| James Kuszmaul | ef35d73 | 2022-02-12 16:37:32 -0800 | [diff] [blame^] | 1 | { |
| 2 | "channels": [ |
| 3 | { |
| 4 | "name": "/imu/aos", |
| 5 | "type": "aos.timing.Report", |
| 6 | "source_node": "imu", |
| 7 | "frequency": 50, |
| 8 | "num_senders": 20, |
| 9 | "max_size": 4096 |
| 10 | }, |
| 11 | { |
| 12 | "name": "/imu/aos", |
| 13 | "type": "aos.logging.LogMessageFbs", |
| 14 | "source_node": "imu", |
| 15 | "frequency": 200, |
| 16 | "num_senders": 20 |
| 17 | }, |
| 18 | { |
| 19 | "name": "/imu/aos", |
| 20 | "type": "aos.starter.Status", |
| 21 | "source_node": "imu", |
| 22 | "frequency": 50, |
| 23 | "num_senders": 20, |
| 24 | "destination_nodes": [ |
| 25 | { |
| 26 | "name": "roborio", |
| 27 | "priority": 5, |
| 28 | "time_to_live": 5000000 |
| 29 | }, |
| 30 | { |
| 31 | "name": "logger", |
| 32 | "priority": 5, |
| 33 | "time_to_live": 5000000 |
| 34 | } |
| 35 | ] |
| 36 | }, |
| 37 | { |
| 38 | "name": "/imu/aos", |
| 39 | "type": "aos.starter.StarterRpc", |
| 40 | "source_node": "imu", |
| 41 | "frequency": 10, |
| 42 | "num_senders": 2, |
| 43 | "destination_nodes": [ |
| 44 | { |
| 45 | "name": "roborio", |
| 46 | "priority": 5, |
| 47 | "time_to_live": 5000000 |
| 48 | }, |
| 49 | { |
| 50 | "name": "logger", |
| 51 | "priority": 5, |
| 52 | "time_to_live": 5000000 |
| 53 | } |
| 54 | ] |
| 55 | }, |
| 56 | { |
| 57 | "name": "/imu/aos", |
| 58 | "type": "aos.message_bridge.ServerStatistics", |
| 59 | "source_node": "imu", |
| 60 | "frequency": 10, |
| 61 | "num_senders": 2 |
| 62 | }, |
| 63 | { |
| 64 | "name": "/imu/aos", |
| 65 | "type": "aos.message_bridge.ClientStatistics", |
| 66 | "source_node": "imu", |
| 67 | "frequency": 10, |
| 68 | "num_senders": 2 |
| 69 | }, |
| 70 | { |
| 71 | "name": "/imu/aos", |
| 72 | "type": "aos.message_bridge.Timestamp", |
| 73 | "source_node": "imu", |
| 74 | "frequency": 15, |
| 75 | "num_senders": 2, |
| 76 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 77 | "logger_nodes": [ |
| 78 | "roborio", |
| 79 | "logger" |
| 80 | ], |
| 81 | "max_size": 200, |
| 82 | "destination_nodes": [ |
| 83 | { |
| 84 | "name": "roborio", |
| 85 | "priority": 1, |
| 86 | "time_to_live": 5000000 |
| 87 | }, |
| 88 | { |
| 89 | "name": "logger", |
| 90 | "priority": 1, |
| 91 | "time_to_live": 5000000 |
| 92 | } |
| 93 | ] |
| 94 | }, |
| 95 | { |
| 96 | "name": "/logger/aos", |
| 97 | "type": "aos.starter.StarterRpc", |
| 98 | "source_node": "logger", |
| 99 | "destination_nodes": [ |
| 100 | { |
| 101 | "name": "imu", |
| 102 | "priority": 5, |
| 103 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 104 | "timestamp_logger_nodes": [ |
| 105 | "logger" |
| 106 | ], |
| 107 | "time_to_live": 5000000 |
| 108 | } |
| 109 | ] |
| 110 | }, |
| 111 | { |
| 112 | "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc", |
| 113 | "type": "aos.message_bridge.RemoteMessage", |
| 114 | "source_node": "logger", |
| 115 | "logger": "NOT_LOGGED", |
| 116 | "frequency": 20, |
| 117 | "num_senders": 2, |
| 118 | "max_size": 200 |
| 119 | }, |
| 120 | { |
| 121 | "name": "/logger/aos", |
| 122 | "type": "aos.starter.Status", |
| 123 | "source_node": "logger", |
| 124 | "destination_nodes": [ |
| 125 | { |
| 126 | "name": "imu", |
| 127 | "priority": 5, |
| 128 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 129 | "timestamp_logger_nodes": [ |
| 130 | "logger" |
| 131 | ], |
| 132 | "time_to_live": 5000000 |
| 133 | } |
| 134 | ] |
| 135 | }, |
| 136 | { |
| 137 | "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status", |
| 138 | "type": "aos.message_bridge.RemoteMessage", |
| 139 | "source_node": "logger", |
| 140 | "logger": "NOT_LOGGED", |
| 141 | "frequency": 20, |
| 142 | "num_senders": 2, |
| 143 | "max_size": 200 |
| 144 | }, |
| 145 | { |
| 146 | "name": "/roborio/aos", |
| 147 | "type": "aos.starter.StarterRpc", |
| 148 | "source_node": "roborio", |
| 149 | "destination_nodes": [ |
| 150 | { |
| 151 | "name": "imu", |
| 152 | "priority": 5, |
| 153 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 154 | "timestamp_logger_nodes": [ |
| 155 | "roborio" |
| 156 | ], |
| 157 | "time_to_live": 5000000 |
| 158 | } |
| 159 | ] |
| 160 | }, |
| 161 | { |
| 162 | "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc", |
| 163 | "type": "aos.message_bridge.RemoteMessage", |
| 164 | "source_node": "roborio", |
| 165 | "logger": "NOT_LOGGED", |
| 166 | "frequency": 20, |
| 167 | "num_senders": 2, |
| 168 | "max_size": 200 |
| 169 | }, |
| 170 | { |
| 171 | "name": "/roborio/aos", |
| 172 | "type": "aos.starter.Status", |
| 173 | "source_node": "roborio", |
| 174 | "destination_nodes": [ |
| 175 | { |
| 176 | "name": "imu", |
| 177 | "priority": 5, |
| 178 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 179 | "timestamp_logger_nodes": [ |
| 180 | "roborio" |
| 181 | ], |
| 182 | "time_to_live": 5000000 |
| 183 | } |
| 184 | ] |
| 185 | }, |
| 186 | { |
| 187 | "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status", |
| 188 | "type": "aos.message_bridge.RemoteMessage", |
| 189 | "source_node": "roborio", |
| 190 | "logger": "NOT_LOGGED", |
| 191 | "frequency": 20, |
| 192 | "num_senders": 2, |
| 193 | "max_size": 200 |
| 194 | }, |
| 195 | { |
| 196 | "name": "/localizer", |
| 197 | "type": "frc971.controls.LocalizerStatus", |
| 198 | "source_node": "imu", |
| 199 | "frequency": 2200, |
| 200 | "max_size": 2000, |
| 201 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 202 | "destination_nodes": [ |
| 203 | { |
| 204 | "name": "logger", |
| 205 | "priority": 5, |
| 206 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 207 | "timestamp_logger_nodes": [ |
| 208 | "imu" |
| 209 | ], |
| 210 | "time_to_live": 5000000 |
| 211 | } |
| 212 | ] |
| 213 | }, |
| 214 | { |
| 215 | "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerStatus", |
| 216 | "type": "aos.message_bridge.RemoteMessage", |
| 217 | "source_node": "imu", |
| 218 | "logger": "NOT_LOGGED", |
| 219 | "frequency": 2200, |
| 220 | "num_senders": 2, |
| 221 | "max_size": 200 |
| 222 | }, |
| 223 | { |
| 224 | "name": "/localizer", |
| 225 | "type": "frc971.controls.LocalizerOutput", |
| 226 | "source_node": "imu", |
| 227 | "frequency": 200, |
| 228 | "max_size": 200, |
| 229 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 230 | "destination_nodes": [ |
| 231 | { |
| 232 | "name": "roborio", |
| 233 | "priority": 5, |
| 234 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 235 | "timestamp_logger_nodes": [ |
| 236 | "imu" |
| 237 | ], |
| 238 | "time_to_live": 5000000 |
| 239 | }, |
| 240 | { |
| 241 | "name": "logger", |
| 242 | "priority": 5, |
| 243 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 244 | "timestamp_logger_nodes": [ |
| 245 | "imu" |
| 246 | ], |
| 247 | "time_to_live": 5000000 |
| 248 | } |
| 249 | ] |
| 250 | }, |
| 251 | { |
| 252 | "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput", |
| 253 | "type": "aos.message_bridge.RemoteMessage", |
| 254 | "source_node": "imu", |
| 255 | "logger": "NOT_LOGGED", |
| 256 | "frequency": 200, |
| 257 | "num_senders": 2, |
| 258 | "max_size": 200 |
| 259 | }, |
| 260 | { |
| 261 | "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput", |
| 262 | "type": "aos.message_bridge.RemoteMessage", |
| 263 | "source_node": "imu", |
| 264 | "logger": "NOT_LOGGED", |
| 265 | "frequency": 200, |
| 266 | "num_senders": 2, |
| 267 | "max_size": 200 |
| 268 | }, |
| 269 | { |
| 270 | "name": "/localizer", |
| 271 | "type": "frc971.IMUValuesBatch", |
| 272 | "source_node": "imu", |
| 273 | "frequency": 2200, |
| 274 | "max_size": 1000, |
| 275 | "num_senders": 2, |
| 276 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 277 | "destination_nodes": [ |
| 278 | { |
| 279 | "name": "logger", |
| 280 | "priority": 5, |
| 281 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 282 | "timestamp_logger_nodes": [ |
| 283 | "imu" |
| 284 | ], |
| 285 | "time_to_live": 5000000 |
| 286 | } |
| 287 | ] |
| 288 | }, |
| 289 | { |
| 290 | "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-IMUValuesBatch", |
| 291 | "type": "aos.message_bridge.RemoteMessage", |
| 292 | "source_node": "imu", |
| 293 | "logger": "NOT_LOGGED", |
| 294 | "frequency": 2200, |
| 295 | "num_senders": 2, |
| 296 | "max_size": 200 |
| 297 | }, |
| 298 | { |
| 299 | "name": "/localizer", |
| 300 | "type": "frc971.control_loops.drivetrain.Position", |
| 301 | "source_node": "imu", |
| 302 | "frequency": 200, |
| 303 | "max_size": 200, |
| 304 | "num_senders": 2, |
| 305 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 306 | "destination_nodes": [ |
| 307 | { |
| 308 | "name": "logger", |
| 309 | "priority": 5, |
| 310 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 311 | "timestamp_logger_nodes": [ |
| 312 | "imu" |
| 313 | ], |
| 314 | "time_to_live": 5000000 |
| 315 | } |
| 316 | ] |
| 317 | }, |
| 318 | { |
| 319 | "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-control_loops-drivetrain-Position", |
| 320 | "type": "aos.message_bridge.RemoteMessage", |
| 321 | "source_node": "imu", |
| 322 | "logger": "NOT_LOGGED", |
| 323 | "frequency": 200, |
| 324 | "num_senders": 2, |
| 325 | "max_size": 200 |
| 326 | } |
| 327 | ], |
| 328 | "applications": [ |
| 329 | { |
| 330 | "name": "message_bridge_client", |
| 331 | "executable_name": "message_bridge_client", |
| 332 | "nodes": [ |
| 333 | "imu" |
| 334 | ] |
| 335 | }, |
| 336 | { |
| 337 | "name": "message_bridge_server", |
| 338 | "executable_name": "message_bridge_server", |
| 339 | "nodes": [ |
| 340 | "imu" |
| 341 | ] |
| 342 | }, |
| 343 | { |
| 344 | "name": "web_proxy", |
| 345 | "executable_name": "web_proxy_main", |
| 346 | "nodes": [ |
| 347 | "imu" |
| 348 | ] |
| 349 | } |
| 350 | ], |
| 351 | "maps": [ |
| 352 | { |
| 353 | "match": { |
| 354 | "name": "/aos*", |
| 355 | "source_node": "imu" |
| 356 | }, |
| 357 | "rename": { |
| 358 | "name": "/imu/aos" |
| 359 | } |
| 360 | } |
| 361 | ], |
| 362 | "nodes": [ |
| 363 | { |
| 364 | "name": "imu", |
| 365 | "hostname": "imu", |
| 366 | "hostnames": [ |
| 367 | "pi-971-7", |
| 368 | "pi-7971-7", |
| 369 | "pi-8971-7", |
| 370 | "pi-9971-7" |
| 371 | ], |
| 372 | "port": 9971 |
| 373 | }, |
| 374 | { |
| 375 | "name": "logger" |
| 376 | }, |
| 377 | { |
| 378 | "name": "roborio" |
| 379 | } |
| 380 | ] |
| 381 | } |