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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 5524a50d593f865fa6426f4ffb9562fbf82fb200 / . / y2022 / y2022_roborio.json
blob: 24144a8d2592c28a341ec277ecae43d9db5d2061 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 75
8 },
9 {
10 "name": "/roborio/aos",
11 "type": "aos.RobotState",
12 "source_node": "roborio",
13 "frequency": 200
14 },
15 {
16 "name": "/roborio/aos",
17 "type": "aos.timing.Report",
18 "source_node": "roborio",
19 "frequency": 50,
20 "num_senders": 20,
21 "max_size": 4096
22 },
23 {
24 "name": "/roborio/aos",
25 "type": "aos.logging.LogMessageFbs",
26 "source_node": "roborio",
27 "frequency": 500,
28 "max_size": 344,
29 "num_senders": 20
30 },
31 {
32 "name": "/roborio/aos",
33 "type": "aos.starter.Status",
34 "source_node": "roborio",
35 "frequency": 50,
36 "num_senders": 20,
37 "destination_nodes": [
38 {
39 "name": "logger",
40 "priority": 5,
41 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
42 "timestamp_logger_nodes": [
43 "roborio"
44 ],
45 "time_to_live": 5000000
46 }
47 ]
48 },
49 {
50 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
51 "type": "aos.message_bridge.RemoteMessage",
52 "source_node": "roborio",
53 "logger": "NOT_LOGGED",
54 "frequency": 20,
55 "num_senders": 2,
56 "max_size": 200
57 },
58 {
59 "name": "/roborio/aos",
60 "type": "aos.starter.StarterRpc",
61 "source_node": "roborio",
62 "frequency": 10,
63 "max_size": 400,
64 "num_senders": 2,
65 "destination_nodes": [
66 {
67 "name": "logger",
68 "priority": 5,
69 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
70 "timestamp_logger_nodes": [
71 "roborio"
72 ],
73 "time_to_live": 5000000
74 }
75 ]
76 },
77 {
78 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
79 "type": "aos.message_bridge.RemoteMessage",
80 "source_node": "roborio",
81 "logger": "NOT_LOGGED",
82 "frequency": 20,
83 "num_senders": 2,
84 "max_size": 200
85 },
86 {
87 "name": "/roborio/aos",
88 "type": "aos.message_bridge.ServerStatistics",
89 "source_node": "roborio",
90 "frequency": 10,
91 "num_senders": 2
92 },
93 {
94 "name": "/roborio/aos",
95 "type": "aos.message_bridge.ClientStatistics",
96 "source_node": "roborio",
97 "frequency": 15,
98 "max_size": 2000,
99 "num_senders": 2
100 },
101 {
102 "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
103 "type": "aos.message_bridge.RemoteMessage",
104 "frequency": 200,
105 "source_node": "roborio"
106 },
107 {
108 "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
109 "type": "aos.message_bridge.RemoteMessage",
110 "frequency": 20,
111 "source_node": "roborio",
112 "max_size": 208
113 },
114 {
115 "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
116 "type": "aos.message_bridge.RemoteMessage",
117 "frequency": 20,
118 "source_node": "roborio",
119 "max_size": 208
120 },
121 {
122 "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
123 "type": "aos.message_bridge.RemoteMessage",
124 "frequency": 20,
125 "source_node": "roborio"
126 },
127 {
128 "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
129 "type": "aos.message_bridge.RemoteMessage",
130 "frequency": 20,
131 "source_node": "roborio"
132 },
133 {
134 "name": "/roborio/aos/remote_timestamps/pi5/roborio/aos/aos-message_bridge-Timestamp",
135 "type": "aos.message_bridge.RemoteMessage",
136 "frequency": 20,
137 "source_node": "roborio",
138 "max_size": 208
139 },
140 {
141 "name": "/roborio/aos",
142 "type": "aos.message_bridge.Timestamp",
143 "source_node": "roborio",
144 "frequency": 15,
145 "num_senders": 2,
146 "max_size": 304,
147 "destination_nodes": [
148 {
149 "name": "pi1",
150 "priority": 1,
151 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
152 "timestamp_logger_nodes": [
153 "roborio"
154 ],
155 "time_to_live": 5000000
156 },
157 {
158 "name": "pi2",
159 "priority": 1,
160 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
161 "timestamp_logger_nodes": [
162 "roborio"
163 ],
164 "time_to_live": 5000000
165 },
166 {
167 "name": "pi3",
168 "priority": 1,
169 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
170 "timestamp_logger_nodes": [
171 "roborio"
172 ],
173 "time_to_live": 5000000
174 },
175 {
176 "name": "pi4",
177 "priority": 1,
178 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
179 "timestamp_logger_nodes": [
180 "roborio"
181 ],
182 "time_to_live": 5000000
183 },
184 {
185 "name": "pi5",
186 "priority": 1,
187 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
188 "timestamp_logger_nodes": [
189 "roborio"
190 ],
191 "time_to_live": 5000000
192 }
193 ]
194 },
195 {
196 "name": "/superstructure",
197 "type": "y2022.control_loops.superstructure.Goal",
198 "source_node": "roborio",
199 "frequency": 200,
200 "max_size": 512
201 },
202 {
203 "name": "/superstructure",
204 "type": "y2022.control_loops.superstructure.Status",
205 "source_node": "roborio",
206 "frequency": 200,
207 "num_senders": 2
208 },
209 {
210 "name": "/superstructure",
211 "type": "y2022.control_loops.superstructure.Output",
212 "source_node": "roborio",
213 "frequency": 200,
214 "num_senders": 2,
215 "max_size": 224
216 },
217 {
218 "name": "/superstructure",
219 "type": "y2022.control_loops.superstructure.Position",
220 "source_node": "roborio",
221 "frequency": 200,
222 "num_senders": 2,
223 "max_size": 448
224 },
225 {
226 "name": "/drivetrain",
227 "type": "frc971.IMUValuesBatch",
228 "source_node": "roborio",
229 "frequency": 250,
230 "max_size": 2000,
231 "num_senders": 2
232 },
233 {
234 "name": "/drivetrain",
235 "type": "frc971.sensors.GyroReading",
236 "source_node": "roborio",
237 "frequency": 200,
238 "num_senders": 2
239 },
240 {
241 "name": "/drivetrain",
242 "type": "frc971.sensors.Uid",
243 "source_node": "roborio",
244 "frequency": 200,
245 "num_senders": 2
246 },
247 {
248 "name": "/drivetrain",
249 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
250 "source_node": "roborio",
251 "max_size": 600000,
252 "frequency": 10,
253 "logger": "NOT_LOGGED",
254 "num_senders": 2,
255 "read_method": "PIN",
256 "num_readers": 10
257 },
258 {
259 "name": "/drivetrain",
260 "type": "frc971.control_loops.drivetrain.SplineGoal",
261 "source_node": "roborio",
262 "frequency": 10
263 },
264 {
265 "name": "/drivetrain",
266 "type": "frc971.control_loops.drivetrain.Goal",
267 "source_node": "roborio",
268 "max_size": 224,
269 "frequency": 200
270 },
271 {
272 "name": "/drivetrain",
273 "type": "frc971.control_loops.drivetrain.Position",
274 "source_node": "roborio",
275 "frequency": 200,
276 "max_size": 112,
277 "num_senders": 2
278 },
279 {
280 "name": "/drivetrain",
281 "type": "frc971.control_loops.drivetrain.Output",
282 "source_node": "roborio",
283 "frequency": 200,
284 "max_size": 80,
285 "num_senders": 2
286 },
287 {
288 "name": "/drivetrain",
289 "type": "frc971.control_loops.drivetrain.Status",
290 "source_node": "roborio",
291 "frequency": 200,
292 "max_size": 1616,
293 "num_senders": 2
294 },
295 {
296 "name": "/drivetrain",
297 "type": "frc971.control_loops.drivetrain.LocalizerControl",
298 "source_node": "roborio",
299 "frequency": 200,
300 "max_size": 96
301 },
302 {
303 "name": "/drivetrain",
304 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
305 "source_node": "roborio"
306 },
307 {
308 "name": "/autonomous",
309 "type": "aos.common.actions.Status",
310 "source_node": "roborio"
311 },
312 {
313 "name": "/autonomous",
314 "type": "frc971.autonomous.Goal",
315 "source_node": "roborio"
316 },
317 {
318 "name": "/autonomous",
319 "type": "frc971.autonomous.AutonomousMode",
320 "source_node": "roborio",
321 "frequency": 200
322 },
323 {
324 "name": "/roborio/aos",
325 "type": "frc971.PDPValues",
326 "source_node": "roborio",
327 "frequency": 55,
328 "max_size": 368
329 },
330 {
331 "name": "/roborio/aos",
332 "type": "frc971.wpilib.PneumaticsToLog",
333 "source_node": "roborio",
334 "frequency": 50
335 }
336 ],
337 "applications": [
338 {
339 "name": "drivetrain",
340 "executable_name": "drivetrain",
341 "nodes": [
342 "roborio"
343 ]
344 },
345 {
346 "name": "trajectory_generator",
347 "executable_name": "trajectory_generator",
348 "nodes": [
349 "roborio"
350 ]
351 },
352 {
353 "name": "superstructure",
354 "executable_name": "superstructure",
355 "nodes": [
356 "roborio"
357 ]
358 },
359 {
360 "name": "joystick_reader",
361 "executable_name": "joystick_reader",
362 "nodes": [
363 "roborio"
364 ]
365 },
366 {
367 "name": "wpilib_interface",
368 "executable_name": "wpilib_interface",
369 "nodes": [
370 "roborio"
371 ]
372 },
373 {
374 "name": "autonomous_action",
375 "executable_name": "autonomous_action",
376 "nodes": [
377 "roborio"
378 ]
379 },
380 {
381 "name": "web_proxy",
382 "executable_name": "web_proxy_main",
383 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
384 "nodes": [
385 "roborio"
386 ]
387 },
388 {
389 "name": "message_bridge_client",
390 "executable_name": "message_bridge_client",
391 "args": ["--rt_priority=16"],
392 "nodes": [
393 "roborio"
394 ]
395 },
396 {
397 "name": "message_bridge_server",
398 "executable_name": "message_bridge_server",
399 "args": ["--rt_priority=16"],
400 "nodes": [
401 "roborio"
402 ]
403 },
404 {
405 "name": "logger",
406 "executable_name": "logger_main",
407 "args": ["--snappy_compress"],
408 "nodes": [
409 "roborio"
410 ]
411 }
412 ],
413 "maps": [
414 {
415 "match": {
416 "name": "/aos*",
417 "source_node": "roborio"
418 },
419 "rename": {
420 "name": "/roborio/aos"
421 }
422 }
423 ],
424 "nodes": [
425 {
426 "name": "roborio",
427 "hostname": "roborio",
428 "hostnames": [
429 "roboRIO-971-FRC",
430 "roboRIO-6971-FRC",
431 "roboRIO-7971-FRC",
432 "roboRIO-8971-FRC",
433 "roboRIO-9971-FRC"
434 ],
435 "port": 9971
436 },
437 {
438 "name": "logger"
439 },
440 {
441 "name": "pi1"
442 },
443 {
444 "name": "pi2"
445 },
446 {
447 "name": "pi3"
448 },
449 {
450 "name": "pi4"
451 },
452 {
453 "name": "pi5"
454 }
455 ]
456}