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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / bdb541036bab8361ea6a1f8a85a88c3140b2abe4 / . / y2020 / y2020.json
blob: 5975807ab67b0534f2279efb5c6fd87cb7779f48 [file] [log] [blame]
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]1{
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]2 "channel_storage_duration": 5000000000,
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]3 "channels":
4 [
5 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]6 "name": "/aos/roborio",
7 "type": "aos.JoystickState",
8 "source_node": "roborio",
9 "frequency": 75
10 },
11 {
12 "name": "/aos/roborio",
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16 "destination_nodes": [
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21 "time_to_live": 10000000
22 },
23 {
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26 "timestamp_logger": "LOCAL_LOGGER",
27 "time_to_live": 10000000
28 },
29 {
30 "name": "pi3",
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32 "timestamp_logger": "LOCAL_LOGGER",
33 "time_to_live": 10000000
34 }
35 ]
36 },
37 {
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45 {
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50 "num_senders": 20
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52 {
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56 "frequency": 2,
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59 {
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61 "type": "aos.message_bridge.ClientStatistics",
62 "source_node": "roborio",
James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame]63 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]64 "num_senders": 2
65 },
66 {
67 "name": "/aos/roborio",
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James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame]117 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]118 "num_senders": 2
119 },
120 {
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132 }
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143 {
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James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame]161 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]162 "num_senders": 2
163 },
164 {
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176 }
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179 {
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James Kuszmaul2d8fa2a2020-03-01 13:51:50 -0800[diff] [blame]205 "frequency": 10,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]206 "num_senders": 2
207 },
208 {
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219 "time_to_live": 5000000
220 }
221 ]
222 },
223 {
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]224 "name": "/superstructure",
225 "type": "y2020.control_loops.superstructure.Goal",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]226 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]227 "frequency": 200
228 },
229 {
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Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]232 "source_node": "roborio",
233 "frequency": 200,
234 "num_senders": 2
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]235 },
236 {
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238 "type": "y2020.control_loops.superstructure.Output",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]239 "source_node": "roborio",
240 "frequency": 200,
241 "num_senders": 2
James Kuszmaula244a912020-01-18 13:50:50 -0800[diff] [blame]242 },
243 {
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]244 "name": "/superstructure",
245 "type": "y2020.control_loops.superstructure.Position",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]246 "source_node": "roborio",
247 "frequency": 200,
248 "num_senders": 2
249 },
250 {
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256 },
257 {
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262 "num_senders": 2
263 },
264 {
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270 },
271 {
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274 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]275 "frequency": 200
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]276 },
277 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]278 "name": "/drivetrain",
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292 {
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299 {
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304 },
305 {
306 "name": "/drivetrain",
307 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
308 "source_node": "roborio"
309 },
310 {
311 "name": "/pi1/camera",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]312 "type": "frc971.vision.CameraImage",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]313 "source_node": "pi1",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]314 "frequency": 25,
315 "max_size": 620000,
316 "num_senders": 18
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]317 },
318 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]319 "name": "/pi1/camera",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]320 "type": "frc971.vision.sift.ImageMatchResult",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]321 "source_node": "pi1",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]322 "frequency": 25,
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]323 "max_size": 10000,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]324 "destination_nodes": [
325 {
326 "name": "roborio",
327 "priority": 1,
328 "time_to_live": 5000000
329 }
330 ]
331 },
332 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]333 "name": "/pi1/camera/detailed",
334 "type": "frc971.vision.sift.ImageMatchResult",
335 "source_node": "pi1",
336 "frequency": 25,
Jim Ostrowskibdb54102020-03-04 22:01:49 -0800[diff] [blame^]337 "max_size": 1000000
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]338 },
339 {
Brian Silverman62956e72020-02-26 21:04:05 -0800[diff] [blame]340 "name": "/pi1/camera",
341 "type": "frc971.vision.sift.TrainingData",
342 "source_node": "pi1",
343 "frequency": 2,
344 "max_size": 2000000
345 },
346 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]347 "name": "/pi2/camera",
348 "type": "frc971.vision.CameraImage",
349 "source_node": "pi2",
350 "frequency": 25,
351 "max_size": 620000,
352 "num_senders": 18
353 },
354 {
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357 "source_node": "pi2",
358 "frequency": 25,
359 "max_size": 300000,
360 "destination_nodes": [
361 {
362 "name": "roborio",
363 "priority": 1,
364 "time_to_live": 5000000
365 }
366 ]
367 },
368 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]369 "name": "/pi2/camera/detailed",
370 "type": "frc971.vision.sift.ImageMatchResult",
371 "source_node": "pi2",
372 "frequency": 25,
Jim Ostrowskibdb54102020-03-04 22:01:49 -0800[diff] [blame^]373 "max_size": 1000000
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]374 },
375 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]376 "name": "/pi2/camera",
377 "type": "frc971.vision.sift.TrainingData",
378 "source_node": "pi2",
379 "frequency": 2,
380 "max_size": 2000000
381 },
382 {
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]383 "name": "/pi3/camera",
384 "type": "frc971.vision.CameraImage",
385 "source_node": "pi3",
386 "frequency": 25,
387 "max_size": 620000,
388 "num_senders": 18
389 },
390 {
391 "name": "/pi3/camera",
392 "type": "frc971.vision.sift.ImageMatchResult",
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394 "frequency": 25,
395 "max_size": 10000,
396 "destination_nodes": [
397 {
398 "name": "roborio",
399 "priority": 1,
400 "time_to_live": 5000000
401 }
402 ]
403 },
404 {
405 "name": "/pi3/camera/detailed",
406 "type": "frc971.vision.sift.ImageMatchResult",
407 "source_node": "pi3",
408 "frequency": 25,
Jim Ostrowskibdb54102020-03-04 22:01:49 -0800[diff] [blame^]409 "max_size": 1000000
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]410 },
411 {
412 "name": "/pi3/camera",
413 "type": "frc971.vision.sift.TrainingData",
414 "source_node": "pi3",
415 "frequency": 2,
416 "max_size": 2000000
417 },
418 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]419 "name": "/autonomous",
420 "type": "aos.common.actions.Status",
421 "source_node": "roborio"
422 },
423 {
424 "name": "/autonomous",
425 "type": "frc971.autonomous.Goal",
426 "source_node": "roborio"
427 },
428 {
429 "name": "/autonomous",
430 "type": "frc971.autonomous.AutonomousMode",
431 "source_node": "roborio",
432 "frequency": 200
433 },
434 {
435 "name": "/aos/roborio",
436 "type": "frc971.PDPValues",
437 "source_node": "roborio",
438 "frequency": 50
439 },
440 {
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442 "type": "frc971.wpilib.PneumaticsToLog",
443 "source_node": "roborio",
444 "frequency": 50
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]445 }
446 ],
447 "applications": [
448 {
449 "name": "drivetrain"
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]450 },
451 {
452 "name": "camera_reader"
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]453 }
454 ],
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]455 "maps": [
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464 },
465 {
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472 }
473 },
474 {
475 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]476 "name": "/camera",
477 "source_node": "pi1"
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479 "rename": {
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481 }
482 },
483 {
484 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]485 "name": "/camera/detailed",
486 "source_node": "pi1"
487 },
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489 "name": "/pi1/camera/detailed"
490 }
491 },
492 {
493 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]494 "name": "/aos",
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498 "name": "/aos/pi2"
499 }
500 },
501 {
502 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]503 "name": "/camera",
504 "source_node": "pi2"
505 },
506 "rename": {
507 "name": "/pi2/camera"
508 }
509 },
510 {
511 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]512 "name": "/camera/detailed",
513 "source_node": "pi2"
514 },
515 "rename": {
516 "name": "/pi2/camera/detailed"
517 }
518 },
519 {
520 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]521 "name": "/aos",
522 "source_node": "pi3"
523 },
524 "rename": {
525 "name": "/aos/pi3"
526 }
527 },
528 {
529 "match": {
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]530 "name": "/camera",
531 "source_node": "pi3"
532 },
533 "rename": {
534 "name": "/pi3/camera"
535 }
536 },
537 {
538 "match": {
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541 },
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543 "name": "/pi3/camera/detailed"
544 }
545 },
546 {
547 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]548 "name": "/aos",
549 "type": "aos.RobotState"
550 },
551 "rename": {
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553 }
554 }
555 ],
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586 "pi-9971-2"
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590 {
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597 "pi-9971-3"
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599 "port": 9971
600 }
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]601 ]
602}