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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / d653aedc4e0bfc966e27f391eb7b1f3f03c1a4c2 / . / y2023 / y2023_roborio.json
blob: 70a6685139108db53148e2a065ceeb11e3c47966 [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes" : [
10 "imu",
11 "logger"
12 ],
13 "destination_nodes": [
14 {
15 "name": "imu",
16 "priority": 5,
17 "time_to_live": 50000000,
18 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
19 "timestamp_logger_nodes": [
20 "roborio"
21 ]
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 ]
31 }
32 ]
33 },
34 {
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",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]39 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]40 "num_senders": 2,
41 "max_size": 200
42 },
43 {
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",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]48 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]49 "num_senders": 2,
50 "max_size": 200
51 },
52 {
53 "name": "/roborio/aos",
54 "type": "aos.RobotState",
55 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]56 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.timing.Report",
61 "source_node": "roborio",
62 "frequency": 50,
63 "num_senders": 20,
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]64 "max_size": 8192
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]65 },
66 {
67 "name": "/roborio/aos",
68 "type": "aos.logging.LogMessageFbs",
69 "source_node": "roborio",
70 "frequency": 500,
Austin Schuhd653aed2023-02-24 16:28:17 -0800[diff] [blame^]71 "max_size": 1000,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]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,
80 "max_size": 2000,
81 "logger": "LOCAL_AND_REMOTE_LOGGER",
82 "logger_nodes": [
83 "logger"
84 ],
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",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]102 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]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,
113 "logger": "LOCAL_AND_REMOTE_LOGGER",
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116 ],
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118 {
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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",
149 "frequency": 20,
150 "max_size": 2000,
151 "num_senders": 2
152 },
153 {
154 "name": "/roborio/aos",
155 "type": "aos.logging.DynamicLogCommand",
156 "source_node": "roborio",
157 "frequency": 10,
158 "num_senders": 2
159 },
160 {
161 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
162 "type": "aos.message_bridge.RemoteMessage",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]163 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]164 "source_node": "roborio"
165 },
166 {
167 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
168 "type": "aos.message_bridge.RemoteMessage",
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170 "source_node": "roborio",
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172 },
173 {
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175 "type": "aos.message_bridge.RemoteMessage",
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177 "source_node": "roborio",
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179 },
180 {
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182 "type": "aos.message_bridge.RemoteMessage",
183 "frequency": 20,
184 "source_node": "roborio"
185 },
186 {
187 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
188 "type": "aos.message_bridge.RemoteMessage",
189 "frequency": 20,
190 "source_node": "roborio"
191 },
192 {
193 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
194 "type": "aos.message_bridge.RemoteMessage",
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196 "source_node": "roborio",
197 "max_size": 208
198 },
199 {
200 "name": "/roborio/aos",
201 "type": "aos.message_bridge.Timestamp",
202 "source_node": "roborio",
203 "frequency": 15,
204 "num_senders": 2,
205 "max_size": 512,
206 "logger": "LOCAL_AND_REMOTE_LOGGER",
207 "logger_nodes": [
208 "imu"
209 ],
210 "destination_nodes": [
211 {
212 "name": "pi1",
213 "priority": 1,
214 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
215 "timestamp_logger_nodes": [
216 "roborio"
217 ],
218 "time_to_live": 5000000
219 },
220 {
221 "name": "pi2",
222 "priority": 1,
223 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
224 "timestamp_logger_nodes": [
225 "roborio"
226 ],
227 "time_to_live": 5000000
228 },
229 {
230 "name": "pi3",
231 "priority": 1,
232 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
233 "timestamp_logger_nodes": [
234 "roborio"
235 ],
236 "time_to_live": 5000000
237 },
238 {
239 "name": "pi4",
240 "priority": 1,
241 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
242 "timestamp_logger_nodes": [
243 "roborio"
244 ],
245 "time_to_live": 5000000
246 },
247 {
248 "name": "imu",
249 "priority": 1,
250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
252 "roborio"
253 ],
254 "time_to_live": 5000000
255 }
256 ]
257 },
258 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]259 "name": "/superstructure",
260 "type": "y2023.control_loops.superstructure.Goal",
261 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]262 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]263 "max_size": 512
264 },
265 {
266 "name": "/superstructure",
267 "type": "y2023.control_loops.superstructure.Status",
268 "source_node": "roborio",
269 "frequency": 400,
270 "num_senders": 2
271 },
272 {
273 "name": "/superstructure",
274 "type": "y2023.control_loops.superstructure.Output",
275 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]276 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]277 "num_senders": 2,
278 "max_size": 224
279 },
280 {
281 "name": "/superstructure",
282 "type": "y2023.control_loops.superstructure.Position",
283 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]284 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]285 "num_senders": 2,
286 "max_size": 448
287 },
288 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]289 "name": "/drivetrain",
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]290 "type": "y2023.control_loops.drivetrain.CANPosition",
291 "source_node": "roborio",
292 "frequency": 220,
293 "num_senders": 2,
294 "max_size": 400
295 },
296 {
297 "name": "/drivetrain",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]298 "type": "frc971.sensors.GyroReading",
299 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]300 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]301 "num_senders": 2
302 },
303 {
304 "name": "/drivetrain",
305 "type": "frc971.sensors.Uid",
306 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]307 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]308 "num_senders": 2
309 },
310 {
311 "name": "/drivetrain",
312 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
313 "source_node": "roborio",
314 "max_size": 600000,
315 "frequency": 10,
316 "logger": "NOT_LOGGED",
317 "num_senders": 2,
318 "read_method": "PIN",
319 "num_readers": 10
320 },
321 {
322 "name": "/drivetrain",
323 "type": "frc971.control_loops.drivetrain.SplineGoal",
324 "source_node": "roborio",
325 "frequency": 10
326 },
327 {
328 "name": "/drivetrain",
329 "type": "frc971.control_loops.drivetrain.Goal",
330 "source_node": "roborio",
331 "max_size": 224,
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]332 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]333 },
334 {
335 "name": "/drivetrain",
336 "type": "frc971.control_loops.drivetrain.Position",
337 "source_node": "roborio",
338 "frequency": 400,
339 "max_size": 112,
340 "num_senders": 2
341 },
342 {
343 "name": "/drivetrain",
344 "type": "frc971.control_loops.drivetrain.Output",
345 "source_node": "roborio",
346 "frequency": 400,
347 "max_size": 80,
348 "num_senders": 2,
349 "logger": "LOCAL_AND_REMOTE_LOGGER",
350 "logger_nodes": [
351 "imu"
352 ],
353 "destination_nodes": [
354 {
355 "name": "imu",
356 "priority": 5,
357 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
358 "timestamp_logger_nodes": [
359 "imu"
360 ],
361 "time_to_live": 5000000
362 }
363 ]
364 },
365 {
366 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
367 "type": "aos.message_bridge.RemoteMessage",
368 "source_node": "roborio",
369 "logger": "NOT_LOGGED",
370 "frequency": 400,
371 "num_senders": 2,
372 "max_size": 200
373 },
374 {
375 "name": "/drivetrain",
376 "type": "frc971.control_loops.drivetrain.Status",
377 "source_node": "roborio",
378 "frequency": 400,
379 "max_size": 1616,
380 "num_senders": 2
381 },
382 {
383 "name": "/drivetrain",
384 "type": "frc971.control_loops.drivetrain.LocalizerControl",
385 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]386 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]387 "max_size": 96,
388 "logger": "LOCAL_AND_REMOTE_LOGGER",
389 "logger_nodes": [
390 "imu"
391 ],
392 "destination_nodes": [
393 {
394 "name": "imu",
395 "priority": 5,
396 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
397 "timestamp_logger_nodes": [
398 "imu"
399 ],
400 "time_to_live": 0
401 }
402 ]
403 },
404 {
405 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
406 "type": "aos.message_bridge.RemoteMessage",
407 "source_node": "roborio",
408 "logger": "NOT_LOGGED",
409 "frequency": 400,
410 "num_senders": 2,
411 "max_size": 200
412 },
413 {
414 "name": "/drivetrain",
415 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
416 "source_node": "roborio"
417 },
418 {
419 "name": "/autonomous",
420 "type": "aos.common.actions.Status",
421 "source_node": "roborio"
422 },
423 {
424 "name": "/autonomous",
425 "type": "frc971.autonomous.Goal",
426 "source_node": "roborio"
427 },
428 {
429 "name": "/autonomous",
430 "type": "frc971.autonomous.AutonomousMode",
431 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]432 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]433 },
434 {
435 "name": "/roborio/aos",
436 "type": "frc971.PDPValues",
437 "source_node": "roborio",
438 "frequency": 55,
439 "max_size": 368
440 },
441 {
442 "name": "/roborio/aos",
443 "type": "frc971.wpilib.PneumaticsToLog",
444 "source_node": "roborio",
445 "frequency": 50
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]446 },
447 {
448 "name": "/roborio/constants",
449 "type": "y2023.Constants",
450 "source_node": "roborio",
451 "frequency": 1,
452 "num_senders": 2,
453 "max_size": 4096
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]454 }
455 ],
456 "applications": [
457 {
458 "name": "drivetrain",
459 "executable_name": "drivetrain",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]460 "args": [
461 "--die_on_malloc"
462 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]463 "nodes": [
464 "roborio"
465 ]
466 },
467 {
468 "name": "trajectory_generator",
469 "executable_name": "trajectory_generator",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]470 "args": [
471 "--die_on_malloc"
472 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]473 "nodes": [
474 "roborio"
475 ]
476 },
477 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]478 "name": "superstructure",
479 "executable_name": "superstructure",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]480 "args": [
481 "--die_on_malloc"
482 ],
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]483 "nodes": [
484 "roborio"
485 ]
486 },
487 {
Xander Yee1ad2f7b2023-02-21 14:46:56 -0800[diff] [blame]488 "name": "roborio_irq_affinity",
489 "executable_name": "irq_affinity",
490 "args": [
491 "--irq_config=/home/admin/bin/roborio_irq_config.json"
492 ],
493 "nodes": [
494 "roborio"
495 ]
496 },
497 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]498 "name": "joystick_reader",
499 "executable_name": "joystick_reader",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]500 "args": [
501 "--die_on_malloc"
502 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]503 "nodes": [
504 "roborio"
505 ]
506 },
507 {
508 "name": "wpilib_interface",
509 "executable_name": "wpilib_interface",
510 "nodes": [
511 "roborio"
512 ]
513 },
514 {
515 "name": "autonomous_action",
516 "executable_name": "autonomous_action",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]517 "args": [
518 "--die_on_malloc"
519 ],
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]520 "autostart": false,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]521 "nodes": [
522 "roborio"
523 ]
524 },
525 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]526 "name": "roborio_web_proxy",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]527 "executable_name": "web_proxy_main",
528 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
529 "nodes": [
530 "roborio"
531 ]
532 },
533 {
534 "name": "roborio_message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]535 "executable_name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]536 "args": ["--rt_priority=16"],
537 "nodes": [
538 "roborio"
539 ]
540 },
541 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]542 "name": "roborio_message_bridge_server",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]543 "executable_name": "message_bridge_server",
544 "args": ["--rt_priority=16"],
545 "nodes": [
546 "roborio"
547 ]
548 },
549 {
550 "name": "logger",
551 "executable_name": "logger_main",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]552 "args": ["--snappy_compress", "--logging_folder=/home/admin/logs/"],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]553 "nodes": [
554 "roborio"
555 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]556 },
557 {
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]558 "name": "constants_sender_roborio",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]559 "autorestart": false,
560 "nodes": [
561 "roborio"
562 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]563 }
564 ],
565 "maps": [
566 {
567 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]568 "name": "/constants*",
569 "source_node": "roborio"
570 },
571 "rename": {
572 "name": "/roborio/constants"
573 }
574 },
575 {
576 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]577 "name": "/aos*",
578 "source_node": "roborio"
579 },
580 "rename": {
581 "name": "/roborio/aos"
582 }
583 }
584 ],
585 "nodes": [
586 {
587 "name": "roborio",
588 "hostname": "roborio",
589 "hostnames": [
590 "roboRIO-971-FRC",
591 "roboRIO-6971-FRC",
592 "roboRIO-7971-FRC",
593 "roboRIO-8971-FRC",
594 "roboRIO-9971-FRC"
595 ],
596 "port": 9971
597 },
598 {
599 "name": "imu"
600 },
601 {
602 "name": "logger"
603 },
604 {
605 "name": "pi1"
606 },
607 {
608 "name": "pi2"
609 },
610 {
611 "name": "pi3"
612 },
613 {
614 "name": "pi4"
615 }
616 ]
617}