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", |
James Kuszmaul | a6681e2 | 2023-05-26 11:20:40 -0700 | [diff] [blame] | 74 | "max_size": 2048, |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 75 | "frequency": 10, |
| 76 | "num_senders": 2 |
| 77 | }, |
| 78 | { |
| 79 | "name": "/logger/aos", |
| 80 | "type": "aos.message_bridge.ClientStatistics", |
| 81 | "source_node": "logger", |
| 82 | "frequency": 20, |
| 83 | "max_size": 2000, |
| 84 | "num_senders": 2 |
| 85 | }, |
| 86 | { |
| 87 | "name": "/logger/aos", |
| 88 | "type": "aos.logging.DynamicLogCommand", |
| 89 | "source_node": "logger", |
| 90 | "frequency": 10, |
| 91 | "num_senders": 2 |
| 92 | }, |
| 93 | { |
| 94 | "name": "/logger/aos", |
| 95 | "type": "aos.starter.Status", |
| 96 | "source_node": "logger", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 97 | "frequency": 50, |
| 98 | "num_senders": 20, |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 99 | "max_size": 2000 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 100 | }, |
| 101 | { |
| 102 | "name": "/logger/aos", |
| 103 | "type": "aos.starter.StarterRpc", |
| 104 | "source_node": "logger", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 105 | "frequency": 10, |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 106 | "num_senders": 2 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 107 | }, |
| 108 | { |
| 109 | "name": "/logger/aos", |
| 110 | "type": "aos.message_bridge.Timestamp", |
| 111 | "source_node": "logger", |
| 112 | "frequency": 15, |
| 113 | "num_senders": 2, |
| 114 | "max_size": 400, |
| 115 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 116 | "logger_nodes": [ |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 117 | "imu", |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 118 | "roborio" |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 119 | ], |
| 120 | "destination_nodes": [ |
| 121 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 122 | "name": "imu", |
| 123 | "priority": 1, |
| 124 | "time_to_live": 5000000, |
| 125 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 126 | "timestamp_logger_nodes": [ |
| 127 | "logger" |
| 128 | ] |
| 129 | }, |
| 130 | { |
| 131 | "name": "roborio", |
| 132 | "priority": 1, |
| 133 | "time_to_live": 5000000, |
| 134 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 135 | "timestamp_logger_nodes": [ |
| 136 | "logger" |
| 137 | ] |
| 138 | } |
| 139 | ] |
| 140 | }, |
| 141 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 142 | "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp", |
| 143 | "type": "aos.message_bridge.RemoteMessage", |
| 144 | "source_node": "logger", |
| 145 | "logger": "NOT_LOGGED", |
| 146 | "frequency": 20, |
| 147 | "num_senders": 2, |
| 148 | "max_size": 200 |
| 149 | }, |
| 150 | { |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 151 | "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp", |
| 152 | "type": "aos.message_bridge.RemoteMessage", |
| 153 | "source_node": "logger", |
| 154 | "logger": "NOT_LOGGED", |
| 155 | "frequency": 20, |
| 156 | "num_senders": 2, |
| 157 | "max_size": 200 |
| 158 | }, |
| 159 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 160 | "name": "/logger/camera", |
| 161 | "type": "frc971.vision.CameraImage", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 162 | "source_node": "logger", |
Austin Schuh | fda8c6f | 2023-02-22 11:58:50 -0800 | [diff] [blame] | 163 | "frequency": 40, |
| 164 | "max_size": 1843456, |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 165 | "num_readers": 4, |
| 166 | "read_method": "PIN", |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 167 | "num_senders": 18 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 168 | }, |
| 169 | { |
milind-u | fd08c43 | 2023-02-05 15:15:21 -0800 | [diff] [blame] | 170 | "name": "/logger/camera/downsized", |
| 171 | "type": "frc971.vision.CameraImage", |
| 172 | "logger": "NOT_LOGGED", |
| 173 | "source_node": "logger", |
| 174 | "frequency": 40, |
| 175 | "max_size": 921744, |
| 176 | "num_readers": 4, |
| 177 | "read_method": "PIN", |
| 178 | "num_senders": 18 |
| 179 | }, |
| 180 | { |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 181 | "name": "/logger/constants", |
| 182 | "type": "y2023.Constants", |
| 183 | "source_node": "logger", |
| 184 | "frequency": 1, |
| 185 | "num_senders": 2, |
James Kuszmaul | 667b059 | 2023-02-25 16:32:59 -0800 | [diff] [blame] | 186 | "max_size": 65536 |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 187 | } |
| 188 | ], |
| 189 | "maps": [ |
| 190 | { |
| 191 | "match": { |
| 192 | "name": "/aos*", |
| 193 | "source_node": "logger" |
| 194 | }, |
| 195 | "rename": { |
| 196 | "name": "/logger/aos" |
| 197 | } |
| 198 | }, |
| 199 | { |
| 200 | "match": { |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 201 | "name": "/constants*", |
| 202 | "source_node": "logger" |
| 203 | }, |
| 204 | "rename": { |
| 205 | "name": "/logger/constants" |
| 206 | } |
| 207 | }, |
| 208 | { |
| 209 | "match": { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 210 | "name": "/camera*", |
| 211 | "source_node": "logger" |
| 212 | }, |
| 213 | "rename": { |
| 214 | "name": "/logger/camera" |
| 215 | } |
| 216 | } |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 217 | ], |
| 218 | "applications": [ |
| 219 | { |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 220 | "name": "message_bridge_client", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 221 | "nodes": [ |
| 222 | "logger" |
| 223 | ] |
| 224 | }, |
| 225 | { |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 226 | "name": "message_bridge_server", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 227 | "executable_name": "message_bridge_server", |
James Kuszmaul | 529a27f | 2023-02-23 14:23:14 -0800 | [diff] [blame] | 228 | "user": "pi", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 229 | "nodes": [ |
| 230 | "logger" |
| 231 | ] |
| 232 | }, |
| 233 | { |
Jim Ostrowski | ab5ba52 | 2023-02-12 17:34:28 -0800 | [diff] [blame] | 234 | "name": "logger_camera_reader", |
milind-u | fd08c43 | 2023-02-05 15:15:21 -0800 | [diff] [blame] | 235 | "executable_name": "camera_reader", |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 236 | "user": "pi", |
Jim Ostrowski | 1b3c8cf | 2023-03-03 21:17:20 -0800 | [diff] [blame] | 237 | "args": [ |
| 238 | "--enable_ftrace", |
Filip Kujawa | f3b8adb | 2023-04-07 21:00:49 -0700 | [diff] [blame] | 239 | "--send_downsized_images" |
Jim Ostrowski | 1b3c8cf | 2023-03-03 21:17:20 -0800 | [diff] [blame] | 240 | ], |
milind-u | fd08c43 | 2023-02-05 15:15:21 -0800 | [diff] [blame] | 241 | "nodes": [ |
| 242 | "logger" |
| 243 | ] |
| 244 | }, |
| 245 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 246 | "name": "image_logger", |
milind-u | a96c518 | 2023-03-10 23:31:11 -0800 | [diff] [blame] | 247 | "executable_name": "image_logger", |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 248 | "user": "pi", |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 249 | "args": [ |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 250 | "--logging_folder", |
| 251 | "", |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 252 | "--rotate_every", |
Austin Schuh | 96e816e | 2023-02-11 15:12:04 -0800 | [diff] [blame] | 253 | "60.0", |
| 254 | "--direct", |
| 255 | "--flush_size=4194304" |
Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 256 | ], |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 257 | "nodes": [ |
| 258 | "logger" |
| 259 | ] |
| 260 | }, |
| 261 | { |
| 262 | "name": "image_streamer", |
| 263 | "executable_name": "image_streamer_start.sh", |
milind-u | 8e98cb9 | 2023-02-05 16:07:10 -0800 | [diff] [blame] | 264 | "autostart": true, |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 265 | "user": "pi", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 266 | "nodes": [ |
| 267 | "logger" |
| 268 | ] |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 269 | }, |
| 270 | { |
| 271 | "name": "constants_sender", |
| 272 | "autorestart": false, |
James Kuszmaul | fa4121e | 2023-02-23 18:11:40 -0800 | [diff] [blame] | 273 | "user": "pi", |
James Kuszmaul | d67f6d2 | 2023-02-05 17:37:25 -0800 | [diff] [blame] | 274 | "nodes": [ |
| 275 | "logger" |
| 276 | ] |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 277 | }, |
| 278 | { |
James Kuszmaul | 910fbe4 | 2023-04-09 16:18:40 -0700 | [diff] [blame] | 279 | "name": "camera_monitor", |
| 280 | "executable_name": "camera_monitor", |
| 281 | "user": "pi", |
| 282 | "nodes": [ |
| 283 | "logger" |
| 284 | ] |
| 285 | }, |
| 286 | { |
Filip Kujawa | ec433e1 | 2023-04-09 19:58:59 -0700 | [diff] [blame] | 287 | "name": "game_pieces_detector_starter", |
| 288 | "executable_name": "game_pieces_detector_starter.sh", |
| 289 | "autostart": true, |
Filip Kujawa | 8c76e5d | 2023-04-08 16:20:27 -0700 | [diff] [blame] | 290 | "user": "pi", |
Filip Kujawa | 3004f20 | 2023-02-12 16:41:40 -0800 | [diff] [blame] | 291 | "nodes": [ |
| 292 | "logger" |
| 293 | ] |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 294 | } |
| 295 | ], |
| 296 | "nodes": [ |
| 297 | { |
| 298 | "name": "logger", |
Austin Schuh | fda8c6f | 2023-02-22 11:58:50 -0800 | [diff] [blame] | 299 | "hostname": "pi5", |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 300 | "hostnames": [ |
Austin Schuh | fda8c6f | 2023-02-22 11:58:50 -0800 | [diff] [blame] | 301 | "pi-971-5", |
| 302 | "pi-9971-5", |
| 303 | "pi-7971-5" |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 304 | ], |
| 305 | "port": 9971 |
| 306 | }, |
| 307 | { |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 308 | "name": "imu" |
| 309 | }, |
| 310 | { |
Austin Schuh | 9dd0e3b | 2023-03-26 23:30:26 -0700 | [diff] [blame] | 311 | "name": "roborio" |
Austin Schuh | 9f164e9 | 2022-12-29 16:15:28 -0800 | [diff] [blame] | 312 | } |
| 313 | ] |
| 314 | } |