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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / b403adc856df3a88a76288d725ed9c540ef4d089 / . / y2023 / y2023_roborio.json
blob: f10d901409a08e85887c521c1e0a7909d6489fc1 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes" : [
10 "imu",
11 "logger"
12 ],
13 "destination_nodes": [
14 {
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17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
22 },
23 {
24 "name": "logger",
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27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "roborio"
30 ]
31 }
32 ]
33 },
34 {
35 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "roborio",
38 "logger": "NOT_LOGGED",
39 "frequency": 200,
40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
44 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "roborio",
47 "logger": "NOT_LOGGED",
48 "frequency": 200,
49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
53 "name": "/roborio/aos",
54 "type": "aos.RobotState",
55 "source_node": "roborio",
56 "frequency": 200
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.timing.Report",
61 "source_node": "roborio",
62 "frequency": 50,
63 "num_senders": 20,
64 "max_size": 4096
65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.logging.LogMessageFbs",
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70 "frequency": 500,
71 "max_size": 344,
72 "num_senders": 20
73 },
74 {
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76 "type": "aos.starter.Status",
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81 "logger": "LOCAL_AND_REMOTE_LOGGER",
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91 "roborio"
92 ],
93 "time_to_live": 5000000
94 }
95 ]
96 },
97 {
98 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
99 "type": "aos.message_bridge.RemoteMessage",
100 "source_node": "roborio",
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105 },
106 {
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125 "time_to_live": 5000000
126 }
127 ]
128 },
129 {
130 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
131 "type": "aos.message_bridge.RemoteMessage",
132 "source_node": "roborio",
133 "logger": "NOT_LOGGED",
134 "frequency": 20,
135 "num_senders": 2,
136 "max_size": 200
137 },
138 {
139 "name": "/roborio/aos",
140 "type": "aos.message_bridge.ServerStatistics",
141 "source_node": "roborio",
142 "frequency": 10,
143 "num_senders": 2
144 },
145 {
146 "name": "/roborio/aos",
147 "type": "aos.message_bridge.ClientStatistics",
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150 "max_size": 2000,
151 "num_senders": 2
152 },
153 {
154 "name": "/roborio/aos",
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157 "frequency": 10,
158 "num_senders": 2
159 },
160 {
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162 "type": "aos.message_bridge.RemoteMessage",
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164 "source_node": "roborio"
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
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169 "frequency": 20,
170 "source_node": "roborio",
171 "max_size": 208
172 },
173 {
174 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
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177 "source_node": "roborio",
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179 },
180 {
181 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
182 "type": "aos.message_bridge.RemoteMessage",
183 "frequency": 20,
184 "source_node": "roborio"
185 },
186 {
187 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
188 "type": "aos.message_bridge.RemoteMessage",
189 "frequency": 20,
190 "source_node": "roborio"
191 },
192 {
193 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
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196 "source_node": "roborio",
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198 },
199 {
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206 "logger": "LOCAL_AND_REMOTE_LOGGER",
207 "logger_nodes": [
208 "imu"
209 ],
210 "destination_nodes": [
211 {
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214 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
215 "timestamp_logger_nodes": [
216 "roborio"
217 ],
218 "time_to_live": 5000000
219 },
220 {
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224 "timestamp_logger_nodes": [
225 "roborio"
226 ],
227 "time_to_live": 5000000
228 },
229 {
230 "name": "pi3",
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232 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
233 "timestamp_logger_nodes": [
234 "roborio"
235 ],
236 "time_to_live": 5000000
237 },
238 {
239 "name": "pi4",
240 "priority": 1,
241 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
242 "timestamp_logger_nodes": [
243 "roborio"
244 ],
245 "time_to_live": 5000000
246 },
247 {
248 "name": "imu",
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250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
252 "roborio"
253 ],
254 "time_to_live": 5000000
255 }
256 ]
257 },
258 {
259 "name": "/drivetrain",
260 "type": "frc971.sensors.GyroReading",
261 "source_node": "roborio",
262 "frequency": 200,
263 "num_senders": 2
264 },
265 {
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267 "type": "frc971.sensors.Uid",
268 "source_node": "roborio",
269 "frequency": 200,
270 "num_senders": 2
271 },
272 {
273 "name": "/drivetrain",
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275 "source_node": "roborio",
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277 "frequency": 10,
278 "logger": "NOT_LOGGED",
279 "num_senders": 2,
280 "read_method": "PIN",
281 "num_readers": 10
282 },
283 {
284 "name": "/drivetrain",
285 "type": "frc971.control_loops.drivetrain.SplineGoal",
286 "source_node": "roborio",
287 "frequency": 10
288 },
289 {
290 "name": "/drivetrain",
291 "type": "frc971.control_loops.drivetrain.Goal",
292 "source_node": "roborio",
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294 "frequency": 200
295 },
296 {
297 "name": "/drivetrain",
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299 "source_node": "roborio",
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302 "num_senders": 2
303 },
304 {
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310 "num_senders": 2,
311 "logger": "LOCAL_AND_REMOTE_LOGGER",
312 "logger_nodes": [
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314 ],
315 "destination_nodes": [
316 {
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320 "timestamp_logger_nodes": [
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322 ],
323 "time_to_live": 5000000
324 }
325 ]
326 },
327 {
328 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
329 "type": "aos.message_bridge.RemoteMessage",
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331 "logger": "NOT_LOGGED",
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333 "num_senders": 2,
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335 },
336 {
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341 "max_size": 1616,
342 "num_senders": 2
343 },
344 {
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349 "max_size": 96,
350 "logger": "LOCAL_AND_REMOTE_LOGGER",
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353 ],
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359 "timestamp_logger_nodes": [
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361 ],
362 "time_to_live": 0
363 }
364 ]
365 },
366 {
367 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
368 "type": "aos.message_bridge.RemoteMessage",
369 "source_node": "roborio",
370 "logger": "NOT_LOGGED",
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372 "num_senders": 2,
373 "max_size": 200
374 },
375 {
376 "name": "/drivetrain",
377 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
378 "source_node": "roborio"
379 },
380 {
381 "name": "/autonomous",
382 "type": "aos.common.actions.Status",
383 "source_node": "roborio"
384 },
385 {
386 "name": "/autonomous",
387 "type": "frc971.autonomous.Goal",
388 "source_node": "roborio"
389 },
390 {
391 "name": "/autonomous",
392 "type": "frc971.autonomous.AutonomousMode",
393 "source_node": "roborio",
394 "frequency": 200
395 },
396 {
397 "name": "/roborio/aos",
398 "type": "frc971.PDPValues",
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400 "frequency": 55,
401 "max_size": 368
402 },
403 {
404 "name": "/roborio/aos",
405 "type": "frc971.wpilib.PneumaticsToLog",
406 "source_node": "roborio",
407 "frequency": 50
408 }
409 ],
410 "applications": [
411 {
412 "name": "drivetrain",
413 "executable_name": "drivetrain",
414 "nodes": [
415 "roborio"
416 ]
417 },
418 {
419 "name": "trajectory_generator",
420 "executable_name": "trajectory_generator",
421 "nodes": [
422 "roborio"
423 ]
424 },
425 {
426 "name": "joystick_reader",
427 "executable_name": "joystick_reader",
428 "nodes": [
429 "roborio"
430 ]
431 },
432 {
433 "name": "wpilib_interface",
434 "executable_name": "wpilib_interface",
435 "nodes": [
436 "roborio"
437 ]
438 },
439 {
440 "name": "autonomous_action",
441 "executable_name": "autonomous_action",
442 "nodes": [
443 "roborio"
444 ]
445 },
446 {
447 "name": "web_proxy",
448 "executable_name": "web_proxy_main",
449 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
450 "nodes": [
451 "roborio"
452 ]
453 },
454 {
455 "name": "roborio_message_bridge_client",
456 "executable_name": "message_bridge_client",
457 "args": ["--rt_priority=16"],
458 "nodes": [
459 "roborio"
460 ]
461 },
462 {
463 "name": "message_bridge_server",
464 "executable_name": "message_bridge_server",
465 "args": ["--rt_priority=16"],
466 "nodes": [
467 "roborio"
468 ]
469 },
470 {
471 "name": "logger",
472 "executable_name": "logger_main",
473 "args": ["--snappy_compress"],
474 "nodes": [
475 "roborio"
476 ]
477 }
478 ],
479 "maps": [
480 {
481 "match": {
482 "name": "/aos*",
483 "source_node": "roborio"
484 },
485 "rename": {
486 "name": "/roborio/aos"
487 }
488 }
489 ],
490 "nodes": [
491 {
492 "name": "roborio",
493 "hostname": "roborio",
494 "hostnames": [
495 "roboRIO-971-FRC",
496 "roboRIO-6971-FRC",
497 "roboRIO-7971-FRC",
498 "roboRIO-8971-FRC",
499 "roboRIO-9971-FRC"
500 ],
501 "port": 9971
502 },
503 {
504 "name": "imu"
505 },
506 {
507 "name": "logger"
508 },
509 {
510 "name": "pi1"
511 },
512 {
513 "name": "pi2"
514 },
515 {
516 "name": "pi3"
517 },
518 {
519 "name": "pi4"
520 }
521 ]
522}