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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / a9550c0b62dcfccb17eaa340f947acf8bd486fd8 / . / y2023 / y2023_imu.json
blob: 667e569753b1808d6b03c0fe65c30892bc873b54 [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",
James Kuszmaula6681e22023-05-26 11:20:40 -0700[diff] [blame]143 "max_size": 2048,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]144 "frequency": 10,
145 "num_senders": 2
146 },
147 {
148 "name": "/imu/aos",
149 "type": "aos.message_bridge.ClientStatistics",
150 "source_node": "imu",
151 "frequency": 20,
152 "num_senders": 2
153 },
154 {
155 "name": "/imu/aos",
156 "type": "aos.logging.DynamicLogCommand",
157 "source_node": "imu",
158 "frequency": 10,
159 "num_senders": 2
160 },
161 {
162 "name": "/imu/aos",
163 "type": "aos.message_bridge.Timestamp",
164 "source_node": "imu",
165 "frequency": 15,
166 "num_senders": 2,
167 "logger": "LOCAL_AND_REMOTE_LOGGER",
168 "logger_nodes": [
169 "roborio",
170 "logger"
171 ],
172 "max_size": 400,
173 "destination_nodes": [
174 {
175 "name": "roborio",
176 "priority": 1,
177 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
178 "timestamp_logger_nodes": [
179 "imu"
180 ],
181 "time_to_live": 5000000
182 },
183 {
184 "name": "logger",
185 "priority": 1,
186 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
187 "timestamp_logger_nodes": [
188 "imu"
189 ],
190 "time_to_live": 5000000
191 }
192 ]
193 },
194 {
195 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
196 "type": "aos.message_bridge.RemoteMessage",
197 "frequency": 20,
198 "source_node": "imu",
199 "max_size": 208
200 },
201 {
202 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
203 "type": "aos.message_bridge.RemoteMessage",
204 "frequency": 20,
205 "source_node": "imu",
206 "max_size": 208
207 },
208 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]209 "name": "/roborio/aos",
210 "type": "aos.starter.StarterRpc",
211 "source_node": "roborio",
212 "logger": "LOCAL_AND_REMOTE_LOGGER",
213 "logger_nodes": [
214 "imu"
215 ],
216 "destination_nodes": [
217 {
218 "name": "imu",
219 "priority": 5,
220 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
221 "timestamp_logger_nodes": [
222 "roborio"
223 ],
224 "time_to_live": 5000000
225 }
226 ]
227 },
228 {
229 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
230 "type": "aos.message_bridge.RemoteMessage",
231 "source_node": "roborio",
232 "logger": "NOT_LOGGED",
233 "frequency": 20,
234 "num_senders": 2,
235 "max_size": 200
236 },
237 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]238 "name": "/localizer",
239 "type": "frc971.IMUValuesBatch",
240 "source_node": "imu",
241 "frequency": 2200,
242 "max_size": 1600,
243 "num_senders": 2
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]244 },
245 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]246 "name": "/localizer",
247 "type": "y2023.localizer.Status",
248 "source_node": "imu",
249 "frequency": 2200,
milind-ub45c6d92023-03-11 18:56:15 -0800[diff] [blame]250 "max_size": 1504,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]251 "num_senders": 2
252 },
253 {
254 "name": "/localizer",
255 "type": "frc971.controls.LocalizerOutput",
256 "source_node": "imu",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]257 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]258 "logger": "LOCAL_AND_REMOTE_LOGGER",
259 "logger_nodes": [
260 "roborio"
261 ],
262 "destination_nodes": [
263 {
264 "name": "roborio",
265 "priority": 5,
266 "time_to_live": 5000000,
267 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
268 "timestamp_logger_nodes": [
269 "imu"
270 ]
271 }
272 ]
273 },
274 {
275 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
276 "type": "aos.message_bridge.RemoteMessage",
277 "source_node": "imu",
278 "logger": "NOT_LOGGED",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]279 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]280 "num_senders": 2,
281 "max_size": 200
282 },
283 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]284 "name": "/imu/constants",
285 "type": "y2023.Constants",
286 "source_node": "imu",
287 "frequency": 1,
288 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800[diff] [blame]289 "max_size": 65536
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]290 }
291 ],
292 "applications": [
293 {
294 "name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]295 "nodes": [
296 "imu"
297 ]
298 },
299 {
300 "name": "localizer",
301 "executable_name": "localizer_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]302 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]303 "nodes": [
304 "imu"
305 ]
306 },
307 {
308 "name": "imu",
309 "executable_name": "imu_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]310 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]311 "nodes": [
312 "imu"
313 ]
314 },
315 {
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]316 "name": "joystick_republish",
317 "executable_name": "joystick_republish",
318 "user": "pi",
319 "nodes": [
320 "imu"
321 ]
322 },
323 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]324 "name": "message_bridge_server",
325 "executable_name": "message_bridge_server",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]326 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]327 "nodes": [
328 "imu"
329 ]
330 },
331 {
332 "name": "localizer_logger",
333 "executable_name": "logger_main",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]334 "args": [
335 "--logging_folder",
336 "",
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]337 "--snappy_compress",
338 "--rotate_every", "30.0"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]339 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]340 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]341 "nodes": [
342 "imu"
343 ]
344 },
345 {
346 "name": "web_proxy",
347 "executable_name": "web_proxy_main",
Austin Schuh8313a9e2023-03-22 20:22:37 -0700[diff] [blame]348 "args": [
349 "--min_ice_port=5800",
350 "--max_ice_port=5810"
351 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]352 "user": "pi",
353 "nodes": [
354 "imu"
355 ]
356 },
357 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]358 "name": "foxglove_websocket",
359 "user": "pi",
360 "nodes": [
361 "imu"
362 ]
363 },
364 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]365 "name": "constants_sender",
366 "autorestart": false,
367 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]368 "nodes": [
369 "imu"
370 ]
371 }
372 ],
373 "maps": [
374 {
375 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]376 "name": "/constants*",
377 "source_node": "imu"
378 },
379 "rename": {
380 "name": "/imu/constants"
381 }
382 },
383 {
384 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]385 "name": "/aos*",
386 "source_node": "imu"
387 },
388 "rename": {
389 "name": "/imu/aos"
390 }
391 }
392 ],
393 "nodes": [
394 {
395 "name": "imu",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]396 "hostname": "pi6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]397 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]398 "pi-971-6",
399 "pi-7971-6",
400 "pi-8971-6",
401 "pi-9971-6"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]402 ],
403 "port": 9971
404 },
405 {
406 "name": "logger"
407 },
408 {
409 "name": "roborio"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]410 },
411 {
412 "name": "pi1"
413 },
414 {
415 "name": "pi2"
416 },
417 {
418 "name": "pi3"
419 },
420 {
421 "name": "pi4"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]422 }
423 ]
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]424}