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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / e9ee3e6a3ed2afd17963e2cfcd1b5830f0a19c96 / . / y2024_swerve / y2024_swerve_roborio.json
blob: 705370d7339735bbe211f445f85ed93174aa3d81 [file] [log] [blame]
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
Nikolai Sohmers74e52ef2024-05-29 10:12:23 -0700[diff] [blame]5 "type": "aos.JoystickState",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]6 "source_node": "roborio",
Nikolai Sohmers74e52ef2024-05-29 10:12:23 -0700[diff] [blame]7 "frequency": 250,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
16 "time_to_live": 50000000
17 }
18 ]
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]19 },
20 {
21 "name": "/roborio/aos",
22 "type": "aos.timing.Report",
23 "source_node": "roborio",
24 "frequency": 50,
25 "num_senders": 20,
26 "max_size": 8192
27 },
28 {
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]29 "name": "/roborio/drivetrain",
30 "type": "frc971.sensors.GyroReading",
31 "source_node": "roborio",
32 "frequency": 250,
33 "num_senders": 2
34 },
35 {
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]36 "name": "/roborio/aos",
Nikolai Sohmers8412fe52024-06-09 18:01:18 -0700[diff] [blame]37 "type": "aos.RobotState",
38 "source_node": "roborio",
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]39 "frequency": 250,
Nikolai Sohmers8412fe52024-06-09 18:01:18 -0700[diff] [blame]40 "num_senders": 20,
41 "max_size": 192
42 },
43 {
44 "name": "/roborio/aos",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]45 "type": "aos.logging.LogMessageFbs",
46 "source_node": "roborio",
47 "frequency": 500,
48 "max_size": 1000,
49 "num_senders": 20
50 },
51 {
52 "name": "/roborio/aos",
53 "type": "aos.starter.Status",
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55 "frequency": 50,
56 "num_senders": 20,
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]57 "max_size": 8192
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]58 },
59 {
60 "name": "/roborio/aos",
61 "type": "aos.starter.StarterRpc",
62 "source_node": "roborio",
63 "frequency": 10,
64 "max_size": 400,
Sanjay Narayananbecad692024-06-22 14:46:51 -0700[diff] [blame]65 "num_senders": 2,
66 "logger": "LOCAL_AND_REMOTE_LOGGER",
67 "logger_nodes": [
68 "imu"
69 ],
70 "destination_nodes": [
71 {
72 "name": "imu",
73 "priority": 5,
74 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
75 "timestamp_logger_nodes": [
76 "roborio"
77 ],
78 "time_to_live": 5000000
79 }
80 ]
81 },
82 {
83 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
84 "type": "aos.message_bridge.RemoteMessage",
85 "source_node": "roborio",
86 "logger": "NOT_LOGGED",
87 "frequency": 20,
88 "num_senders": 2,
89 "max_size": 200
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]90 },
91 {
92 "name": "/roborio/aos",
93 "type": "aos.message_bridge.ServerStatistics",
94 "source_node": "roborio",
95 "frequency": 10,
96 "num_senders": 2
97 },
98 {
99 "name": "/roborio/aos",
100 "type": "aos.message_bridge.ClientStatistics",
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102 "frequency": 20,
103 "max_size": 2000,
104 "num_senders": 2
105 },
106 {
107 "name": "/roborio/aos",
108 "type": "aos.logging.DynamicLogCommand",
109 "source_node": "roborio",
110 "frequency": 10,
111 "num_senders": 2
112 },
113 {
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]114 "name": "/roborio/aos",
115 "type": "aos.message_bridge.Timestamp",
116 "source_node": "roborio",
117 "frequency": 15,
118 "num_senders": 2,
119 "max_size": 512,
120 "logger": "LOCAL_AND_REMOTE_LOGGER",
121 "logger_nodes": [
122 "imu"
123 ],
124 "destination_nodes": [
125 {
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127 "priority": 1,
128 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
129 "timestamp_logger_nodes": [
130 "roborio"
131 ],
132 "time_to_live": 5000000
133 }
134 ]
135 },
136 {
Sanjay Narayananbecad692024-06-22 14:46:51 -0700[diff] [blame]137 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
138 "type": "aos.message_bridge.RemoteMessage",
139 "frequency": 20,
140 "source_node": "roborio",
141 "max_size": 208
142 },
143 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]144 "name": "/roborio/drivetrain",
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]145 "type": "frc971.control_loops.swerve.Goal",
146 "source_node": "roborio",
147 "frequency": 250
148 },
149 {
150 "name": "/roborio/drivetrain",
151 "type": "frc971.control_loops.swerve.Status",
152 "source_node": "roborio",
153 "max_size": 2056,
154 "frequency": 250
155 },
156 {
157 "name": "/roborio/drivetrain",
Nikolai Sohmers3f2a5072024-06-08 14:05:59 -0700[diff] [blame]158 "type": "frc971.control_loops.swerve.Position",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]159 "source_node": "roborio",
160 "frequency": 250,
161 "num_senders": 1,
162 "max_size": 480
163 },
164 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]165 "name": "/roborio/drivetrain",
Nikolai Sohmers3f2a5072024-06-08 14:05:59 -0700[diff] [blame]166 "type": "frc971.control_loops.swerve.CanPosition",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]167 "source_node": "roborio",
168 "frequency": 250,
169 "num_senders": 1,
Nikolai Sohmers8412fe52024-06-09 18:01:18 -0700[diff] [blame]170 "max_size": 656
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]171 },
172 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]173 "name": "/roborio/can",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]174 "type": "frc971.can_logger.CanFrame",
175 "source_node": "roborio",
176 "frequency": 6000,
177 "num_senders": 2,
178 "max_size": 200
179 },
180 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]181 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]182 "type": "frc971.control_loops.drivetrain.CANPosition",
183 "source_node": "roborio",
184 "frequency": 220,
185 "num_senders": 2,
186 "max_size": 400
187 },
188 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]189 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]190 "type": "frc971.control_loops.drivetrain.SplineGoal",
191 "source_node": "roborio",
192 "frequency": 10
193 },
194 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]195 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]196 "type": "frc971.control_loops.drivetrain.Goal",
197 "source_node": "roborio",
198 "max_size": 224,
199 "frequency": 250
200 },
201 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]202 "name": "/roborio/drivetrain",
Nikolai Sohmers3f2a5072024-06-08 14:05:59 -0700[diff] [blame]203 "type": "frc971.control_loops.swerve.Output",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]204 "source_node": "roborio",
205 "frequency": 400,
206 "max_size": 200,
207 "num_senders": 2,
208 "logger": "LOCAL_AND_REMOTE_LOGGER",
209 "logger_nodes": [
210 "imu"
211 ],
212 "destination_nodes": [
213 {
214 "name": "imu",
215 "priority": 5,
216 "time_to_live": 5000000
217 }
218 ]
219 },
220 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]221 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]222 "type": "frc971.control_loops.drivetrain.Status",
223 "source_node": "roborio",
224 "frequency": 400,
225 "max_size": 1616,
226 "num_senders": 2
227 },
228 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]229 "name": "/roborio/drivetrain",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]230 "type": "frc971.control_loops.drivetrain.LocalizerControl",
231 "source_node": "roborio",
232 "frequency": 250,
233 "max_size": 96,
234 "logger": "LOCAL_AND_REMOTE_LOGGER",
235 "logger_nodes": [
236 "imu"
237 ],
238 "destination_nodes": [
239 {
240 "name": "imu",
241 "priority": 5,
242 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
243 "timestamp_logger_nodes": [
244 "roborio"
245 ],
246 "time_to_live": 0
247 }
248 ]
249 },
250 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]251 "name": "/roborio/aos/remote_timestamps/imu/roborio/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]252 "type": "aos.message_bridge.RemoteMessage",
253 "source_node": "roborio",
254 "logger": "NOT_LOGGED",
255 "frequency": 400,
256 "num_senders": 2,
257 "max_size": 200
258 },
259 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]260 "name": "/roborio/autonomous",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]261 "type": "aos.common.actions.Status",
262 "source_node": "roborio"
263 },
264 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]265 "name": "/roborio/autonomous",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]266 "type": "frc971.autonomous.Goal",
267 "source_node": "roborio"
268 },
269 {
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]270 "name": "/roborio/autonomous",
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]271 "type": "frc971.autonomous.AutonomousMode",
272 "source_node": "roborio",
273 "frequency": 250
274 },
275 {
276 "name": "/roborio/aos",
277 "type": "frc971.PDPValues",
278 "source_node": "roborio",
279 "frequency": 55,
280 "max_size": 368
281 },
282 {
283 "name": "/roborio/aos",
284 "type": "frc971.wpilib.PneumaticsToLog",
285 "source_node": "roborio",
286 "frequency": 50
287 },
288 {
289 "name": "/roborio",
290 "type": "frc971.CANConfiguration",
291 "source_node": "roborio",
292 "frequency": 2
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]293 },
294 {
295 "name": "/roborio/constants",
296 "type": "y2024_swerve.Constants",
297 "source_node": "roborio",
298 "frequency": 1,
299 "num_senders": 2,
300 "max_size": 65536
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]301 }
302 ],
303 "applications": [
304 {
305 "name": "wpilib_interface",
306 "executable_name": "wpilib_interface",
307 "args": [
308 "--nodie_on_malloc",
309 "--ctre_diag_server"
310 ],
311 "nodes": [
312 "roborio"
313 ]
314 },
315 {
316 "name": "swerve_publisher",
317 "executable_name": "swerve_publisher",
318 "autostart": false,
319 "nodes": [
320 "roborio"
321 ]
322 },
323 {
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]324 "name": "constants_sender_roborio",
325 "executable_name": "constants_sender",
326 "autorestart": false,
327 "nodes": [
328 "roborio"
329 ]
330 },
331 {
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]332 "name": "roborio_web_proxy",
333 "executable_name": "web_proxy_main",
334 "args": [
335 "--min_ice_port=5800",
336 "--max_ice_port=5810"
337 ],
338 "nodes": [
339 "roborio"
340 ]
341 },
342 {
343 "name": "roborio_message_bridge_client",
344 "executable_name": "message_bridge_client",
345 "args": [
346 "--rt_priority=16",
347 "--sinit_max_init_timeout=5000"
348 ],
349 "nodes": [
350 "roborio"
351 ]
352 },
353 {
354 "name": "roborio_message_bridge_server",
355 "executable_name": "message_bridge_server",
356 "args": [
357 "--rt_priority=16"
358 ],
359 "nodes": [
360 "roborio"
361 ]
362 },
363 {
364 "name": "logger",
365 "executable_name": "logger_main",
366 "args": [
367 "--snappy_compress",
368 "--logging_folder=/home/admin/logs/",
369 "--rotate_every",
370 "30.0"
371 ],
372 "nodes": [
373 "roborio"
374 ]
375 },
376 {
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]377 "name": "swerve_control_loops",
378 "nodes": [
379 "roborio"
380 ]
381 },
382 {
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]383 "name": "can_logger",
384 "executable_name": "can_logger",
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]385 "autostart": false,
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]386 "nodes": [
387 "roborio"
388 ]
389 }
390 ],
391 "maps": [
392 {
393 "match": {
394 "name": "/aos*",
395 "source_node": "roborio"
396 },
397 "rename": {
398 "name": "/roborio/aos"
399 }
Sanjay Narayanan81e06dd2024-06-23 18:40:03 -0700[diff] [blame]400 },
401 {
402 "match": {
403 "name": "/autonomous*",
404 "source_node": "roborio"
405 },
406 "rename": {
407 "name": "/roborio/autonomous"
408 }
409 },
410 {
411 "match": {
412 "name": "/can*",
413 "source_node": "roborio"
414 },
415 "rename": {
416 "name": "/roborio/can"
417 }
418 },
419 {
420 "match": {
421 "name": "/drivetrain*",
422 "source_node": "roborio"
423 },
424 "rename": {
425 "name": "/roborio/drivetrain"
426 }
Nikolai Sohmersc4fce5d2024-06-15 19:46:46 -0500[diff] [blame]427 },
428 {
429 "match": {
430 "name": "/constants*",
431 "source_node": "roborio"
432 },
433 "rename": {
434 "name": "/roborio/constants"
435 }
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]436 }
437 ],
438 "nodes": [
439 {
440 "name": "roborio",
441 "hostname": "roborio",
442 "hostnames": [
443 "roboRIO-971-FRC",
444 "roboRIO-6971-FRC",
445 "roboRIO-7971-FRC",
446 "roboRIO-8971-FRC",
447 "roboRIO-9971-FRC"
448 ],
449 "port": 9971
450 },
451 {
452 "name": "imu"
Sanjay Narayananbecad692024-06-22 14:46:51 -0700[diff] [blame]453 }
Maxwell Hendersonf63a0d92023-06-24 14:49:51 -0700[diff] [blame]454 ]
455}