y2023/y2023_roborio.json

{
  "channels": [
    {
      "name": "/roborio/aos",
      "type": "aos.JoystickState",
      "source_node": "roborio",
      "frequency": 100,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "imu"
      ],
      "destination_nodes": [
        {
          "name": "imu",
          "priority": 5,
          "time_to_live": 50000000
        }
      ]
    },
    {
      "name": "/roborio/aos",
      "type": "aos.RobotState",
      "source_node": "roborio",
      "frequency": 250
    },
    {
      "name": "/roborio/aos",
      "type": "aos.timing.Report",
      "source_node": "roborio",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 8192
    },
    {
      "name": "/roborio/aos",
      "type": "aos.logging.LogMessageFbs",
      "source_node": "roborio",
      "frequency": 500,
      "max_size": 1000,
      "num_senders": 20
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.Status",
      "source_node": "roborio",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 2000
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "roborio",
      "frequency": 10,
      "max_size": 400,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.ServerStatistics",
      "source_node": "roborio",
      "max_size": 2048,
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.ClientStatistics",
      "source_node": "roborio",
      "frequency": 20,
      "max_size": 2000,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos",
      "type": "aos.logging.DynamicLogCommand",
      "source_node": "roborio",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "source_node": "roborio",
      "max_size": 208
    },
    {
      "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 300,
      "source_node": "roborio"
    },
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "roborio",
      "frequency": 15,
      "num_senders": 2,
      "max_size": 512,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "imu"
      ],
      "destination_nodes": [
        {
          "name": "imu",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/superstructure",
      "type": "y2023.control_loops.superstructure.Goal",
      "source_node": "roborio",
      "frequency": 250,
      "max_size": 512
    },
    {
      "name": "/superstructure",
      "type": "y2023.control_loops.superstructure.Status",
      "source_node": "roborio",
      "frequency": 400,
      "num_senders": 2
    },
    {
      "name": "/superstructure",
      "type": "y2023.control_loops.superstructure.Output",
      "source_node": "roborio",
      "frequency": 250,
      "num_senders": 2,
      "max_size": 224
    },
    {
      "name": "/superstructure",
      "type": "y2023.control_loops.superstructure.Position",
      "source_node": "roborio",
      "frequency": 250,
      "num_senders": 2,
      "max_size": 448
    },
    {
      "name": "/can",
      "type": "frc971.can_logger.CanFrame",
      "source_node": "roborio",
      "frequency": 6000,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.CANPosition",
      "source_node": "roborio",
      "frequency": 220,
      "num_senders": 2,
      "max_size": 400
    },
    {
      "name": "/drivetrain",
      "type": "frc971.sensors.GyroReading",
      "source_node": "roborio",
      "frequency": 250,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.sensors.Uid",
      "source_node": "roborio",
      "frequency": 250,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.fb.Trajectory",
      "source_node": "roborio",
      "max_size": 600000,
      "frequency": 10,
      "logger": "NOT_LOGGED",
      "num_senders": 2,
      "read_method": "PIN",
      "num_readers": 10
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.SplineGoal",
      "source_node": "roborio",
      "frequency": 10
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Goal",
      "source_node": "roborio",
      "max_size": 224,
      "frequency": 250
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Position",
      "source_node": "roborio",
      "frequency": 400,
      "max_size": 112,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Output",
      "source_node": "roborio",
      "frequency": 400,
      "max_size": 80,
      "num_senders": 2,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "imu"
      ],
      "destination_nodes": [
        {
          "name": "imu",
          "priority": 5,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Status",
      "source_node": "roborio",
      "frequency": 400,
      "max_size": 1616,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.LocalizerControl",
      "source_node": "roborio",
      "frequency": 250,
      "max_size": 96,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "imu"
      ],
      "destination_nodes": [
        {
          "name": "imu",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 0
        }
      ]
    },
    {
      "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 400,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/drivetrain",
      "type": "y2023.control_loops.drivetrain.TargetSelectorStatus",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "aos.common.actions.Status",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "frc971.autonomous.Goal",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "frc971.autonomous.AutonomousMode",
      "source_node": "roborio",
      "frequency": 250
    },
    {
      "name": "/roborio/aos",
      "type": "frc971.PDPValues",
      "source_node": "roborio",
      "frequency": 55,
      "max_size": 368
    },
    {
      "name": "/roborio/aos",
      "type": "frc971.wpilib.PneumaticsToLog",
      "source_node": "roborio",
      "frequency": 50
    },
    {
      "name": "/roborio",
      "type": "frc971.CANConfiguration",
      "source_node": "roborio",
      "frequency": 2
    },
    {
      "name": "/roborio/constants",
      "type": "y2023.Constants",
      "source_node": "roborio",
      "frequency": 1,
      "num_senders": 2,
      "max_size": 65536
    },
    {
      "name": "/drivetrain",
      "type": "y2023.control_loops.drivetrain.TargetSelectorHint",
      "source_node": "roborio"
    }
  ],
  "applications": [
    {
      "name": "drivetrain",
      "executable_name": "drivetrain",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "trajectory_generator",
      "executable_name": "trajectory_generator",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "superstructure",
      "executable_name": "superstructure",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_irq_affinity",
      "executable_name": "irq_affinity",
      "args": [
        "--irq_config=/home/admin/bin/roborio_irq_config.json"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "joystick_reader",
      "executable_name": "joystick_reader",
      "args": [
        "--nodie_on_malloc"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "wpilib_interface",
      "executable_name": "wpilib_interface",
      "args": [
        "--nodie_on_malloc"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "autonomous_action",
      "executable_name": "autonomous_action",
      "args": [
        "--nodie_on_malloc"
      ],
      "autostart": true,
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_web_proxy",
      "executable_name": "web_proxy_main",
      "args": [
        "--min_ice_port=5800",
        "--max_ice_port=5810"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_message_bridge_client",
      "executable_name": "message_bridge_client",
      "args": [
        "--rt_priority=16",
        "--sinit_max_init_timeout=5000"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "roborio_message_bridge_server",
      "executable_name": "message_bridge_server",
      "args": [
        "--rt_priority=16"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "logger",
      "executable_name": "logger_main",
      "args": [
        "--snappy_compress",
        "--logging_folder=/home/admin/logs/",
        "--rotate_every", "30.0"
      ],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "constants_sender_roborio",
      "executable_name": "constants_sender",
      "autorestart": false,
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "can_logger",
      "executable_name": "can_logger",
      "nodes": [
        "roborio"
      ]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/constants*",
        "source_node": "roborio"
      },
      "rename": {
        "name": "/roborio/constants"
      }
    },
    {
      "match": {
        "name": "/aos*",
        "source_node": "roborio"
      },
      "rename": {
        "name": "/roborio/aos"
      }
    }
  ],
  "nodes": [
    {
      "name": "roborio",
      "hostname": "roborio",
      "hostnames": [
        "roboRIO-971-FRC",
        "roboRIO-6971-FRC",
        "roboRIO-7971-FRC",
        "roboRIO-8971-FRC",
        "roboRIO-9971-FRC"
      ],
      "port": 9971
    },
    {
      "name": "imu"
    },
    {
      "name": "logger"
    },
    {
      "name": "pi1"
    },
    {
      "name": "pi2"
    },
    {
      "name": "pi3"
    },
    {
      "name": "pi4"
    }
  ]
}