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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 6d6e13067dcc1627737a968c7168e46f0ecb21b8 / . / y2022 / y2022_imu.json
blob: c5c7904d3f2495817cb817f35866a76766e9cf46 [file] [log] [blame]
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.timing.Report",
6 "source_node": "imu",
7 "frequency": 50,
8 "num_senders": 20,
9 "max_size": 4096
10 },
11 {
12 "name": "/imu/aos",
13 "type": "aos.logging.LogMessageFbs",
14 "source_node": "imu",
15 "frequency": 200,
16 "num_senders": 20
17 },
18 {
19 "name": "/imu/aos",
20 "type": "aos.starter.Status",
21 "source_node": "imu",
22 "frequency": 50,
23 "num_senders": 20,
24 "destination_nodes": [
25 {
26 "name": "roborio",
27 "priority": 5,
28 "time_to_live": 5000000
29 },
30 {
31 "name": "logger",
32 "priority": 5,
33 "time_to_live": 5000000
34 }
35 ]
36 },
37 {
38 "name": "/imu/aos",
39 "type": "aos.starter.StarterRpc",
40 "source_node": "imu",
41 "frequency": 10,
42 "num_senders": 2,
43 "destination_nodes": [
44 {
45 "name": "roborio",
46 "priority": 5,
47 "time_to_live": 5000000
48 },
49 {
50 "name": "logger",
51 "priority": 5,
52 "time_to_live": 5000000
53 }
54 ]
55 },
56 {
57 "name": "/imu/aos",
58 "type": "aos.message_bridge.ServerStatistics",
59 "source_node": "imu",
60 "frequency": 10,
61 "num_senders": 2
62 },
63 {
64 "name": "/imu/aos",
65 "type": "aos.message_bridge.ClientStatistics",
66 "source_node": "imu",
67 "frequency": 10,
68 "num_senders": 2
69 },
70 {
71 "name": "/imu/aos",
72 "type": "aos.message_bridge.Timestamp",
73 "source_node": "imu",
74 "frequency": 15,
75 "num_senders": 2,
76 "logger": "LOCAL_AND_REMOTE_LOGGER",
77 "logger_nodes": [
78 "roborio",
79 "logger"
80 ],
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]81 "max_size": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]82 "destination_nodes": [
83 {
84 "name": "roborio",
85 "priority": 1,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]86 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
87 "timestamp_logger_nodes": [
88 "imu"
89 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]90 "time_to_live": 5000000
91 },
92 {
93 "name": "logger",
94 "priority": 1,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]95 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
96 "timestamp_logger_nodes": [
97 "imu"
98 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]99 "time_to_live": 5000000
100 }
101 ]
102 },
103 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]104 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
105 "type": "aos.message_bridge.RemoteMessage",
106 "frequency": 20,
107 "source_node": "imu",
108 "max_size": 208
109 },
110 {
111 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
112 "type": "aos.message_bridge.RemoteMessage",
113 "frequency": 20,
114 "source_node": "imu",
115 "max_size": 208
116 },
117 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]118 "name": "/logger/aos",
119 "type": "aos.starter.StarterRpc",
120 "source_node": "logger",
121 "destination_nodes": [
122 {
123 "name": "imu",
124 "priority": 5,
125 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
126 "timestamp_logger_nodes": [
127 "logger"
128 ],
129 "time_to_live": 5000000
130 }
131 ]
132 },
133 {
134 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
135 "type": "aos.message_bridge.RemoteMessage",
136 "source_node": "logger",
137 "logger": "NOT_LOGGED",
138 "frequency": 20,
139 "num_senders": 2,
140 "max_size": 200
141 },
142 {
143 "name": "/logger/aos",
144 "type": "aos.starter.Status",
145 "source_node": "logger",
146 "destination_nodes": [
147 {
148 "name": "imu",
149 "priority": 5,
150 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
151 "timestamp_logger_nodes": [
152 "logger"
153 ],
154 "time_to_live": 5000000
155 }
156 ]
157 },
158 {
159 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
160 "type": "aos.message_bridge.RemoteMessage",
161 "source_node": "logger",
162 "logger": "NOT_LOGGED",
163 "frequency": 20,
164 "num_senders": 2,
165 "max_size": 200
166 },
167 {
168 "name": "/roborio/aos",
169 "type": "aos.starter.StarterRpc",
170 "source_node": "roborio",
171 "destination_nodes": [
172 {
173 "name": "imu",
174 "priority": 5,
175 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
176 "timestamp_logger_nodes": [
177 "roborio"
178 ],
179 "time_to_live": 5000000
180 }
181 ]
182 },
183 {
184 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
185 "type": "aos.message_bridge.RemoteMessage",
186 "source_node": "roborio",
187 "logger": "NOT_LOGGED",
188 "frequency": 20,
189 "num_senders": 2,
190 "max_size": 200
191 },
192 {
193 "name": "/roborio/aos",
194 "type": "aos.starter.Status",
195 "source_node": "roborio",
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]196 "logger": "LOCAL_AND_REMOTE_LOGGER",
197 "logger_nodes": [
198 "imu"
199 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]200 "destination_nodes": [
201 {
202 "name": "imu",
203 "priority": 5,
204 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
205 "timestamp_logger_nodes": [
206 "roborio"
207 ],
208 "time_to_live": 5000000
209 }
210 ]
211 },
212 {
213 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
214 "type": "aos.message_bridge.RemoteMessage",
215 "source_node": "roborio",
216 "logger": "NOT_LOGGED",
217 "frequency": 20,
218 "num_senders": 2,
219 "max_size": 200
220 },
221 {
222 "name": "/localizer",
223 "type": "frc971.controls.LocalizerStatus",
224 "source_node": "imu",
225 "frequency": 2200,
James Kuszmaul9cb80af2022-03-12 18:26:35 -0800[diff] [blame]226 "max_size": 2000
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]227 },
228 {
229 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerStatus",
230 "type": "aos.message_bridge.RemoteMessage",
231 "source_node": "imu",
232 "logger": "NOT_LOGGED",
233 "frequency": 2200,
234 "num_senders": 2,
235 "max_size": 200
236 },
237 {
238 "name": "/localizer",
James Kuszmaul0dedb5e2022-03-05 16:02:20 -0800[diff] [blame]239 "type": "frc971.controls.LocalizerVisualization",
240 "source_node": "imu",
241 "frequency": 200,
242 "max_size": 2000,
243 "logger": "LOCAL_AND_REMOTE_LOGGER",
244 "logger_nodes": [
245 "logger"
246 ],
247 "destination_nodes": [
248 {
249 "name": "logger",
250 "priority": 5,
251 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
252 "timestamp_logger_nodes": [
253 "imu"
254 ],
255 "time_to_live": 5000000
256 }
257 ]
258 },
259 {
260 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerVisualization",
261 "type": "aos.message_bridge.RemoteMessage",
262 "source_node": "imu",
263 "logger": "NOT_LOGGED",
264 "frequency": 200,
265 "num_senders": 2,
266 "max_size": 200
267 },
268 {
269 "name": "/localizer",
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]270 "type": "frc971.controls.LocalizerOutput",
271 "source_node": "imu",
272 "frequency": 200,
273 "max_size": 200,
274 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]275 "logger_nodes": [
James Kuszmaul366a2472022-03-05 14:29:51 -0800[diff] [blame]276 "roborio",
277 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]278 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]279 "destination_nodes": [
280 {
281 "name": "roborio",
282 "priority": 5,
283 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
284 "timestamp_logger_nodes": [
285 "imu"
286 ],
287 "time_to_live": 5000000
288 },
289 {
290 "name": "logger",
291 "priority": 5,
292 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
293 "timestamp_logger_nodes": [
294 "imu"
295 ],
296 "time_to_live": 5000000
297 }
298 ]
299 },
300 {
301 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
302 "type": "aos.message_bridge.RemoteMessage",
303 "source_node": "imu",
304 "logger": "NOT_LOGGED",
305 "frequency": 200,
306 "num_senders": 2,
307 "max_size": 200
308 },
309 {
310 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput",
311 "type": "aos.message_bridge.RemoteMessage",
312 "source_node": "imu",
313 "logger": "NOT_LOGGED",
314 "frequency": 200,
315 "num_senders": 2,
316 "max_size": 200
317 },
318 {
319 "name": "/localizer",
320 "type": "frc971.IMUValuesBatch",
321 "source_node": "imu",
322 "frequency": 2200,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]323 "max_size": 1600,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]324 "num_senders": 2,
325 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]326 "logger_nodes": [
327 "logger"
328 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]329 "destination_nodes": [
330 {
331 "name": "logger",
332 "priority": 5,
333 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
334 "timestamp_logger_nodes": [
335 "imu"
336 ],
337 "time_to_live": 5000000
338 }
339 ]
340 },
341 {
342 "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-IMUValuesBatch",
343 "type": "aos.message_bridge.RemoteMessage",
344 "source_node": "imu",
345 "logger": "NOT_LOGGED",
346 "frequency": 2200,
347 "num_senders": 2,
348 "max_size": 200
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]349 }
350 ],
351 "applications": [
352 {
353 "name": "message_bridge_client",
354 "executable_name": "message_bridge_client",
355 "nodes": [
356 "imu"
357 ]
358 },
359 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]360 "name": "localizer",
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]361 "executable_name": "localizer_main",
James Kuszmaul0ac35722022-02-25 21:13:03 -0800[diff] [blame]362 "nodes": [
363 "imu"
364 ]
365 },
366 {
367 "name": "imu",
368 "executable_name": "imu_main",
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]369 "nodes": [
370 "imu"
371 ]
372 },
373 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]374 "name": "message_bridge_server",
375 "executable_name": "message_bridge_server",
376 "nodes": [
377 "imu"
378 ]
379 },
380 {
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]381 "name": "localizer_logger",
382 "executable_name": "logger_main",
James Kuszmaul9cb80af2022-03-12 18:26:35 -0800[diff] [blame]383 "autostart": false,
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]384 "args": ["--snappy_compress"],
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]385 "nodes": [
James Kuszmaul288346d2022-02-26 22:59:02 -0800[diff] [blame]386 "imu"
James Kuszmaul93825a02022-02-13 16:50:33 -0800[diff] [blame]387 ]
388 },
389 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]390 "name": "web_proxy",
391 "executable_name": "web_proxy_main",
392 "nodes": [
393 "imu"
394 ]
395 }
396 ],
397 "maps": [
398 {
399 "match": {
400 "name": "/aos*",
401 "source_node": "imu"
402 },
403 "rename": {
404 "name": "/imu/aos"
405 }
406 }
407 ],
408 "nodes": [
409 {
410 "name": "imu",
411 "hostname": "imu",
412 "hostnames": [
James Kuszmaul4dc277d2022-02-26 19:14:05 -0800[diff] [blame]413 "pi-971-5",
414 "pi-7971-5",
415 "pi-8971-5",
416 "pi-9971-5"
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]417 ],
418 "port": 9971
419 },
420 {
421 "name": "logger"
422 },
423 {
424 "name": "roborio"
425 }
426 ]
427}