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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / d58b290aea2a959248b4e06b9649cc4e8a07fc3c / . / y2020 / y2020.json
blob: 5a0e1b778b4caf9d4cab87102ece9a5ffe670245 [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",
14 "source_node": "roborio",
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16 "destination_nodes": [
17 {
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19 "priority": 2,
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",
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42 "num_senders": 20,
43 "max_size": 2048
44 },
45 {
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47 "type": "aos.logging.LogMessageFbs",
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49 "frequency": 200,
50 "num_senders": 20
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52 {
53 "name": "/aos/roborio",
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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",
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83 },
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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 {
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131 "time_to_live": 5000000
132 }
133 ]
134 },
135 {
136 "name": "/aos/pi2",
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138 "source_node": "pi2",
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141 "max_size": 2048
142 },
143 {
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147 "frequency": 200,
148 "num_senders": 20
149 },
150 {
151 "name": "/aos/pi2",
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156 },
157 {
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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",
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168 "frequency": 10,
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171 "destination_nodes": [
172 {
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175 "time_to_live": 5000000
176 }
177 ]
178 },
179 {
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186 },
187 {
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194 {
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200 },
201 {
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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",
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212 "frequency": 10,
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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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293 "source_node": "roborio",
294 "frequency": 200,
295 "max_size": 2000,
296 "num_senders": 2
297 },
298 {
299 "name": "/drivetrain",
300 "type": "frc971.control_loops.drivetrain.Output",
301 "source_node": "roborio",
302 "frequency": 200,
303 "num_senders": 2
304 },
305 {
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307 "type": "frc971.control_loops.drivetrain.LocalizerControl",
308 "source_node": "roborio",
309 "frequency": 200
310 },
311 {
312 "name": "/drivetrain",
313 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
314 "source_node": "roborio"
315 },
316 {
317 "name": "/pi1/camera",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]318 "type": "frc971.vision.CameraImage",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]319 "source_node": "pi1",
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]320 "frequency": 25,
321 "max_size": 620000,
322 "num_senders": 18
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]323 },
324 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]325 "name": "/pi1/camera",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]326 "type": "frc971.vision.sift.ImageMatchResult",
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]327 "source_node": "pi1",
Brian Silverman967e5df2020-02-09 16:43:34 -0800[diff] [blame]328 "frequency": 25,
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]329 "max_size": 10000,
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]330 "destination_nodes": [
331 {
332 "name": "roborio",
333 "priority": 1,
334 "time_to_live": 5000000
335 }
336 ]
337 },
338 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]339 "name": "/pi1/camera/detailed",
340 "type": "frc971.vision.sift.ImageMatchResult",
341 "source_node": "pi1",
342 "frequency": 25,
343 "max_size": 300000
344 },
345 {
Brian Silverman62956e72020-02-26 21:04:05 -0800[diff] [blame]346 "name": "/pi1/camera",
347 "type": "frc971.vision.sift.TrainingData",
348 "source_node": "pi1",
349 "frequency": 2,
350 "max_size": 2000000
351 },
352 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]353 "name": "/pi2/camera",
354 "type": "frc971.vision.CameraImage",
355 "source_node": "pi2",
356 "frequency": 25,
357 "max_size": 620000,
358 "num_senders": 18
359 },
360 {
361 "name": "/pi2/camera",
362 "type": "frc971.vision.sift.ImageMatchResult",
363 "source_node": "pi2",
364 "frequency": 25,
365 "max_size": 300000,
366 "destination_nodes": [
367 {
368 "name": "roborio",
369 "priority": 1,
370 "time_to_live": 5000000
371 }
372 ]
373 },
374 {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]375 "name": "/pi2/camera/detailed",
376 "type": "frc971.vision.sift.ImageMatchResult",
377 "source_node": "pi2",
378 "frequency": 25,
379 "max_size": 300000
380 },
381 {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]382 "name": "/pi2/camera",
383 "type": "frc971.vision.sift.TrainingData",
384 "source_node": "pi2",
385 "frequency": 2,
386 "max_size": 2000000
387 },
388 {
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]389 "name": "/pi3/camera",
390 "type": "frc971.vision.CameraImage",
391 "source_node": "pi3",
392 "frequency": 25,
393 "max_size": 620000,
394 "num_senders": 18
395 },
396 {
397 "name": "/pi3/camera",
398 "type": "frc971.vision.sift.ImageMatchResult",
399 "source_node": "pi3",
400 "frequency": 25,
401 "max_size": 10000,
402 "destination_nodes": [
403 {
404 "name": "roborio",
405 "priority": 1,
406 "time_to_live": 5000000
407 }
408 ]
409 },
410 {
411 "name": "/pi3/camera/detailed",
412 "type": "frc971.vision.sift.ImageMatchResult",
413 "source_node": "pi3",
414 "frequency": 25,
415 "max_size": 300000
416 },
417 {
418 "name": "/pi3/camera",
419 "type": "frc971.vision.sift.TrainingData",
420 "source_node": "pi3",
421 "frequency": 2,
422 "max_size": 2000000
423 },
424 {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]425 "name": "/autonomous",
426 "type": "aos.common.actions.Status",
427 "source_node": "roborio"
428 },
429 {
430 "name": "/autonomous",
431 "type": "frc971.autonomous.Goal",
432 "source_node": "roborio"
433 },
434 {
435 "name": "/autonomous",
436 "type": "frc971.autonomous.AutonomousMode",
437 "source_node": "roborio",
438 "frequency": 200
439 },
440 {
441 "name": "/aos/roborio",
442 "type": "frc971.PDPValues",
443 "source_node": "roborio",
444 "frequency": 50
445 },
446 {
447 "name": "/aos/roborio",
448 "type": "frc971.wpilib.PneumaticsToLog",
449 "source_node": "roborio",
450 "frequency": 50
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]451 }
452 ],
453 "applications": [
454 {
455 "name": "drivetrain"
Brian Silverman9dd793b2020-01-31 23:52:21 -0800[diff] [blame]456 },
457 {
458 "name": "camera_reader"
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]459 }
460 ],
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]461 "maps": [
462 {
463 "match": {
464 "name": "/aos",
465 "source_node": "roborio"
466 },
467 "rename": {
468 "name": "/aos/roborio"
469 }
470 },
471 {
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474 "source_node": "pi1"
475 },
476 "rename": {
477 "name": "/aos/pi1"
478 }
479 },
480 {
481 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]482 "name": "/camera",
483 "source_node": "pi1"
484 },
485 "rename": {
486 "name": "/pi1/camera"
487 }
488 },
489 {
490 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]491 "name": "/camera/detailed",
492 "source_node": "pi1"
493 },
494 "rename": {
495 "name": "/pi1/camera/detailed"
496 }
497 },
498 {
499 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]500 "name": "/aos",
501 "source_node": "pi2"
502 },
503 "rename": {
504 "name": "/aos/pi2"
505 }
506 },
507 {
508 "match": {
Austin Schuh5bb1e6c2020-02-26 22:14:33 -0800[diff] [blame]509 "name": "/camera",
510 "source_node": "pi2"
511 },
512 "rename": {
513 "name": "/pi2/camera"
514 }
515 },
516 {
517 "match": {
Austin Schuh6f3640a2020-02-28 22:13:36 -0800[diff] [blame]518 "name": "/camera/detailed",
519 "source_node": "pi2"
520 },
521 "rename": {
522 "name": "/pi2/camera/detailed"
523 }
524 },
525 {
526 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]527 "name": "/aos",
528 "source_node": "pi3"
529 },
530 "rename": {
531 "name": "/aos/pi3"
532 }
533 },
534 {
535 "match": {
James Kuszmaulc6723cf2020-03-01 14:45:59 -0800[diff] [blame]536 "name": "/camera",
537 "source_node": "pi3"
538 },
539 "rename": {
540 "name": "/pi3/camera"
541 }
542 },
543 {
544 "match": {
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546 "source_node": "pi3"
547 },
548 "rename": {
549 "name": "/pi3/camera/detailed"
550 }
551 },
552 {
553 "match": {
Austin Schuh6aa77be2020-02-22 21:06:40 -0800[diff] [blame]554 "name": "/aos",
555 "type": "aos.RobotState"
556 },
557 "rename": {
558 "name": "/aos/roborio"
559 }
560 }
561 ],
562 "nodes": [
563 {
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565 "hostname": "roborio",
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569 "roboRIO-8971-FRC",
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574 {
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580 "pi-8971-1",
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584 },
585 {
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591 "pi-8971-2",
592 "pi-9971-2"
593 ],
594 "port": 9971
595 },
596 {
597 "name": "pi3",
598 "hostname": "pi3",
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601 "pi-7971-3",
602 "pi-8971-3",
603 "pi-9971-3"
604 ],
605 "port": 9971
606 }
Stephan Massaltd021f972020-01-05 20:41:23 -0800[diff] [blame]607 ]
608}