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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 1f2996ede0f352b25ab8a903f0988ee9b8ecd697 / . / y2020 / y2020.json
blob: 285a23da226816e897f709d759335e6d815429d8 [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",
13 "type": "aos.RobotState",
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15 "frequency": 200,
16 "destination_nodes": [
17 {
18 "name": "pi1",
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20 "timestamp_logger": "LOCAL_LOGGER",
21 "time_to_live": 10000000
22 },
23 {
24 "name": "pi2",
25 "priority": 2,
26 "timestamp_logger": "LOCAL_LOGGER",
27 "time_to_live": 10000000
28 },
29 {
30 "name": "pi3",
31 "priority": 2,
32 "timestamp_logger": "LOCAL_LOGGER",
33 "time_to_live": 10000000
34 }
35 ]
36 },
37 {
38 "name": "/aos/roborio",
39 "type": "aos.timing.Report",
40 "source_node": "roborio",
41 "frequency": 50,
42 "num_senders": 20,
43 "max_size": 2048
44 },
45 {
46 "name": "/aos/roborio",
47 "type": "aos.logging.LogMessageFbs",
48 "source_node": "roborio",
James Kuszmaul1bce5772020-03-08 22:13:50 -0700[diff] [blame]49 "frequency": 400,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]50 "num_senders": 20
51 },
52 {
53 "name": "/aos/roborio",
54 "type": "aos.message_bridge.ServerStatistics",
55 "source_node": "roborio",
56 "frequency": 2,
57 "num_senders": 2
58 },
59 {
60 "name": "/aos/roborio",
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",
68 "type": "aos.message_bridge.Timestamp",
69 "source_node": "roborio",
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78 },
79 {
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83 },
84 {
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88 }
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90 },
91 {
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98 },
99 {
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105 },
106 {
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112 },
113 {
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116 "source_node": "pi1",
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 {
121 "name": "/aos/pi1",
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128 {
129 "name": "roborio",
130 "priority": 1,
131 "time_to_live": 5000000
132 }
133 ]
134 },
135 {
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137 "type": "aos.timing.Report",
138 "source_node": "pi2",
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140 "num_senders": 20,
141 "max_size": 2048
142 },
143 {
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147 "frequency": 200,
148 "num_senders": 20
149 },
150 {
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154 "frequency": 2,
155 "num_senders": 2
156 },
157 {
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159 "type": "aos.message_bridge.ClientStatistics",
160 "source_node": "pi2",
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 {
165 "name": "/aos/pi2",
166 "type": "aos.message_bridge.Timestamp",
167 "source_node": "pi2",
168 "frequency": 10,
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171 "destination_nodes": [
172 {
173 "name": "roborio",
174 "priority": 1,
175 "time_to_live": 5000000
176 }
177 ]
178 },
179 {
180 "name": "/aos/pi3",
181 "type": "aos.timing.Report",
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183 "frequency": 50,
184 "num_senders": 20,
185 "max_size": 2048
186 },
187 {
188 "name": "/aos/pi3",
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191 "frequency": 200,
192 "num_senders": 20
193 },
194 {
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196 "type": "aos.message_bridge.ServerStatistics",
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198 "frequency": 2,
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200 },
201 {
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203 "type": "aos.message_bridge.ClientStatistics",
204 "source_node": "pi3",
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 {
209 "name": "/aos/pi3",
210 "type": "aos.message_bridge.Timestamp",
211 "source_node": "pi3",
212 "frequency": 10,
213 "num_senders": 2,
214 "max_size": 200,
215 "destination_nodes": [
216 {
217 "name": "roborio",
218 "priority": 1,
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 {
230 "name": "/superstructure",
231 "type": "y2020.control_loops.superstructure.Status",
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 {
237 "name": "/superstructure",
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 {
Austin Schuhd58b2902020-03-01 19:28:04 -0800[diff] [blame]251 "name": "/superstructure",
252 "type": "y2020.joysticks.Setpoint",
253 "source_node": "roborio",
254 "num_senders": 2
255 },
256 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]257 "name": "/drivetrain",
258 "type": "frc971.IMUValues",
259 "source_node": "roborio",
260 "frequency": 2000,
261 "num_senders": 2
262 },
263 {
264 "name": "/drivetrain",
265 "type": "frc971.sensors.GyroReading",
266 "source_node": "roborio",
267 "frequency": 200,
268 "num_senders": 2
269 },
270 {
271 "name": "/drivetrain",
272 "type": "frc971.sensors.Uid",
273 "source_node": "roborio",
274 "frequency": 200,
275 "num_senders": 2
276 },
277 {
278 "name": "/drivetrain",
279 "type": "frc971.control_loops.drivetrain.Goal",
280 "source_node": "roborio",
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]281 "frequency": 200
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]282 },
283 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]284 "name": "/drivetrain",
285 "type": "frc971.control_loops.drivetrain.Position",
286 "source_node": "roborio",
287 "frequency": 200,
288 "num_senders": 2
289 },
290 {
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292 "type": "frc971.control_loops.drivetrain.Status",
293 "source_node": "roborio",
294 "frequency": 200,
295 "max_size": 2000,
Alex Perry2124ae82020-03-07 14:19:06 -0800[diff] [blame]296 "num_senders": 2,
297 "destination_nodes": [
298 {
299 "name": "pi1",
300 "priority": 5,
301 "time_to_live": 5000000
302 },
303 {
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305 "priority": 5,
306 "time_to_live": 5000000
307 },
308 {
309 "name": "pi3",
310 "priority": 5,
311 "time_to_live": 5000000
312 }
313 ]
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]314 },
315 {
316 "name": "/drivetrain",
317 "type": "frc971.control_loops.drivetrain.Output",
318 "source_node": "roborio",
319 "frequency": 200,
320 "num_senders": 2
321 },
322 {
323 "name": "/drivetrain",
324 "type": "frc971.control_loops.drivetrain.LocalizerControl",
325 "source_node": "roborio",
326 "frequency": 200
327 },
328 {
329 "name": "/drivetrain",
330 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
331 "source_node": "roborio"
332 },
333 {
334 "name": "/pi1/camera",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]335 "type": "frc971.vision.CameraImage",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]336 "source_node": "pi1",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]337 "frequency": 25,
338 "max_size": 620000,
339 "num_senders": 18
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]340 },
341 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]342 "name": "/pi1/camera",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]343 "type": "frc971.vision.sift.ImageMatchResult",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]344 "source_node": "pi1",
Austin Schuh29797162020-03-07 17:19:31 -0800[diff] [blame]345 "logger": "LOCAL_AND_REMOTE_LOGGER",
346 "logger_node": "roborio",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]347 "frequency": 25,
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]348 "max_size": 10000,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]349 "destination_nodes": [
350 {
351 "name": "roborio",
352 "priority": 1,
353 "time_to_live": 5000000
354 }
355 ]
356 },
357 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]358 "name": "/pi1/camera/detailed",
359 "type": "frc971.vision.sift.ImageMatchResult",
360 "source_node": "pi1",
361 "frequency": 25,
Jim Ostrowskibdb54102020-03-04 22:01:49 -0800[diff] [blame]362 "max_size": 1000000
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]363 },
364 {
Brian Silverman62956e72020-02-26 21:04:05 -0800[diff] [blame]365 "name": "/pi1/camera",
366 "type": "frc971.vision.sift.TrainingData",
367 "source_node": "pi1",
368 "frequency": 2,
369 "max_size": 2000000
370 },
371 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]372 "name": "/pi2/camera",
373 "type": "frc971.vision.CameraImage",
374 "source_node": "pi2",
375 "frequency": 25,
376 "max_size": 620000,
377 "num_senders": 18
378 },
379 {
380 "name": "/pi2/camera",
381 "type": "frc971.vision.sift.ImageMatchResult",
382 "source_node": "pi2",
Austin Schuh29797162020-03-07 17:19:31 -0800[diff] [blame]383 "logger": "LOCAL_AND_REMOTE_LOGGER",
384 "logger_node": "roborio",
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]385 "frequency": 25,
386 "max_size": 300000,
387 "destination_nodes": [
388 {
389 "name": "roborio",
390 "priority": 1,
391 "time_to_live": 5000000
392 }
393 ]
394 },
395 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]396 "name": "/pi2/camera/detailed",
397 "type": "frc971.vision.sift.ImageMatchResult",
398 "source_node": "pi2",
399 "frequency": 25,
Jim Ostrowskibdb54102020-03-04 22:01:49 -0800[diff] [blame]400 "max_size": 1000000
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]401 },
402 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]403 "name": "/pi2/camera",
404 "type": "frc971.vision.sift.TrainingData",
405 "source_node": "pi2",
406 "frequency": 2,
407 "max_size": 2000000
408 },
409 {
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]410 "name": "/pi3/camera",
411 "type": "frc971.vision.CameraImage",
412 "source_node": "pi3",
413 "frequency": 25,
414 "max_size": 620000,
415 "num_senders": 18
416 },
417 {
418 "name": "/pi3/camera",
419 "type": "frc971.vision.sift.ImageMatchResult",
420 "source_node": "pi3",
Austin Schuh29797162020-03-07 17:19:31 -0800[diff] [blame]421 "logger": "LOCAL_AND_REMOTE_LOGGER",
422 "logger_node": "roborio",
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]423 "frequency": 25,
424 "max_size": 10000,
425 "destination_nodes": [
426 {
427 "name": "roborio",
428 "priority": 1,
429 "time_to_live": 5000000
430 }
431 ]
432 },
433 {
434 "name": "/pi3/camera/detailed",
435 "type": "frc971.vision.sift.ImageMatchResult",
436 "source_node": "pi3",
437 "frequency": 25,
Jim Ostrowskibdb54102020-03-04 22:01:49 -0800[diff] [blame]438 "max_size": 1000000
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]439 },
440 {
441 "name": "/pi3/camera",
442 "type": "frc971.vision.sift.TrainingData",
443 "source_node": "pi3",
444 "frequency": 2,
445 "max_size": 2000000
446 },
447 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]448 "name": "/autonomous",
449 "type": "aos.common.actions.Status",
450 "source_node": "roborio"
451 },
452 {
453 "name": "/autonomous",
454 "type": "frc971.autonomous.Goal",
455 "source_node": "roborio"
456 },
457 {
458 "name": "/autonomous",
459 "type": "frc971.autonomous.AutonomousMode",
460 "source_node": "roborio",
461 "frequency": 200
462 },
463 {
464 "name": "/aos/roborio",
465 "type": "frc971.PDPValues",
466 "source_node": "roborio",
467 "frequency": 50
468 },
469 {
470 "name": "/aos/roborio",
471 "type": "frc971.wpilib.PneumaticsToLog",
472 "source_node": "roborio",
473 "frequency": 50
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]474 }
475 ],
476 "applications": [
477 {
478 "name": "drivetrain"
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]479 },
480 {
481 "name": "camera_reader"
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]482 }
483 ],
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]484 "maps": [
485 {
486 "match": {
487 "name": "/aos",
488 "source_node": "roborio"
489 },
490 "rename": {
491 "name": "/aos/roborio"
492 }
493 },
494 {
495 "match": {
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497 "source_node": "pi1"
498 },
499 "rename": {
500 "name": "/aos/pi1"
501 }
502 },
503 {
504 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]505 "name": "/camera",
506 "source_node": "pi1"
507 },
508 "rename": {
509 "name": "/pi1/camera"
510 }
511 },
512 {
513 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]514 "name": "/camera/detailed",
515 "source_node": "pi1"
516 },
517 "rename": {
518 "name": "/pi1/camera/detailed"
519 }
520 },
521 {
522 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]523 "name": "/aos",
524 "source_node": "pi2"
525 },
526 "rename": {
527 "name": "/aos/pi2"
528 }
529 },
530 {
531 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]532 "name": "/camera",
533 "source_node": "pi2"
534 },
535 "rename": {
536 "name": "/pi2/camera"
537 }
538 },
539 {
540 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]541 "name": "/camera/detailed",
542 "source_node": "pi2"
543 },
544 "rename": {
545 "name": "/pi2/camera/detailed"
546 }
547 },
548 {
549 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]550 "name": "/aos",
551 "source_node": "pi3"
552 },
553 "rename": {
554 "name": "/aos/pi3"
555 }
556 },
557 {
558 "match": {
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]559 "name": "/camera",
560 "source_node": "pi3"
561 },
562 "rename": {
563 "name": "/pi3/camera"
564 }
565 },
566 {
567 "match": {
568 "name": "/camera/detailed",
569 "source_node": "pi3"
570 },
571 "rename": {
572 "name": "/pi3/camera/detailed"
573 }
574 },
575 {
576 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]577 "name": "/aos",
578 "type": "aos.RobotState"
579 },
580 "rename": {
581 "name": "/aos/roborio"
582 }
583 }
584 ],
585 "nodes": [
586 {
587 "name": "roborio",
588 "hostname": "roborio",
589 "hostnames": [
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591 "roboRIO-7971-FRC",
592 "roboRIO-8971-FRC",
593 "roboRIO-9971-FRC"
594 ],
595 "port": 9971
596 },
597 {
598 "name": "pi1",
599 "hostname": "pi1",
600 "hostnames": [
601 "pi-971-1",
602 "pi-7971-1",
603 "pi-8971-1",
604 "pi-9971-1"
605 ],
606 "port": 9971
607 },
608 {
609 "name": "pi2",
610 "hostname": "pi2",
611 "hostnames": [
612 "pi-971-2",
613 "pi-7971-2",
614 "pi-8971-2",
615 "pi-9971-2"
616 ],
617 "port": 9971
618 },
619 {
620 "name": "pi3",
621 "hostname": "pi3",
622 "hostnames": [
623 "pi-971-3",
624 "pi-7971-3",
625 "pi-8971-3",
626 "pi-9971-3"
627 ],
628 "port": 9971
629 }
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]630 ]
631}