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, |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 16 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 17 | "timestamp_logger_nodes": [ |
| 18 | "roborio" |
| 19 | ] |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 20 | } |
| 21 | ] |
| 22 | }, |
| 23 | { |
Jim Ostrowski | 817e0b9 | 2023-03-04 16:03:53 -0800 | [diff] [blame] | 24 | "name": "/logger/camera", |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 25 | "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 Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 40 | "logger" |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 41 | ], |
| 42 | "time_to_live": 5000000 |
| 43 | } |
| 44 | ] |
| 45 | }, |
| 46 | { |
Jim Ostrowski | 817e0b9 | 2023-03-04 16:03:53 -0800 | [diff] [blame] | 47 | "name": "/logger/aos/remote_timestamps/roborio/logger/camera/y2023-vision-GamePieces", |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 48 | "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 Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 56 | "name": "/logger/aos", |
| 57 | "type": "aos.timing.Report", |
| 58 | "source_node": "logger", |
| 59 | "frequency": 50, |
| 60 | "num_senders": 20, |
| 61 | "max_size": 4096 |
| 62 | }, |
| 63 | { |
| 64 | "name": "/logger/aos", |
| 65 | "type": "aos.logging.LogMessageFbs", |
| 66 | "source_node": "logger", |
| 67 | "frequency": 400, |
| 68 | "num_senders": 20 |
| 69 | }, |
| 70 | { |
| 71 | "name": "/logger/aos", |
| 72 | "type": "aos.message_bridge.ServerStatistics", |
| 73 | "source_node": "logger", |
| 74 | "frequency": 10, |
| 75 | "num_senders": 2 |
| 76 | }, |
| 77 | { |
| 78 | "name": "/logger/aos", |
| 79 | "type": "aos.message_bridge.ClientStatistics", |
| 80 | "source_node": "logger", |
| 81 | "frequency": 20, |
| 82 | "max_size": 2000, |
| 83 | "num_senders": 2 |
| 84 | }, |
| 85 | { |
| 86 | "name": "/logger/aos", |
| 87 | "type": "aos.logging.DynamicLogCommand", |
| 88 | "source_node": "logger", |
| 89 | "frequency": 10, |
| 90 | "num_senders": 2 |
| 91 | }, |
| 92 | { |
| 93 | "name": "/logger/aos", |
| 94 | "type": "aos.starter.Status", |
| 95 | "source_node": "logger", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 96 | "frequency": 50, |
| 97 | "num_senders": 20, |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 98 | "max_size": 2000 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 99 | }, |
| 100 | { |
| 101 | "name": "/logger/aos", |
| 102 | "type": "aos.starter.StarterRpc", |
| 103 | "source_node": "logger", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 104 | "frequency": 10, |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 105 | "num_senders": 2 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 106 | }, |
| 107 | { |
| 108 | "name": "/logger/aos", |
| 109 | "type": "aos.message_bridge.Timestamp", |
| 110 | "source_node": "logger", |
| 111 | "frequency": 15, |
| 112 | "num_senders": 2, |
| 113 | "max_size": 400, |
| 114 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 115 | "logger_nodes": [ |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 116 | "imu", |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 117 | "roborio" |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 118 | ], |
| 119 | "destination_nodes": [ |
| 120 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 121 | "name": "imu", |
| 122 | "priority": 1, |
| 123 | "time_to_live": 5000000, |
| 124 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 125 | "timestamp_logger_nodes": [ |
| 126 | "logger" |
| 127 | ] |
| 128 | }, |
| 129 | { |
| 130 | "name": "roborio", |
| 131 | "priority": 1, |
| 132 | "time_to_live": 5000000, |
| 133 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 134 | "timestamp_logger_nodes": [ |
| 135 | "logger" |
| 136 | ] |
| 137 | } |
| 138 | ] |
| 139 | }, |
| 140 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 141 | "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp", |
| 142 | "type": "aos.message_bridge.RemoteMessage", |
| 143 | "source_node": "logger", |
| 144 | "logger": "NOT_LOGGED", |
| 145 | "frequency": 20, |
| 146 | "num_senders": 2, |
| 147 | "max_size": 200 |
| 148 | }, |
| 149 | { |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 150 | "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp", |
| 151 | "type": "aos.message_bridge.RemoteMessage", |
| 152 | "source_node": "logger", |
| 153 | "logger": "NOT_LOGGED", |
| 154 | "frequency": 20, |
| 155 | "num_senders": 2, |
| 156 | "max_size": 200 |
| 157 | }, |
| 158 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 159 | "name": "/logger/camera", |
| 160 | "type": "frc971.vision.CameraImage", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 161 | "source_node": "logger", |
Austin Schuh | fda8c6f | 2023-02-22 11:58:50 -0800 | [diff] [blame] | 162 | "frequency": 40, |
| 163 | "max_size": 1843456, |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 164 | "num_readers": 4, |
| 165 | "read_method": "PIN", |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 166 | "num_senders": 18 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 167 | }, |
| 168 | { |
milind-u | fd08c43 | 2023-02-05 15:15:21 -0800 | [diff] [blame] | 169 | "name": "/logger/camera/downsized", |
| 170 | "type": "frc971.vision.CameraImage", |
| 171 | "logger": "NOT_LOGGED", |
| 172 | "source_node": "logger", |
| 173 | "frequency": 40, |
| 174 | "max_size": 921744, |
| 175 | "num_readers": 4, |
| 176 | "read_method": "PIN", |
| 177 | "num_senders": 18 |
| 178 | }, |
| 179 | { |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 180 | "name": "/logger/constants", |
| 181 | "type": "y2023.Constants", |
| 182 | "source_node": "logger", |
| 183 | "frequency": 1, |
| 184 | "num_senders": 2, |
James Kuszmaul | 667b059 | 2023-02-25 16:32:59 -0800 | [diff] [blame] | 185 | "max_size": 65536 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 186 | } |
| 187 | ], |
| 188 | "maps": [ |
| 189 | { |
| 190 | "match": { |
| 191 | "name": "/aos*", |
| 192 | "source_node": "logger" |
| 193 | }, |
| 194 | "rename": { |
| 195 | "name": "/logger/aos" |
| 196 | } |
| 197 | }, |
| 198 | { |
| 199 | "match": { |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 200 | "name": "/constants*", |
| 201 | "source_node": "logger" |
| 202 | }, |
| 203 | "rename": { |
| 204 | "name": "/logger/constants" |
| 205 | } |
| 206 | }, |
| 207 | { |
| 208 | "match": { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 209 | "name": "/camera*", |
| 210 | "source_node": "logger" |
| 211 | }, |
| 212 | "rename": { |
| 213 | "name": "/logger/camera" |
| 214 | } |
| 215 | } |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 216 | ], |
| 217 | "applications": [ |
| 218 | { |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 219 | "name": "message_bridge_client", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 220 | "nodes": [ |
| 221 | "logger" |
| 222 | ] |
| 223 | }, |
| 224 | { |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 225 | "name": "message_bridge_server", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 226 | "executable_name": "message_bridge_server", |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 227 | "user": "pi", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 228 | "nodes": [ |
| 229 | "logger" |
| 230 | ] |
| 231 | }, |
| 232 | { |
Jim Ostrowski | ab5ba52 | 2023-02-12 17:34:28 -0800 | [diff] [blame] | 233 | "name": "logger_camera_reader", |
milind-u | fd08c43 | 2023-02-05 15:15:21 -0800 | [diff] [blame] | 234 | "executable_name": "camera_reader", |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 235 | "user": "pi", |
Jim Ostrowski | 1b3c8cf | 2023-03-03 21:17:20 -0800 | [diff] [blame] | 236 | "args": [ |
| 237 | "--enable_ftrace", |
Filip Kujawa | f3b8adb | 2023-04-07 21:00:49 -0700 | [diff] [blame] | 238 | "--send_downsized_images" |
Jim Ostrowski | 1b3c8cf | 2023-03-03 21:17:20 -0800 | [diff] [blame] | 239 | ], |
milind-u | fd08c43 | 2023-02-05 15:15:21 -0800 | [diff] [blame] | 240 | "nodes": [ |
| 241 | "logger" |
| 242 | ] |
| 243 | }, |
| 244 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 245 | "name": "image_logger", |
milind-u | a96c518 | 2023-03-10 23:31:11 -0800 | [diff] [blame] | 246 | "executable_name": "image_logger", |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 247 | "user": "pi", |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 248 | "args": [ |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 249 | "--logging_folder", |
| 250 | "", |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 251 | "--rotate_every", |
Austin Schuh | 96e816e | 2023-02-11 15:12:04 -0800 | [diff] [blame] | 252 | "60.0", |
| 253 | "--direct", |
| 254 | "--flush_size=4194304" |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 255 | ], |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 256 | "nodes": [ |
| 257 | "logger" |
| 258 | ] |
| 259 | }, |
| 260 | { |
| 261 | "name": "image_streamer", |
| 262 | "executable_name": "image_streamer_start.sh", |
milind-u | 8e98cb9 | 2023-02-05 16:07:10 -0800 | [diff] [blame] | 263 | "autostart": true, |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 264 | "user": "pi", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 265 | "nodes": [ |
| 266 | "logger" |
| 267 | ] |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 268 | }, |
| 269 | { |
| 270 | "name": "constants_sender", |
| 271 | "autorestart": false, |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 272 | "user": "pi", |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 273 | "nodes": [ |
| 274 | "logger" |
| 275 | ] |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 276 | }, |
| 277 | { |
James Kuszmaul | 910fbe4 | 2023-04-09 16:18:40 -0700 | [diff] [blame] | 278 | "name": "camera_monitor", |
| 279 | "executable_name": "camera_monitor", |
| 280 | "user": "pi", |
| 281 | "nodes": [ |
| 282 | "logger" |
| 283 | ] |
| 284 | }, |
| 285 | { |
Filip Kujawa | ec433e1 | 2023-04-09 19:58:59 -0700 | [diff] [blame] | 286 | "name": "game_pieces_detector_starter", |
| 287 | "executable_name": "game_pieces_detector_starter.sh", |
| 288 | "autostart": true, |
Filip Kujawa | 8c76e5d | 2023-04-08 16:20:27 -0700 | [diff] [blame] | 289 | "user": "pi", |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 290 | "nodes": [ |
| 291 | "logger" |
| 292 | ] |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 293 | } |
| 294 | ], |
| 295 | "nodes": [ |
| 296 | { |
| 297 | "name": "logger", |
Austin Schuh | fda8c6f | 2023-02-22 11:58:50 -0800 | [diff] [blame] | 298 | "hostname": "pi5", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 299 | "hostnames": [ |
Austin Schuh | fda8c6f | 2023-02-22 11:58:50 -0800 | [diff] [blame] | 300 | "pi-971-5", |
| 301 | "pi-9971-5", |
| 302 | "pi-7971-5" |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 303 | ], |
| 304 | "port": 9971 |
| 305 | }, |
| 306 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 307 | "name": "imu" |
| 308 | }, |
| 309 | { |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 310 | "name": "roborio" |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 311 | } |
| 312 | ] |
| 313 | } |