "frequency": 300,
70 "num_senders": 2,
71 "max_size": 200
72 },
73 {
74 "name": "/imu/aos/remote_timestamps/pi1/imu/aos/aos-JoystickState",
75 "type": "aos.message_bridge.RemoteMessage",
76 "source_node": "imu",
77 "logger": "NOT_LOGGED",
78 "frequency": 300,
79 "num_senders": 2,
80 "max_size": 200
81 },
82 {
83 "name": "/imu/aos/remote_timestamps/pi2/imu/aos/aos-JoystickState",
84 "type": "aos.message_bridge.RemoteMessage",
85 "source_node": "imu",
86 "logger": "NOT_LOGGED",
87 "frequency": 300,
88 "num_senders": 2,
89 "max_size": 200
90 },
91 {
92 "name": "/imu/aos/remote_timestamps/pi3/imu/aos/aos-JoystickState",
93 "type": "aos.message_bridge.RemoteMessage",
94 "source_node": "imu",
95 "logger": "NOT_LOGGED",
96 "frequency": 300,
97 "num_senders": 2,
98 "max_size": 200
99 },
100 {
101 "name": "/imu/aos/remote_timestamps/pi4/imu/aos/aos-JoystickState",
102 "type": "aos.message_bridge.RemoteMessage",
103 "source_node": "imu",
104 "logger": "NOT_LOGGED",
105 "frequency": 300,
106 "num_senders": 2,
107 "max_size": 200
108 },
109 {
110 "name": "/imu/aos",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]111 "type": "aos.timing.Report",
112 "source_node": "imu",
113 "frequency": 50,
114 "num_senders": 20,
115 "max_size": 4096
116 },
117 {
118 "name": "/imu/aos",
119 "type": "aos.logging.LogMessageFbs",
120 "source_node": "imu",
121 "frequency": 200,
122 "num_senders": 20
123 },
124 {
125 "name": "/imu/aos",
126 "type": "aos.starter.Status",
127 "source_node": "imu",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]128 "frequency": 50,
129 "num_senders": 20,
Filip Kujawa84966462023-04-14 22:03:01 -0700[diff] [blame]130 "max_size": 2048
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]131 },
132 {
133 "name": "/imu/aos",
134 "type": "aos.starter.StarterRpc",
135 "source_node": "imu",
136 "frequency": 10,
Filip Kujawa84966462023-04-14 22:03:01 -0700[diff] [blame]137 "num_senders": 2
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]138 },
139 {
140 "name": "/imu/aos",
141 "type": "aos.message_bridge.ServerStatistics",
142 "source_node": "imu",
143 "frequency": 10,
144 "num_senders": 2
145 },
146 {
147 "name": "/imu/aos",
148 "type": "aos.message_bridge.ClientStatistics",
149 "source_node": "imu",
150 "frequency": 20,
151 "num_senders": 2
152 },
153 {
154 "name": "/imu/aos",
155 "type": "aos.logging.DynamicLogCommand",
156 "source_node": "imu",
157 "frequency": 10,
158 "num_senders": 2
159 },
160 {
161 "name": "/imu/aos",
162 "type": "aos.message_bridge.Timestamp",
163 "source_node": "imu",
164 "frequency": 15,
165 "num_senders": 2,
166 "logger": "LOCAL_AND_REMOTE_LOGGER",
167 "logger_nodes": [
168 "roborio",
169 "logger"
170 ],
171 "max_size": 400,
172 "destination_nodes": [
173 {
174 "name": "roborio",
175 "priority": 1,
176 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
177 "timestamp_logger_nodes": [
178 "imu"
179 ],
180 "time_to_live": 5000000
181 },
182 {
183 "name": "logger",
184 "priority": 1,
185 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
186 "timestamp_logger_nodes": [
187 "imu"
188 ],
189 "time_to_live": 5000000
190 }
191 ]
192 },
193 {
194 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
195 "type": "aos.message_bridge.RemoteMessage",
196 "frequency": 20,
197 "source_node": "imu",
198 "max_size": 208
199 },
200 {
201 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
202 "type": "aos.message_bridge.RemoteMessage",
203 "frequency": 20,
204 "source_node": "imu",
205 "max_size": 208
206 },
207 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]208 "name": "/roborio/aos",
209 "type": "aos.starter.StarterRpc",
210 "source_node": "roborio",
211 "logger": "LOCAL_AND_REMOTE_LOGGER",
212 "logger_nodes": [
213 "imu"
214 ],
215 "destination_nodes": [
216 {
217 "name": "imu",
218 "priority": 5,
219 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
220 "timestamp_logger_nodes": [
221 "roborio"
222 ],
223 "time_to_live": 5000000
224 }
225 ]
226 },
227 {
228 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
229 "type": "aos.message_bridge.RemoteMessage",
230 "source_node": "roborio",
231 "logger": "NOT_LOGGED",
232 "frequency": 20,
233 "num_senders": 2,
234 "max_size": 200
235 },
236 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]237 "name": "/localizer",
238 "type": "frc971.IMUValuesBatch",
239 "source_node": "imu",
240 "frequency": 2200,
241 "max_size": 1600,
242 "num_senders": 2
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]243 },
244 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]245 "name": "/localizer",
246 "type": "y2023.localizer.Status",
247 "source_node": "imu",
248 "frequency": 2200,
milind-ub45c6d92023-03-11 18:56:15 -0800[diff] [blame]249 "max_size": 1504,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]250 "num_senders": 2
251 },
252 {
253 "name": "/localizer",
254 "type": "frc971.controls.LocalizerOutput",
255 "source_node": "imu",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]256 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]257 "logger": "LOCAL_AND_REMOTE_LOGGER",
258 "logger_nodes": [
259 "roborio"
260 ],
261 "destination_nodes": [
262 {
263 "name": "roborio",
264 "priority": 5,
265 "time_to_live": 5000000,
266 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
267 "timestamp_logger_nodes": [
268 "imu"
269 ]
270 }
271 ]
272 },
273 {
274 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
275 "type": "aos.message_bridge.RemoteMessage",
276 "source_node": "imu",
277 "logger": "NOT_LOGGED",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]278 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]279 "num_senders": 2,
280 "max_size": 200
281 },
282 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]283 "name": "/imu/constants",
284 "type": "y2023.Constants",
285 "source_node": "imu",
286 "frequency": 1,
287 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800[diff] [blame]288 "max_size": 65536
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]289 }
290 ],
291 "applications": [
292 {
293 "name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]294 "nodes": [
295 "imu"
296 ]
297 },
298 {
299 "name": "localizer",
300 "executable_name": "localizer_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]301 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]302 "nodes": [
303 "imu"
304 ]
305 },
306 {
307 "name": "imu",
308 "executable_name": "imu_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]309 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]310 "nodes": [
311 "imu"
312 ]
313 },
314 {
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]315 "name": "joystick_republish",
316 "executable_name": "joystick_republish",
317 "user": "pi",
318 "nodes": [
319 "imu"
320 ]
321 },
322 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]323 "name": "message_bridge_server",
324 "executable_name": "message_bridge_server",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]325 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]326 "nodes": [
327 "imu"
328 ]
329 },
330 {
331 "name": "localizer_logger",
332 "executable_name": "logger_main",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]333 "args": [
334 "--logging_folder",
335 "",
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]336 "--snappy_compress",
337 "--rotate_every", "30.0"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]338 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]339 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]340 "nodes": [
341 "imu"
342 ]
343 },
344 {
345 "name": "web_proxy",
346 "executable_name": "web_proxy_main",
Austin Schuh8313a9e2023-03-22 20:22:37 -0700[diff] [blame]347 "args": [
348 "--min_ice_port=5800",
349 "--max_ice_port=5810"
350 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]351 "user": "pi",
352 "nodes": [
353 "imu"
354 ]
355 },
356 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]357 "name": "foxglove_websocket",
358 "user": "pi",
359 "nodes": [
360 "imu"
361 ]
362 },
363 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]364 "name": "constants_sender",
365 "autorestart": false,
366 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]367 "nodes": [
368 "imu"
369 ]
370 }
371 ],
372 "maps": [
373 {
374 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]375 "name": "/constants*",
376 "source_node": "imu"
377 },
378 "rename": {
379 "name": "/imu/constants"
380 }
381 },
382 {
383 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]384 "name": "/aos*",
385 "source_node": "imu"
386 },
387 "rename": {
388 "name": "/imu/aos"
389 }
390 }
391 ],
392 "nodes": [
393 {
394 "name": "imu",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]395 "hostname": "pi6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]396 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]397 "pi-971-6",
398 "pi-7971-6",
399 "pi-8971-6",
400 "pi-9971-6"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]401 ],
402 "port": 9971
403 },
404 {
405 "name": "logger"
406 },
407 {
408 "name": "roborio"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]409 },
410 {
411 "name": "pi1"
412 },
413 {
414 "name": "pi2"
415 },
416 {
417 "name": "pi3"
418 },
419 {
420 "name": "pi4"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]421 }
422 ]
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]423}