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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / d52e5b7b8c40c69be0d56334905d8f5fc42b9917 / . / y2022 / y2022_roborio.json
blob: 1a5a1aaefea2ca368e40cb2035efb15fd0cda253 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]9 "logger_nodes" : [
milind-ud52e5b72022-04-14 18:54:32 -0700[diff] [blame^]10 "imu",
11 "logger"
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]12 ],
13 "destination_nodes": [
14 {
15 "name": "imu",
16 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
milind-ud52e5b72022-04-14 18:54:32 -0700[diff] [blame^]22 },
23 {
24 "name": "logger",
25 "priority": 5,
26 "time_to_live": 50000000,
27 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
28 "timestamp_logger_nodes": [
29 "roborio"
30 ]
James Kuszmaul562eb782022-03-16 21:28:41 -0700[diff] [blame]31 }
32 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]33 },
34 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]35 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
36 "type": "aos.message_bridge.RemoteMessage",
37 "source_node": "roborio",
38 "logger": "NOT_LOGGED",
39 "frequency": 200,
40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
milind-ud52e5b72022-04-14 18:54:32 -0700[diff] [blame^]44 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-JoystickState",
45 "type": "aos.message_bridge.RemoteMessage",
46 "source_node": "roborio",
47 "logger": "NOT_LOGGED",
48 "frequency": 200,
49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]53 "name": "/roborio/aos",
54 "type": "aos.RobotState",
55 "source_node": "roborio",
56 "frequency": 200
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.timing.Report",
61 "source_node": "roborio",
62 "frequency": 50,
63 "num_senders": 20,
64 "max_size": 4096
65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.logging.LogMessageFbs",
69 "source_node": "roborio",
70 "frequency": 500,
71 "max_size": 344,
72 "num_senders": 20
73 },
74 {
75 "name": "/roborio/aos",
76 "type": "aos.starter.Status",
77 "source_node": "roborio",
78 "frequency": 50,
79 "num_senders": 20,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]80 "max_size": 2000,
81 "logger": "LOCAL_AND_REMOTE_LOGGER",
82 "logger_nodes": [
83 "logger"
84 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]85 "destination_nodes": [
86 {
87 "name": "logger",
88 "priority": 5,
89 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
90 "timestamp_logger_nodes": [
91 "roborio"
92 ],
93 "time_to_live": 5000000
94 }
95 ]
96 },
97 {
98 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
99 "type": "aos.message_bridge.RemoteMessage",
100 "source_node": "roborio",
101 "logger": "NOT_LOGGED",
102 "frequency": 20,
103 "num_senders": 2,
104 "max_size": 200
105 },
106 {
107 "name": "/roborio/aos",
108 "type": "aos.starter.StarterRpc",
109 "source_node": "roborio",
110 "frequency": 10,
111 "max_size": 400,
112 "num_senders": 2,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]113 "logger": "LOCAL_AND_REMOTE_LOGGER",
114 "logger_nodes": [
115 "logger"
116 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]117 "destination_nodes": [
118 {
119 "name": "logger",
120 "priority": 5,
121 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
122 "timestamp_logger_nodes": [
123 "roborio"
124 ],
125 "time_to_live": 5000000
126 }
127 ]
128 },
129 {
130 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
131 "type": "aos.message_bridge.RemoteMessage",
132 "source_node": "roborio",
133 "logger": "NOT_LOGGED",
134 "frequency": 20,
135 "num_senders": 2,
136 "max_size": 200
137 },
138 {
139 "name": "/roborio/aos",
140 "type": "aos.message_bridge.ServerStatistics",
141 "source_node": "roborio",
142 "frequency": 10,
143 "num_senders": 2
144 },
145 {
146 "name": "/roborio/aos",
147 "type": "aos.message_bridge.ClientStatistics",
148 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]149 "frequency": 20,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]150 "max_size": 2000,
151 "num_senders": 2
152 },
153 {
154 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
155 "type": "aos.message_bridge.RemoteMessage",
156 "frequency": 200,
157 "source_node": "roborio"
158 },
159 {
160 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
161 "type": "aos.message_bridge.RemoteMessage",
162 "frequency": 20,
163 "source_node": "roborio",
164 "max_size": 208
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
168 "type": "aos.message_bridge.RemoteMessage",
169 "frequency": 20,
170 "source_node": "roborio",
171 "max_size": 208
172 },
173 {
174 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
175 "type": "aos.message_bridge.RemoteMessage",
176 "frequency": 20,
177 "source_node": "roborio"
178 },
179 {
180 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
181 "type": "aos.message_bridge.RemoteMessage",
182 "frequency": 20,
183 "source_node": "roborio"
184 },
185 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]186 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
187 "type": "aos.message_bridge.RemoteMessage",
188 "frequency": 20,
189 "source_node": "roborio",
190 "max_size": 208
191 },
192 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]193 "name": "/roborio/aos",
194 "type": "aos.message_bridge.Timestamp",
195 "source_node": "roborio",
196 "frequency": 15,
197 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]198 "max_size": 512,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]199 "logger": "LOCAL_AND_REMOTE_LOGGER",
200 "logger_nodes": [
201 "imu"
202 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]203 "destination_nodes": [
204 {
205 "name": "pi1",
206 "priority": 1,
207 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
208 "timestamp_logger_nodes": [
209 "roborio"
210 ],
211 "time_to_live": 5000000
212 },
213 {
214 "name": "pi2",
215 "priority": 1,
216 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
217 "timestamp_logger_nodes": [
218 "roborio"
219 ],
220 "time_to_live": 5000000
221 },
222 {
223 "name": "pi3",
224 "priority": 1,
225 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
226 "timestamp_logger_nodes": [
227 "roborio"
228 ],
229 "time_to_live": 5000000
230 },
231 {
232 "name": "pi4",
233 "priority": 1,
234 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
235 "timestamp_logger_nodes": [
236 "roborio"
237 ],
238 "time_to_live": 5000000
239 },
240 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]241 "name": "imu",
242 "priority": 1,
243 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
244 "timestamp_logger_nodes": [
245 "roborio"
246 ],
247 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]248 }
249 ]
250 },
251 {
252 "name": "/superstructure",
253 "type": "y2022.control_loops.superstructure.Goal",
254 "source_node": "roborio",
255 "frequency": 200,
256 "max_size": 512
257 },
258 {
259 "name": "/superstructure",
260 "type": "y2022.control_loops.superstructure.Status",
261 "source_node": "roborio",
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame]262 "frequency": 400,
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]263 "num_senders": 2,
264 "logger": "LOCAL_AND_REMOTE_LOGGER",
265 "logger_nodes": [
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]266 "imu",
267 "logger"
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]268 ],
269 "destination_nodes": [
270 {
271 "name": "imu",
272 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]273 "time_to_live": 50000000,
274 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
275 "timestamp_logger_nodes": [
276 "roborio"
277 ]
James Kuszmaul1fec4732022-03-12 16:44:50 -0800[diff] [blame]278 },
279 {
280 "name": "logger",
281 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]282 "time_to_live": 50000000,
283 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
284 "timestamp_logger_nodes": [
285 "roborio"
286 ]
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]287 }
288 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]289 },
290 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]291 "name": "/roborio/aos/remote_timestamps/imu/superstructure/y2022-control_loops-superstructure-Status",
292 "type": "aos.message_bridge.RemoteMessage",
293 "source_node": "roborio",
294 "logger": "NOT_LOGGED",
295 "frequency": 400,
296 "num_senders": 2,
297 "max_size": 200
298 },
299 {
300 "name": "/roborio/aos/remote_timestamps/logger/superstructure/y2022-control_loops-superstructure-Status",
301 "type": "aos.message_bridge.RemoteMessage",
302 "source_node": "roborio",
303 "logger": "NOT_LOGGED",
304 "frequency": 400,
305 "num_senders": 2,
306 "max_size": 200
307 },
308 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]309 "name": "/superstructure",
310 "type": "y2022.control_loops.superstructure.Output",
311 "source_node": "roborio",
312 "frequency": 200,
313 "num_senders": 2,
314 "max_size": 224
315 },
316 {
317 "name": "/superstructure",
318 "type": "y2022.control_loops.superstructure.Position",
319 "source_node": "roborio",
320 "frequency": 200,
321 "num_senders": 2,
322 "max_size": 448
323 },
324 {
Milind Upadhyay482b0ba2022-02-26 21:51:59 -0800[diff] [blame]325 "name": "/superstructure",
326 "type": "y2022.control_loops.superstructure.CANPosition",
327 "source_node": "roborio",
328 "frequency": 200,
329 "num_senders": 2,
330 "max_size": 72
331 },
332 {
Henry Speiser0b9b0052022-03-02 23:07:40 -0800[diff] [blame]333 "name": "/superstructure",
334 "type": "y2022.input.joysticks.Setpoint",
335 "source_node": "roborio",
336 "num_senders": 2
337 },
338 {
Ravago Jones32bd3cb2022-03-26 15:45:03 -0700[diff] [blame]339 "name": "/superstructure",
340 "type": "y2022.vision.BallColor",
341 "source_node": "logger",
342 "frequency": 200,
343 "num_senders": 2,
344 "max_size": 72,
345 "destination_nodes": [
346 {
347 "name": "roborio",
348 "priority": 2,
349 "time_to_live": 500000000
350 }
351 ]
352 },
353 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]354 "name": "/drivetrain",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]355 "type": "frc971.sensors.GyroReading",
356 "source_node": "roborio",
357 "frequency": 200,
358 "num_senders": 2
359 },
360 {
361 "name": "/drivetrain",
362 "type": "frc971.sensors.Uid",
363 "source_node": "roborio",
364 "frequency": 200,
365 "num_senders": 2
366 },
367 {
368 "name": "/drivetrain",
369 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
370 "source_node": "roborio",
371 "max_size": 600000,
372 "frequency": 10,
373 "logger": "NOT_LOGGED",
374 "num_senders": 2,
375 "read_method": "PIN",
376 "num_readers": 10
377 },
378 {
379 "name": "/drivetrain",
380 "type": "frc971.control_loops.drivetrain.SplineGoal",
381 "source_node": "roborio",
382 "frequency": 10
383 },
384 {
385 "name": "/drivetrain",
386 "type": "frc971.control_loops.drivetrain.Goal",
387 "source_node": "roborio",
388 "max_size": 224,
389 "frequency": 200
390 },
391 {
392 "name": "/drivetrain",
393 "type": "frc971.control_loops.drivetrain.Position",
394 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]395 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]396 "max_size": 112,
397 "num_senders": 2
398 },
399 {
400 "name": "/drivetrain",
401 "type": "frc971.control_loops.drivetrain.Output",
402 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]403 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]404 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]405 "num_senders": 2,
406 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]407 "logger_nodes": [
408 "imu"
409 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]410 "destination_nodes": [
411 {
412 "name": "imu",
413 "priority": 5,
414 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
415 "timestamp_logger_nodes": [
416 "imu"
417 ],
418 "time_to_live": 5000000
419 }
420 ]
421 },
422 {
423 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
424 "type": "aos.message_bridge.RemoteMessage",
425 "source_node": "roborio",
426 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]427 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]428 "num_senders": 2,
429 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]430 },
431 {
432 "name": "/drivetrain",
433 "type": "frc971.control_loops.drivetrain.Status",
434 "source_node": "roborio",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]435 "frequency": 400,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]436 "max_size": 1616,
437 "num_senders": 2
438 },
439 {
440 "name": "/drivetrain",
441 "type": "frc971.control_loops.drivetrain.LocalizerControl",
442 "source_node": "roborio",
443 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]444 "max_size": 96,
445 "logger": "LOCAL_AND_REMOTE_LOGGER",
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]446 "logger_nodes": [
447 "imu"
448 ],
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]449 "destination_nodes": [
450 {
451 "name": "imu",
452 "priority": 5,
453 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
454 "timestamp_logger_nodes": [
455 "imu"
456 ],
James Kuszmaule5f67dd2022-02-12 20:08:29 -0800[diff] [blame]457 "time_to_live": 0
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]458 }
459 ]
460 },
461 {
462 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
463 "type": "aos.message_bridge.RemoteMessage",
464 "source_node": "roborio",
465 "logger": "NOT_LOGGED",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]466 "frequency": 400,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]467 "num_senders": 2,
468 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]469 },
470 {
471 "name": "/drivetrain",
472 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
473 "source_node": "roborio"
474 },
475 {
476 "name": "/autonomous",
477 "type": "aos.common.actions.Status",
478 "source_node": "roborio"
479 },
480 {
481 "name": "/autonomous",
482 "type": "frc971.autonomous.Goal",
483 "source_node": "roborio"
484 },
485 {
486 "name": "/autonomous",
487 "type": "frc971.autonomous.AutonomousMode",
488 "source_node": "roborio",
489 "frequency": 200
490 },
491 {
492 "name": "/roborio/aos",
493 "type": "frc971.PDPValues",
494 "source_node": "roborio",
495 "frequency": 55,
496 "max_size": 368
497 },
498 {
499 "name": "/roborio/aos",
500 "type": "frc971.wpilib.PneumaticsToLog",
501 "source_node": "roborio",
502 "frequency": 50
503 }
504 ],
505 "applications": [
506 {
507 "name": "drivetrain",
508 "executable_name": "drivetrain",
509 "nodes": [
510 "roborio"
511 ]
512 },
513 {
514 "name": "trajectory_generator",
515 "executable_name": "trajectory_generator",
516 "nodes": [
517 "roborio"
518 ]
519 },
520 {
521 "name": "superstructure",
522 "executable_name": "superstructure",
523 "nodes": [
524 "roborio"
525 ]
526 },
527 {
528 "name": "joystick_reader",
529 "executable_name": "joystick_reader",
530 "nodes": [
531 "roborio"
532 ]
533 },
534 {
535 "name": "wpilib_interface",
536 "executable_name": "wpilib_interface",
537 "nodes": [
538 "roborio"
539 ]
540 },
541 {
542 "name": "autonomous_action",
543 "executable_name": "autonomous_action",
544 "nodes": [
545 "roborio"
546 ]
547 },
548 {
549 "name": "web_proxy",
550 "executable_name": "web_proxy_main",
551 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
552 "nodes": [
553 "roborio"
554 ]
555 },
556 {
Austin Schuh6b2edc62022-03-27 13:32:09 -0700[diff] [blame]557 "name": "roborio_message_bridge_client",
558 "executable_name": "message_bridge_client.sh",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]559 "args": ["--rt_priority=16"],
560 "nodes": [
561 "roborio"
562 ]
563 },
564 {
565 "name": "message_bridge_server",
566 "executable_name": "message_bridge_server",
567 "args": ["--rt_priority=16"],
568 "nodes": [
569 "roborio"
570 ]
571 },
572 {
573 "name": "logger",
574 "executable_name": "logger_main",
575 "args": ["--snappy_compress"],
576 "nodes": [
577 "roborio"
578 ]
579 }
580 ],
581 "maps": [
582 {
583 "match": {
584 "name": "/aos*",
585 "source_node": "roborio"
586 },
587 "rename": {
588 "name": "/roborio/aos"
589 }
590 }
591 ],
592 "nodes": [
593 {
594 "name": "roborio",
595 "hostname": "roborio",
596 "hostnames": [
597 "roboRIO-971-FRC",
598 "roboRIO-6971-FRC",
599 "roboRIO-7971-FRC",
600 "roboRIO-8971-FRC",
601 "roboRIO-9971-FRC"
602 ],
603 "port": 9971
604 },
605 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame]606 "name": "imu"
607 },
608 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]609 "name": "logger"
610 },
611 {
612 "name": "pi1"
613 },
614 {
615 "name": "pi2"
616 },
617 {
618 "name": "pi3"
619 },
620 {
621 "name": "pi4"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]622 }
623 ]
624}