y2022/y2022_logger.json

{
  "channels": [
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "roborio",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes" : ["roborio"]
        }
      ]
   },
    {
      "name": "/superstructure",
      "type": "y2022.vision.BallColor",
      "source_node": "logger",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio"
      ],
      "frequency": 200,
      "num_senders": 2,
      "max_size": 72,
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 2,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/logger/aos/remote_timestamps/roborio/superstructure/y2022-vision-BallColor",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Position",
      "source_node": "roborio",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 2,
          "time_to_live": 500000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ]
        }
      ]
    },
    {
      "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Position",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 400,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Output",
      "source_node": "roborio",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 2,
          "time_to_live": 500000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ]
        }
      ]
    },
    {
      "name": "/roborio/aos/remote_timestamps/logger/drivetrain/frc971-control_loops-drivetrain-Output",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 400,
      "num_senders": 2,
      "max_size": 400
    },
    {
      "name": "/pi1/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "pi1",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 1,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi2/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "pi2",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 1,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi3/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "pi3",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 1,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi4/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "pi4",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 1,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/logger/aos",
      "type": "aos.timing.Report",
      "source_node": "logger",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 4096
    },
    {
      "name": "/logger/aos",
      "type": "aos.logging.LogMessageFbs",
      "source_node": "logger",
      "frequency": 400,
      "num_senders": 20
    },
    {
      "name": "/logger/aos",
      "type": "aos.message_bridge.ServerStatistics",
      "source_node": "logger",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/logger/aos",
      "type": "aos.message_bridge.ClientStatistics",
      "source_node": "logger",
      "frequency": 20,
      "max_size": 2000,
      "num_senders": 2
    },
    {
      "name": "/logger/aos",
      "type": "aos.starter.Status",
      "source_node": "logger",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 2000,
      "logger_nodes": [
        "roborio"
      ],
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "logger",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio"
      ],
      "frequency": 10,
      "num_senders": 2,
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "logger",
      "frequency": 15,
      "num_senders": 2,
      "max_size": 400,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio",
        "imu"
      ],
      "destination_nodes": [
        {
          "name": "pi1",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ]
        },
        {
          "name": "pi2",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ]
        },
        {
          "name": "pi3",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ]
        },
        {
          "name": "pi4",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ]
        },
        {
          "name": "imu",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ]
        },
        {
          "name": "roborio",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ]
        }
      ]
    },
    {
      "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/camera",
      "type": "frc971.vision.CameraImage",
      "source_node": "logger",
      "frequency": 100,
      "max_size": 620000,
      "num_senders": 1
    },
    {
      "name": "/pi1/camera/decimated",
      "type": "frc971.vision.CameraImage",
      "source_node": "pi1",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 3,
          "time_to_live": 500000000
        }
      ]
    },
    {
      "name": "/pi2/camera/decimated",
      "type": "frc971.vision.CameraImage",
      "source_node": "pi2",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 3,
          "time_to_live": 500000000
        }
      ]
    },
    {
      "name": "/pi3/camera/decimated",
      "type": "frc971.vision.CameraImage",
      "source_node": "pi3",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 3,
          "time_to_live": 500000000
        }
      ]
    },
    {
      "name": "/pi4/camera/decimated",
      "type": "frc971.vision.CameraImage",
      "source_node": "pi4",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "logger",
          "priority": 3,
          "time_to_live": 500000000
        }
      ]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/aos*",
        "source_node": "logger"
      },
      "rename": {
        "name": "/logger/aos"
      }
    },
    {
      "match": {
        "name": "/camera",
        "source_node": "logger"
      },
      "rename": {
        "name": "/logger/camera"
      }
    }

  ],
  "applications": [
    {
      "name": "logger_message_bridge_client",
      "executable_name": "message_bridge_client",
      "args": ["--rmem=8388608", "--rt_priority=16"],
      "nodes": [
        "logger"
      ]
    },
    {
      "name": "logger_message_bridge_server",
      "executable_name": "message_bridge_server",
      "args": ["--rt_priority=16"],
      "nodes": [
        "logger"
      ]
    },
    {
      "name": "image_logger",
      "executable_name": "logger_main",
      "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress", "--rotate_every", "60.0"],
      "nodes": [
        "logger"
      ]
    },
    {
      "name": "image_streamer",
      "executable_name": "image_streamer_start.sh",
      "nodes": [
        "logger"
      ]
    },
    {
      "name": "ball_color_detector",
      "executable_name": "ball_color_detector",
      "nodes": [
        "logger"
      ]
    }
  ],
  "nodes": [
    {
      "name": "logger",
      "hostname": "logger",
      "hostnames": [
        "pi-971-6",
        "pi-9971-6",
        "ASchuh-T480s",
        "aschuh-3950x"
      ],
      "port": 9971
    },
    {
      "name": "pi1"
    },
    {
      "name": "pi2"
    },
    {
      "name": "pi3"
    },
    {
      "name": "roborio"
    },
    {
      "name": "imu"
    },
    {
      "name": "pi4"
    }
  ]
}