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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 3c4af57a9450a3652af08824163b1c5364cd3163 / . / y2023 / y2023_roborio.json
blob: 3114ac918d6f55fe465420922da41c3c49effbf3 [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",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]9 "logger_nodes": [
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]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 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]22 }
23 ]
24 },
25 {
26 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-JoystickState",
27 "type": "aos.message_bridge.RemoteMessage",
28 "source_node": "roborio",
29 "logger": "NOT_LOGGED",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]30 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]31 "num_senders": 2,
32 "max_size": 200
33 },
34 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]35 "name": "/roborio/aos",
36 "type": "aos.RobotState",
37 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]38 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]39 },
40 {
41 "name": "/roborio/aos",
42 "type": "aos.timing.Report",
43 "source_node": "roborio",
44 "frequency": 50,
45 "num_senders": 20,
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]46 "max_size": 8192
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]47 },
48 {
49 "name": "/roborio/aos",
50 "type": "aos.logging.LogMessageFbs",
51 "source_node": "roborio",
52 "frequency": 500,
Austin Schuhd653aed2023-02-24 16:28:17 -0800[diff] [blame]53 "max_size": 1000,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]54 "num_senders": 20
55 },
56 {
57 "name": "/roborio/aos",
58 "type": "aos.starter.Status",
59 "source_node": "roborio",
60 "frequency": 50,
61 "num_senders": 20,
62 "max_size": 2000,
63 "logger": "LOCAL_AND_REMOTE_LOGGER",
64 "logger_nodes": [
65 "logger"
66 ],
67 "destination_nodes": [
68 {
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70 "priority": 5,
71 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
72 "timestamp_logger_nodes": [
73 "roborio"
74 ],
75 "time_to_live": 5000000
76 }
77 ]
78 },
79 {
80 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
81 "type": "aos.message_bridge.RemoteMessage",
82 "source_node": "roborio",
83 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]84 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]85 "num_senders": 2,
86 "max_size": 200
87 },
88 {
89 "name": "/roborio/aos",
90 "type": "aos.starter.StarterRpc",
91 "source_node": "roborio",
92 "frequency": 10,
93 "max_size": 400,
94 "num_senders": 2,
95 "logger": "LOCAL_AND_REMOTE_LOGGER",
96 "logger_nodes": [
97 "logger"
98 ],
99 "destination_nodes": [
100 {
101 "name": "logger",
102 "priority": 5,
103 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
104 "timestamp_logger_nodes": [
105 "roborio"
106 ],
107 "time_to_live": 5000000
108 }
109 ]
110 },
111 {
112 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
113 "type": "aos.message_bridge.RemoteMessage",
114 "source_node": "roborio",
115 "logger": "NOT_LOGGED",
116 "frequency": 20,
117 "num_senders": 2,
118 "max_size": 200
119 },
120 {
121 "name": "/roborio/aos",
122 "type": "aos.message_bridge.ServerStatistics",
123 "source_node": "roborio",
124 "frequency": 10,
125 "num_senders": 2
126 },
127 {
128 "name": "/roborio/aos",
129 "type": "aos.message_bridge.ClientStatistics",
130 "source_node": "roborio",
131 "frequency": 20,
132 "max_size": 2000,
133 "num_senders": 2
134 },
135 {
136 "name": "/roborio/aos",
137 "type": "aos.logging.DynamicLogCommand",
138 "source_node": "roborio",
139 "frequency": 10,
140 "num_senders": 2
141 },
142 {
143 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
144 "type": "aos.message_bridge.RemoteMessage",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]145 "frequency": 300,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]146 "source_node": "roborio"
147 },
148 {
149 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
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152 "source_node": "roborio",
153 "max_size": 208
154 },
155 {
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158 "frequency": 20,
159 "source_node": "roborio",
160 "max_size": 208
161 },
162 {
163 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
164 "type": "aos.message_bridge.RemoteMessage",
165 "frequency": 20,
166 "source_node": "roborio"
167 },
168 {
169 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
170 "type": "aos.message_bridge.RemoteMessage",
171 "frequency": 20,
172 "source_node": "roborio"
173 },
174 {
175 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
176 "type": "aos.message_bridge.RemoteMessage",
177 "frequency": 20,
178 "source_node": "roborio",
179 "max_size": 208
180 },
181 {
182 "name": "/roborio/aos",
183 "type": "aos.message_bridge.Timestamp",
184 "source_node": "roborio",
185 "frequency": 15,
186 "num_senders": 2,
187 "max_size": 512,
188 "logger": "LOCAL_AND_REMOTE_LOGGER",
189 "logger_nodes": [
190 "imu"
191 ],
192 "destination_nodes": [
193 {
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196 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
197 "timestamp_logger_nodes": [
198 "roborio"
199 ],
200 "time_to_live": 5000000
201 },
202 {
203 "name": "pi2",
204 "priority": 1,
205 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
206 "timestamp_logger_nodes": [
207 "roborio"
208 ],
209 "time_to_live": 5000000
210 },
211 {
212 "name": "pi3",
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214 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
215 "timestamp_logger_nodes": [
216 "roborio"
217 ],
218 "time_to_live": 5000000
219 },
220 {
221 "name": "pi4",
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": "imu",
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 },
240 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]241 "name": "/superstructure",
242 "type": "y2023.control_loops.superstructure.Goal",
243 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]244 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]245 "max_size": 512
246 },
247 {
248 "name": "/superstructure",
249 "type": "y2023.control_loops.superstructure.Status",
250 "source_node": "roborio",
251 "frequency": 400,
252 "num_senders": 2
253 },
254 {
255 "name": "/superstructure",
256 "type": "y2023.control_loops.superstructure.Output",
257 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]258 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]259 "num_senders": 2,
260 "max_size": 224
261 },
262 {
263 "name": "/superstructure",
264 "type": "y2023.control_loops.superstructure.Position",
265 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]266 "frequency": 250,
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]267 "num_senders": 2,
268 "max_size": 448
269 },
270 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]271 "name": "/drivetrain",
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]272 "type": "y2023.control_loops.drivetrain.CANPosition",
273 "source_node": "roborio",
274 "frequency": 220,
275 "num_senders": 2,
276 "max_size": 400
277 },
278 {
279 "name": "/drivetrain",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]280 "type": "frc971.sensors.GyroReading",
281 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]282 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]283 "num_senders": 2
284 },
285 {
286 "name": "/drivetrain",
287 "type": "frc971.sensors.Uid",
288 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]289 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]290 "num_senders": 2
291 },
292 {
293 "name": "/drivetrain",
294 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
295 "source_node": "roborio",
296 "max_size": 600000,
297 "frequency": 10,
298 "logger": "NOT_LOGGED",
299 "num_senders": 2,
300 "read_method": "PIN",
301 "num_readers": 10
302 },
303 {
304 "name": "/drivetrain",
305 "type": "frc971.control_loops.drivetrain.SplineGoal",
306 "source_node": "roborio",
307 "frequency": 10
308 },
309 {
310 "name": "/drivetrain",
311 "type": "frc971.control_loops.drivetrain.Goal",
312 "source_node": "roborio",
313 "max_size": 224,
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]314 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]315 },
316 {
317 "name": "/drivetrain",
318 "type": "frc971.control_loops.drivetrain.Position",
319 "source_node": "roborio",
320 "frequency": 400,
321 "max_size": 112,
322 "num_senders": 2
323 },
324 {
325 "name": "/drivetrain",
326 "type": "frc971.control_loops.drivetrain.Output",
327 "source_node": "roborio",
328 "frequency": 400,
329 "max_size": 80,
330 "num_senders": 2,
331 "logger": "LOCAL_AND_REMOTE_LOGGER",
332 "logger_nodes": [
333 "imu"
334 ],
335 "destination_nodes": [
336 {
337 "name": "imu",
338 "priority": 5,
339 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
340 "timestamp_logger_nodes": [
341 "imu"
342 ],
343 "time_to_live": 5000000
344 }
345 ]
346 },
347 {
348 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
349 "type": "aos.message_bridge.RemoteMessage",
350 "source_node": "roborio",
351 "logger": "NOT_LOGGED",
352 "frequency": 400,
353 "num_senders": 2,
354 "max_size": 200
355 },
356 {
357 "name": "/drivetrain",
358 "type": "frc971.control_loops.drivetrain.Status",
359 "source_node": "roborio",
360 "frequency": 400,
361 "max_size": 1616,
362 "num_senders": 2
363 },
364 {
365 "name": "/drivetrain",
366 "type": "frc971.control_loops.drivetrain.LocalizerControl",
367 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]368 "frequency": 250,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]369 "max_size": 96,
370 "logger": "LOCAL_AND_REMOTE_LOGGER",
371 "logger_nodes": [
372 "imu"
373 ],
374 "destination_nodes": [
375 {
376 "name": "imu",
377 "priority": 5,
378 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
379 "timestamp_logger_nodes": [
380 "imu"
381 ],
382 "time_to_live": 0
383 }
384 ]
385 },
386 {
387 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
388 "type": "aos.message_bridge.RemoteMessage",
389 "source_node": "roborio",
390 "logger": "NOT_LOGGED",
391 "frequency": 400,
392 "num_senders": 2,
393 "max_size": 200
394 },
395 {
396 "name": "/drivetrain",
James Kuszmaul202e4382023-03-05 14:56:55 -0800[diff] [blame]397 "type": "y2023.control_loops.drivetrain.TargetSelectorStatus",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]398 "source_node": "roborio"
399 },
400 {
401 "name": "/autonomous",
402 "type": "aos.common.actions.Status",
403 "source_node": "roborio"
404 },
405 {
406 "name": "/autonomous",
407 "type": "frc971.autonomous.Goal",
408 "source_node": "roborio"
409 },
410 {
411 "name": "/autonomous",
412 "type": "frc971.autonomous.AutonomousMode",
413 "source_node": "roborio",
Austin Schuh18b31bf2023-02-22 21:22:02 -0800[diff] [blame]414 "frequency": 250
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]415 },
416 {
417 "name": "/roborio/aos",
418 "type": "frc971.PDPValues",
419 "source_node": "roborio",
420 "frequency": 55,
421 "max_size": 368
422 },
423 {
424 "name": "/roborio/aos",
425 "type": "frc971.wpilib.PneumaticsToLog",
426 "source_node": "roborio",
427 "frequency": 50
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]428 },
429 {
Austin Schuhbb4c9ac2023-02-28 22:04:20 -0800[diff] [blame]430 "name": "/roborio",
431 "type": "y2023.CANConfiguration",
432 "source_node": "roborio",
433 "frequency": 2
434 },
435 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]436 "name": "/roborio/constants",
437 "type": "y2023.Constants",
438 "source_node": "roborio",
439 "frequency": 1,
440 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800[diff] [blame]441 "max_size": 65536
James Kuszmauldb730d72023-02-25 16:01:27 -0800[diff] [blame]442 },
443 {
444 "name": "/drivetrain",
445 "type": "y2023.control_loops.drivetrain.TargetSelectorHint",
446 "source_node": "roborio"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]447 }
448 ],
449 "applications": [
450 {
451 "name": "drivetrain",
452 "executable_name": "drivetrain",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]453 "args": [
454 "--die_on_malloc"
455 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]456 "nodes": [
457 "roborio"
458 ]
459 },
460 {
461 "name": "trajectory_generator",
462 "executable_name": "trajectory_generator",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]463 "args": [
464 "--die_on_malloc"
465 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]466 "nodes": [
467 "roborio"
468 ]
469 },
470 {
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]471 "name": "superstructure",
472 "executable_name": "superstructure",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]473 "args": [
474 "--die_on_malloc"
475 ],
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]476 "nodes": [
477 "roborio"
478 ]
479 },
480 {
Xander Yee1ad2f7b2023-02-21 14:46:56 -0800[diff] [blame]481 "name": "roborio_irq_affinity",
482 "executable_name": "irq_affinity",
483 "args": [
484 "--irq_config=/home/admin/bin/roborio_irq_config.json"
485 ],
486 "nodes": [
487 "roborio"
488 ]
489 },
490 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]491 "name": "joystick_reader",
492 "executable_name": "joystick_reader",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]493 "args": [
James Kuszmaul713c5ce2023-03-04 18:23:24 -0800[diff] [blame]494 "--nodie_on_malloc"
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]495 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]496 "nodes": [
497 "roborio"
498 ]
499 },
500 {
501 "name": "wpilib_interface",
502 "executable_name": "wpilib_interface",
503 "nodes": [
504 "roborio"
505 ]
506 },
507 {
508 "name": "autonomous_action",
509 "executable_name": "autonomous_action",
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]510 "args": [
James Kuszmaul713c5ce2023-03-04 18:23:24 -0800[diff] [blame]511 "--nodie_on_malloc"
Austin Schuh5d7bc4c2023-02-23 21:45:45 -0800[diff] [blame]512 ],
James Kuszmaul713c5ce2023-03-04 18:23:24 -0800[diff] [blame]513 "autostart": true,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]514 "nodes": [
515 "roborio"
516 ]
517 },
518 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]519 "name": "roborio_web_proxy",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]520 "executable_name": "web_proxy_main",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]521 "args": [
522 "--min_ice_port=5800",
523 "--max_ice_port=5810"
524 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]525 "nodes": [
526 "roborio"
527 ]
528 },
529 {
530 "name": "roborio_message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]531 "executable_name": "message_bridge_client",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]532 "args": [
533 "--rt_priority=16"
534 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]535 "nodes": [
536 "roborio"
537 ]
538 },
539 {
Ravago Jones2060ee62023-02-03 18:12:24 -0800[diff] [blame]540 "name": "roborio_message_bridge_server",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]541 "executable_name": "message_bridge_server",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]542 "args": [
543 "--rt_priority=16"
544 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]545 "nodes": [
546 "roborio"
547 ]
548 },
549 {
550 "name": "logger",
551 "executable_name": "logger_main",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]552 "args": [
553 "--snappy_compress",
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]554 "--logging_folder=/home/admin/logs/",
555 "--rotate_every", "30.0"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]556 ],
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]557 "nodes": [
558 "roborio"
559 ]
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]560 },
561 {
Henry Speisere139f802023-02-21 14:14:48 -0800[diff] [blame]562 "name": "constants_sender_roborio",
James Kuszmaule22680a2023-02-26 17:33:43 -0800[diff] [blame]563 "executable_name": "constants_sender",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]564 "autorestart": false,
565 "nodes": [
566 "roborio"
567 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]568 }
569 ],
570 "maps": [
571 {
572 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]573 "name": "/constants*",
574 "source_node": "roborio"
575 },
576 "rename": {
577 "name": "/roborio/constants"
578 }
579 },
580 {
581 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]582 "name": "/aos*",
583 "source_node": "roborio"
584 },
585 "rename": {
586 "name": "/roborio/aos"
587 }
588 }
589 ],
590 "nodes": [
591 {
592 "name": "roborio",
593 "hostname": "roborio",
594 "hostnames": [
595 "roboRIO-971-FRC",
596 "roboRIO-6971-FRC",
597 "roboRIO-7971-FRC",
598 "roboRIO-8971-FRC",
599 "roboRIO-9971-FRC"
600 ],
601 "port": 9971
602 },
603 {
604 "name": "imu"
605 },
606 {
607 "name": "logger"
608 },
609 {
610 "name": "pi1"
611 },
612 {
613 "name": "pi2"
614 },
615 {
616 "name": "pi3"
617 },
618 {
619 "name": "pi4"
620 }
621 ]
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]622}