| James (Peilun) Li | a70e575 | 2024-09-18 20:43:00 -0700 | [diff] [blame] | 1 | { |
| 2 | "channels": [ |
| 3 | { |
| 4 | "name": "/orin1/aos", |
| 5 | "type": "aos.util.FilesystemStatus", |
| 6 | "source_node": "orin1", |
| 7 | "frequency": 2 |
| 8 | }, |
| 9 | { |
| 10 | "name": "/orin1/aos", |
| 11 | "type": "aos.timing.Report", |
| 12 | "source_node": "orin1", |
| 13 | "frequency": 50, |
| 14 | "num_senders": 30, |
| 15 | "max_size": 8192 |
| 16 | }, |
| 17 | { |
| 18 | "name": "/orin1/aos", |
| 19 | "type": "aos.logging.LogMessageFbs", |
| 20 | "source_node": "orin1", |
| 21 | "frequency": 200, |
| 22 | "num_senders": 30 |
| 23 | }, |
| 24 | { |
| 25 | "name": "/orin1/aos", |
| 26 | "type": "aos.starter.Status", |
| 27 | "source_node": "orin1", |
| 28 | "frequency": 50, |
| 29 | "num_senders": 20, |
| 30 | "max_size": 4096 |
| 31 | }, |
| 32 | { |
| 33 | "name": "/orin1/aos", |
| 34 | "type": "aos.starter.StarterRpc", |
| 35 | "source_node": "orin1", |
| 36 | "frequency": 10, |
| 37 | "num_senders": 2 |
| 38 | }, |
| 39 | { |
| 40 | "name": "/orin1/aos", |
| 41 | "type": "aos.message_bridge.ServerStatistics", |
| 42 | "source_node": "orin1", |
| 43 | "max_size": 2048, |
| 44 | "frequency": 10, |
| 45 | "num_senders": 2 |
| 46 | }, |
| 47 | { |
| 48 | "name": "/orin1/aos", |
| 49 | "type": "aos.message_bridge.ClientStatistics", |
| 50 | "source_node": "orin1", |
| 51 | "frequency": 20, |
| 52 | "num_senders": 2 |
| 53 | }, |
| 54 | { |
| 55 | "name": "/orin1/aos", |
| 56 | "type": "aos.logging.DynamicLogCommand", |
| 57 | "source_node": "orin1", |
| 58 | "frequency": 10, |
| 59 | "num_senders": 2 |
| 60 | }, |
| 61 | { |
| 62 | "name": "/orin1/aos", |
| 63 | "type": "aos.message_bridge.Timestamp", |
| 64 | "source_node": "orin1", |
| 65 | "frequency": 15, |
| 66 | "num_senders": 2, |
| 67 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 68 | "logger_nodes": [ |
| 69 | "imu" |
| 70 | ], |
| 71 | "max_size": 200, |
| 72 | "destination_nodes": [ |
| 73 | { |
| 74 | "name": "imu", |
| 75 | "priority": 1, |
| 76 | "time_to_live": 5000000, |
| 77 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 78 | "timestamp_logger_nodes": [ |
| 79 | "orin1" |
| 80 | ] |
| 81 | } |
| 82 | ] |
| 83 | }, |
| 84 | { |
| 85 | "name": "/orin1/aos/remote_timestamps/imu/orin1/aos/aos-message_bridge-Timestamp", |
| 86 | "type": "aos.message_bridge.RemoteMessage", |
| 87 | "frequency": 20, |
| 88 | "source_node": "orin1", |
| 89 | "max_size": 208 |
| 90 | }, |
| 91 | { |
| 92 | "name": "/imu/aos", |
| 93 | "type": "aos.message_bridge.Timestamp", |
| 94 | "source_node": "imu", |
| 95 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 96 | "logger_nodes": [ |
| 97 | "orin1" |
| 98 | ], |
| 99 | "destination_nodes": [ |
| 100 | { |
| 101 | "name": "orin1", |
| 102 | "priority": 1, |
| 103 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 104 | "timestamp_logger_nodes": [ |
| 105 | "imu" |
| 106 | ], |
| 107 | "time_to_live": 5000000 |
| 108 | } |
| 109 | ] |
| 110 | }, |
| 111 | { |
| 112 | "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-message_bridge-Timestamp", |
| 113 | "type": "aos.message_bridge.RemoteMessage", |
| 114 | "frequency": 20, |
| 115 | "source_node": "imu", |
| 116 | "max_size": 208 |
| 117 | }, |
| 118 | { |
| 119 | "name": "/orin1/camera0", |
| 120 | "type": "frc971.vision.CameraImage", |
| 121 | "source_node": "orin1", |
| 122 | "channel_storage_duration": 1000000000, |
| 123 | "frequency": 70, |
| 124 | "max_size": 4752384, |
| 125 | "num_readers": 6, |
| 126 | "read_method": "PIN", |
| 127 | "num_senders": 18 |
| 128 | }, |
| 129 | { |
| 130 | "name": "/orin1/camera1", |
| 131 | "type": "frc971.vision.CameraImage", |
| 132 | "source_node": "orin1", |
| 133 | "channel_storage_duration": 1000000000, |
| 134 | "frequency": 70, |
| 135 | "max_size": 4752384, |
| 136 | "num_readers": 6, |
| 137 | "read_method": "PIN", |
| 138 | "num_senders": 18 |
| 139 | }, |
| 140 | { |
| 141 | "name": "/orin1/camera0", |
| 142 | "type": "foxglove.CompressedImage", |
| 143 | "source_node": "orin1", |
| 144 | "logger": "NOT_LOGGED", |
| 145 | "channel_storage_duration": 1000000000, |
| 146 | "frequency": 70, |
| 147 | "max_size": 622384 |
| 148 | }, |
| 149 | { |
| 150 | "name": "/orin1/camera1", |
| 151 | "type": "foxglove.CompressedImage", |
| 152 | "source_node": "orin1", |
| 153 | "logger": "NOT_LOGGED", |
| 154 | "channel_storage_duration": 1000000000, |
| 155 | "frequency": 70, |
| 156 | "max_size": 622384 |
| 157 | }, |
| 158 | { |
| 159 | "name": "/orin1/camera0", |
| 160 | "type": "foxglove.ImageAnnotations", |
| 161 | "source_node": "orin1", |
| 162 | "frequency": 70, |
| 163 | "max_size": 50000 |
| 164 | }, |
| 165 | { |
| 166 | "name": "/orin1/camera1", |
| 167 | "type": "foxglove.ImageAnnotations", |
| 168 | "source_node": "orin1", |
| 169 | "frequency": 70, |
| 170 | "max_size": 50000 |
| 171 | }, |
| 172 | { |
| 173 | "name": "/orin1/camera0", |
| 174 | "type": "frc971.vision.TargetMap", |
| 175 | "source_node": "orin1", |
| 176 | "frequency": 70, |
| 177 | "num_senders": 2, |
| 178 | "max_size": 1024, |
| 179 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 180 | "logger_nodes": [ |
| 181 | "imu" |
| 182 | ], |
| 183 | "destination_nodes": [ |
| 184 | { |
| 185 | "name": "imu", |
| 186 | "priority": 4, |
| 187 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 188 | "timestamp_logger_nodes": [ |
| 189 | "orin1" |
| 190 | ], |
| 191 | "time_to_live": 5000000 |
| 192 | } |
| 193 | ] |
| 194 | }, |
| 195 | { |
| 196 | "name": "/orin1/camera1", |
| 197 | "type": "frc971.vision.TargetMap", |
| 198 | "source_node": "orin1", |
| 199 | "frequency": 70, |
| 200 | "num_senders": 2, |
| 201 | "max_size": 1024, |
| 202 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 203 | "logger_nodes": [ |
| 204 | "imu" |
| 205 | ], |
| 206 | "destination_nodes": [ |
| 207 | { |
| 208 | "name": "imu", |
| 209 | "priority": 4, |
| 210 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 211 | "timestamp_logger_nodes": [ |
| 212 | "orin1" |
| 213 | ], |
| 214 | "time_to_live": 5000000 |
| 215 | } |
| 216 | ] |
| 217 | }, |
| 218 | { |
| 219 | "name": "/orin1/aos/remote_timestamps/imu/orin1/camera0/frc971-vision-TargetMap", |
| 220 | "type": "aos.message_bridge.RemoteMessage", |
| 221 | "frequency": 80, |
| 222 | "source_node": "orin1", |
| 223 | "max_size": 208 |
| 224 | }, |
| 225 | { |
| 226 | "name": "/orin1/aos/remote_timestamps/imu/orin1/camera1/frc971-vision-TargetMap", |
| 227 | "type": "aos.message_bridge.RemoteMessage", |
| 228 | "frequency": 80, |
| 229 | "source_node": "orin1", |
| 230 | "max_size": 208 |
| 231 | }, |
| 232 | { |
| 233 | "name": "/orin1/hardware_monitor", |
| 234 | "type": "frc971.orin.HardwareStats", |
| 235 | "source_node": "orin1", |
| 236 | "frequency": 2 |
| 237 | }, |
| 238 | { |
| 239 | "name": "/orin1/constants", |
| 240 | "type": "y2024_bot3.Constants", |
| 241 | "source_node": "orin1", |
| 242 | "frequency": 1, |
| 243 | "num_senders": 2, |
| 244 | "max_size": 65536 |
| 245 | } |
| 246 | ], |
| 247 | "applications": [ |
| 248 | { |
| 249 | "name": "message_bridge_client", |
| 250 | "executable_name": "message_bridge_client", |
| 251 | "args": [ |
| 252 | "--rt_priority=16", |
| 253 | "--sinit_max_init_timeout=5000", |
| 254 | "--rmem=8388608" |
| 255 | ], |
| 256 | "user": "pi", |
| 257 | "nodes": [ |
| 258 | "orin1" |
| 259 | ] |
| 260 | }, |
| 261 | { |
| 262 | "name": "irq_affinity", |
| 263 | "executable_name": "irq_affinity", |
| 264 | "user": "root", |
| 265 | "args": ["--user=pi", "--irq_config=orin_irq_config.json"], |
| 266 | "nodes": [ |
| 267 | "orin1" |
| 268 | ] |
| 269 | }, |
| 270 | { |
| 271 | "name": "filesystem_monitor", |
| 272 | "executable_name": "filesystem_monitor", |
| 273 | "nodes": [ |
| 274 | "orin1" |
| 275 | ] |
| 276 | }, |
| 277 | { |
| 278 | "name": "hardware_monitor", |
| 279 | "executable_name": "hardware_monitor", |
| 280 | "nodes": [ |
| 281 | "orin1" |
| 282 | ] |
| 283 | }, |
| 284 | { |
| 285 | "name": "message_bridge_server", |
| 286 | "executable_name": "message_bridge_server", |
| 287 | "args": [ |
| 288 | "--rt_priority=16", |
| 289 | "--force_wmem_max=131072" |
| 290 | ], |
| 291 | "user": "pi", |
| 292 | "nodes": [ |
| 293 | "orin1" |
| 294 | ] |
| 295 | }, |
| 296 | { |
| 297 | "name": "web_proxy", |
| 298 | "executable_name": "web_proxy_main", |
| 299 | "user": "pi", |
| 300 | "args": [ |
| 301 | "--min_ice_port=5800", |
| 302 | "--max_ice_port=5810" |
| 303 | ], |
| 304 | "nodes": [ |
| 305 | "orin1" |
| 306 | ] |
| 307 | }, |
| 308 | { |
| 309 | "name": "image_logger", |
| 310 | "executable_name": "image_logger", |
| 311 | "args": [ |
| 312 | "--rotate_every", |
| 313 | "30.0", |
| 314 | "--direct", |
| 315 | "--flush_size=4194304" |
| 316 | ], |
| 317 | "user": "pi", |
| 318 | "nodes": [ |
| 319 | "orin1" |
| 320 | ] |
| 321 | }, |
| 322 | { |
| 323 | "name": "foxglove_websocket", |
| 324 | "user": "pi", |
| 325 | "nodes": [ |
| 326 | "orin1" |
| 327 | ] |
| 328 | }, |
| 329 | { |
| 330 | "name": "foxglove_image_converter0", |
| 331 | "executable_name": "foxglove_image_converter", |
| 332 | "user": "pi", |
| 333 | "args": [ |
| 334 | "--channel", "/camera0" |
| 335 | ], |
| 336 | "nodes": [ |
| 337 | "orin1" |
| 338 | ] |
| 339 | }, |
| 340 | { |
| 341 | "name": "foxglove_image_converter1", |
| 342 | "executable_name": "foxglove_image_converter", |
| 343 | "user": "pi", |
| 344 | "args": [ |
| 345 | "--channel", "/camera1" |
| 346 | ], |
| 347 | "nodes": [ |
| 348 | "orin1" |
| 349 | ] |
| 350 | }, |
| 351 | { |
| 352 | "name": "constants_sender", |
| 353 | "autorestart": false, |
| 354 | "user": "pi", |
| 355 | "nodes": [ |
| 356 | "orin1" |
| 357 | ] |
| 358 | }, |
| 359 | { |
| 360 | "name": "argus_monitor_orin1", |
| 361 | "executable_name": "argus_monitor", |
| 362 | "args": [ |
| 363 | "/orin1/camera0", |
| 364 | "frc971.vision.TargetMap", |
| 365 | "/orin1/camera1", |
| 366 | "frc971.vision.TargetMap", |
| 367 | ], |
| 368 | "user": "pi", |
| 369 | "nodes": [ |
| 370 | "orin1" |
| 371 | ] |
| 372 | }, |
| 373 | { |
| 374 | "name": "argus_camera0", |
| 375 | "executable_name": "argus_camera", |
| 376 | "args": [ |
| 377 | "--camera=0", |
| 378 | "--channel=/camera0" |
| 379 | ], |
| 380 | "user": "pi", |
| 381 | "nodes": [ |
| 382 | "orin1" |
| 383 | ] |
| 384 | }, |
| 385 | { |
| 386 | "name": "argus_camera1", |
| 387 | "executable_name": "argus_camera", |
| 388 | "args": [ |
| 389 | "--camera=1", |
| 390 | "--channel=/camera1" |
| 391 | ], |
| 392 | "user": "pi", |
| 393 | "nodes": [ |
| 394 | "orin1" |
| 395 | ] |
| 396 | }, |
| 397 | { |
| 398 | "name": "apriltag_detector0", |
| 399 | "executable_name": "apriltag_detector", |
| 400 | "args": [ |
| 401 | "--channel=/camera0" |
| 402 | ], |
| 403 | "user": "pi", |
| 404 | "nodes": [ |
| 405 | "orin1" |
| 406 | ] |
| 407 | }, |
| 408 | { |
| 409 | "name": "apriltag_detector1", |
| 410 | "executable_name": "apriltag_detector", |
| 411 | "args": [ |
| 412 | "--channel=/camera1" |
| 413 | ], |
| 414 | "user": "pi", |
| 415 | "nodes": [ |
| 416 | "orin1" |
| 417 | ] |
| 418 | }, |
| 419 | { |
| 420 | "name": "image_streamer", |
| 421 | "executable_name": "image_streamer", |
| 422 | "args": [ |
| 423 | "--device=/dev/uvcvideo", |
| 424 | "--height=480", |
| 425 | "--width=640", |
| 426 | "--nopublish_images", |
| 427 | "--exposure=0", |
| 428 | "--framerate=30", |
| 429 | "--streaming_port=1181", |
| 430 | "--bitrate=1000000", |
| 431 | "--data_dir=/home/pi/bin/image_streamer_www" |
| 432 | ], |
| 433 | "user": "pi", |
| 434 | "nodes": [ |
| 435 | "orin1" |
| 436 | ] |
| 437 | } |
| 438 | ], |
| 439 | "maps": [ |
| 440 | { |
| 441 | "match": { |
| 442 | "name": "/aos*", |
| 443 | "source_node": "orin1" |
| 444 | }, |
| 445 | "rename": { |
| 446 | "name": "/orin1/aos" |
| 447 | } |
| 448 | }, |
| 449 | { |
| 450 | "match": { |
| 451 | "name": "/constants*", |
| 452 | "source_node": "orin1" |
| 453 | }, |
| 454 | "rename": { |
| 455 | "name": "/orin1/constants" |
| 456 | } |
| 457 | }, |
| 458 | { |
| 459 | "match": { |
| 460 | "name": "/camera*", |
| 461 | "source_node": "orin1" |
| 462 | }, |
| 463 | "rename": { |
| 464 | "name": "/orin1/camera" |
| 465 | } |
| 466 | }, |
| 467 | { |
| 468 | "match": { |
| 469 | "name": "/hardware_monitor*", |
| 470 | "source_node": "orin1" |
| 471 | }, |
| 472 | "rename": { |
| 473 | "name": "/orin1/hardware_monitor" |
| 474 | } |
| 475 | } |
| 476 | ], |
| 477 | "nodes": [ |
| 478 | { |
| 479 | "name": "orin1", |
| 480 | "hostname": "orin1", |
| 481 | "hostnames": [ |
| 482 | "orin-971-1", |
| 483 | "orin-7971-1", |
| 484 | "orin-8971-1", |
| 485 | "orin-9971-1" |
| 486 | ], |
| 487 | "port": 9971 |
| 488 | }, |
| 489 | { |
| 490 | "name": "imu" |
| 491 | } |
| 492 | ] |
| 493 | } |