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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / ad31234709c33dbc3d78ca344bd0e077896ec8e5 / . / y2023 / y2023_roborio.json
blob: 4c5b282d796de79d853dd2744415454245c974a5 [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 {
15 "name": "imu",
16 "priority": 5,
17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
22 },
23 {
24 "name": "logger",
25 "priority": 5,
26 "time_to_live": 50000000,
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",
69 "source_node": "roborio",
70 "frequency": 500,
71 "max_size": 344,
72 "num_senders": 20
73 },
74 {
75 "name": "/roborio/aos",
76 "type": "aos.starter.Status",
77 "source_node": "roborio",
78 "frequency": 50,
79 "num_senders": 20,
80 "max_size": 2000,
81 "logger": "LOCAL_AND_REMOTE_LOGGER",
82 "logger_nodes": [
83 "logger"
84 ],
85 "destination_nodes": [
86 {
87 "name": "logger",
88 "priority": 5,
89 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
90 "timestamp_logger_nodes": [
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",
101 "logger": "NOT_LOGGED",
102 "frequency": 20,
103 "num_senders": 2,
104 "max_size": 200
105 },
106 {
107 "name": "/roborio/aos",
108 "type": "aos.starter.StarterRpc",
109 "source_node": "roborio",
110 "frequency": 10,
111 "max_size": 400,
112 "num_senders": 2,
113 "logger": "LOCAL_AND_REMOTE_LOGGER",
114 "logger_nodes": [
115 "logger"
116 ],
117 "destination_nodes": [
118 {
119 "name": "logger",
120 "priority": 5,
121 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
122 "timestamp_logger_nodes": [
123 "roborio"
124 ],
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",
148 "source_node": "roborio",
149 "frequency": 20,
150 "max_size": 2000,
151 "num_senders": 2
152 },
153 {
154 "name": "/roborio/aos",
155 "type": "aos.logging.DynamicLogCommand",
156 "source_node": "roborio",
157 "frequency": 10,
158 "num_senders": 2
159 },
160 {
161 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
162 "type": "aos.message_bridge.RemoteMessage",
163 "frequency": 200,
164 "source_node": "roborio"
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
168 "type": "aos.message_bridge.RemoteMessage",
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",
175 "type": "aos.message_bridge.RemoteMessage",
176 "frequency": 20,
177 "source_node": "roborio",
178 "max_size": 208
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",
194 "type": "aos.message_bridge.RemoteMessage",
195 "frequency": 20,
196 "source_node": "roborio",
197 "max_size": 208
198 },
199 {
200 "name": "/roborio/aos",
201 "type": "aos.message_bridge.Timestamp",
202 "source_node": "roborio",
203 "frequency": 15,
204 "num_senders": 2,
205 "max_size": 512,
206 "logger": "LOCAL_AND_REMOTE_LOGGER",
207 "logger_nodes": [
208 "imu"
209 ],
210 "destination_nodes": [
211 {
212 "name": "pi1",
213 "priority": 1,
214 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
215 "timestamp_logger_nodes": [
216 "roborio"
217 ],
218 "time_to_live": 5000000
219 },
220 {
221 "name": "pi2",
222 "priority": 1,
223 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
224 "timestamp_logger_nodes": [
225 "roborio"
226 ],
227 "time_to_live": 5000000
228 },
229 {
230 "name": "pi3",
231 "priority": 1,
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",
249 "priority": 1,
250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
252 "roborio"
253 ],
254 "time_to_live": 5000000
255 }
256 ]
257 },
258 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame^]259 "name": "/superstructure",
260 "type": "y2023.control_loops.superstructure.Goal",
261 "source_node": "roborio",
262 "frequency": 200,
263 "max_size": 512
264 },
265 {
266 "name": "/superstructure",
267 "type": "y2023.control_loops.superstructure.Status",
268 "source_node": "roborio",
269 "frequency": 400,
270 "num_senders": 2
271 },
272 {
273 "name": "/superstructure",
274 "type": "y2023.control_loops.superstructure.Output",
275 "source_node": "roborio",
276 "frequency": 200,
277 "num_senders": 2,
278 "max_size": 224
279 },
280 {
281 "name": "/superstructure",
282 "type": "y2023.control_loops.superstructure.Position",
283 "source_node": "roborio",
284 "frequency": 200,
285 "num_senders": 2,
286 "max_size": 448
287 },
288 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]289 "name": "/drivetrain",
290 "type": "frc971.sensors.GyroReading",
291 "source_node": "roborio",
292 "frequency": 200,
293 "num_senders": 2
294 },
295 {
296 "name": "/drivetrain",
297 "type": "frc971.sensors.Uid",
298 "source_node": "roborio",
299 "frequency": 200,
300 "num_senders": 2
301 },
302 {
303 "name": "/drivetrain",
304 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
305 "source_node": "roborio",
306 "max_size": 600000,
307 "frequency": 10,
308 "logger": "NOT_LOGGED",
309 "num_senders": 2,
310 "read_method": "PIN",
311 "num_readers": 10
312 },
313 {
314 "name": "/drivetrain",
315 "type": "frc971.control_loops.drivetrain.SplineGoal",
316 "source_node": "roborio",
317 "frequency": 10
318 },
319 {
320 "name": "/drivetrain",
321 "type": "frc971.control_loops.drivetrain.Goal",
322 "source_node": "roborio",
323 "max_size": 224,
324 "frequency": 200
325 },
326 {
327 "name": "/drivetrain",
328 "type": "frc971.control_loops.drivetrain.Position",
329 "source_node": "roborio",
330 "frequency": 400,
331 "max_size": 112,
332 "num_senders": 2
333 },
334 {
335 "name": "/drivetrain",
336 "type": "frc971.control_loops.drivetrain.Output",
337 "source_node": "roborio",
338 "frequency": 400,
339 "max_size": 80,
340 "num_senders": 2,
341 "logger": "LOCAL_AND_REMOTE_LOGGER",
342 "logger_nodes": [
343 "imu"
344 ],
345 "destination_nodes": [
346 {
347 "name": "imu",
348 "priority": 5,
349 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
350 "timestamp_logger_nodes": [
351 "imu"
352 ],
353 "time_to_live": 5000000
354 }
355 ]
356 },
357 {
358 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
359 "type": "aos.message_bridge.RemoteMessage",
360 "source_node": "roborio",
361 "logger": "NOT_LOGGED",
362 "frequency": 400,
363 "num_senders": 2,
364 "max_size": 200
365 },
366 {
367 "name": "/drivetrain",
368 "type": "frc971.control_loops.drivetrain.Status",
369 "source_node": "roborio",
370 "frequency": 400,
371 "max_size": 1616,
372 "num_senders": 2
373 },
374 {
375 "name": "/drivetrain",
376 "type": "frc971.control_loops.drivetrain.LocalizerControl",
377 "source_node": "roborio",
378 "frequency": 200,
379 "max_size": 96,
380 "logger": "LOCAL_AND_REMOTE_LOGGER",
381 "logger_nodes": [
382 "imu"
383 ],
384 "destination_nodes": [
385 {
386 "name": "imu",
387 "priority": 5,
388 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
389 "timestamp_logger_nodes": [
390 "imu"
391 ],
392 "time_to_live": 0
393 }
394 ]
395 },
396 {
397 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
398 "type": "aos.message_bridge.RemoteMessage",
399 "source_node": "roborio",
400 "logger": "NOT_LOGGED",
401 "frequency": 400,
402 "num_senders": 2,
403 "max_size": 200
404 },
405 {
406 "name": "/drivetrain",
407 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
408 "source_node": "roborio"
409 },
410 {
411 "name": "/autonomous",
412 "type": "aos.common.actions.Status",
413 "source_node": "roborio"
414 },
415 {
416 "name": "/autonomous",
417 "type": "frc971.autonomous.Goal",
418 "source_node": "roborio"
419 },
420 {
421 "name": "/autonomous",
422 "type": "frc971.autonomous.AutonomousMode",
423 "source_node": "roborio",
424 "frequency": 200
425 },
426 {
427 "name": "/roborio/aos",
428 "type": "frc971.PDPValues",
429 "source_node": "roborio",
430 "frequency": 55,
431 "max_size": 368
432 },
433 {
434 "name": "/roborio/aos",
435 "type": "frc971.wpilib.PneumaticsToLog",
436 "source_node": "roborio",
437 "frequency": 50
438 }
439 ],
440 "applications": [
441 {
442 "name": "drivetrain",
443 "executable_name": "drivetrain",
444 "nodes": [
445 "roborio"
446 ]
447 },
448 {
449 "name": "trajectory_generator",
450 "executable_name": "trajectory_generator",
451 "nodes": [
452 "roborio"
453 ]
454 },
455 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame^]456 "name": "superstructure",
457 "executable_name": "superstructure",
458 "nodes": [
459 "roborio"
460 ]
461 },
462 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]463 "name": "joystick_reader",
464 "executable_name": "joystick_reader",
465 "nodes": [
466 "roborio"
467 ]
468 },
469 {
470 "name": "wpilib_interface",
471 "executable_name": "wpilib_interface",
472 "nodes": [
473 "roborio"
474 ]
475 },
476 {
477 "name": "autonomous_action",
478 "executable_name": "autonomous_action",
479 "nodes": [
480 "roborio"
481 ]
482 },
483 {
484 "name": "web_proxy",
485 "executable_name": "web_proxy_main",
486 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
487 "nodes": [
488 "roborio"
489 ]
490 },
491 {
492 "name": "roborio_message_bridge_client",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame^]493 "executable_name": "message_bridge_client.sh",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]494 "args": ["--rt_priority=16"],
495 "nodes": [
496 "roborio"
497 ]
498 },
499 {
500 "name": "message_bridge_server",
501 "executable_name": "message_bridge_server",
502 "args": ["--rt_priority=16"],
503 "nodes": [
504 "roborio"
505 ]
506 },
507 {
508 "name": "logger",
509 "executable_name": "logger_main",
510 "args": ["--snappy_compress"],
511 "nodes": [
512 "roborio"
513 ]
514 }
515 ],
516 "maps": [
517 {
518 "match": {
519 "name": "/aos*",
520 "source_node": "roborio"
521 },
522 "rename": {
523 "name": "/roborio/aos"
524 }
525 }
526 ],
527 "nodes": [
528 {
529 "name": "roborio",
530 "hostname": "roborio",
531 "hostnames": [
532 "roboRIO-971-FRC",
533 "roboRIO-6971-FRC",
534 "roboRIO-7971-FRC",
535 "roboRIO-8971-FRC",
536 "roboRIO-9971-FRC"
537 ],
538 "port": 9971
539 },
540 {
541 "name": "imu"
542 },
543 {
544 "name": "logger"
545 },
546 {
547 "name": "pi1"
548 },
549 {
550 "name": "pi2"
551 },
552 {
553 "name": "pi3"
554 },
555 {
556 "name": "pi4"
557 }
558 ]
559}