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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / ef35d7346285a6958c7c13d0e8ce74f4c4f1d731 / . / y2022 / y2022_logger.json
blob: 67f2822d2600daff1c7f3641312883be904df784 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.message_bridge.Timestamp",
6 "source_node": "roborio",
7 "logger": "LOCAL_AND_REMOTE_LOGGER",
8 "logger_nodes": [
9 "logger"
10 ],
11 "destination_nodes": [
12 {
13 "name": "logger",
14 "priority": 1,
15 "time_to_live": 5000000,
16 "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER",
17 "timestamp_logger_nodes" : ["roborio"]
18 }
19 ]
20 },
21 {
22 "name": "/drivetrain",
23 "type": "frc971.IMUValuesBatch",
24 "source_node": "roborio",
25 "logger": "LOCAL_AND_REMOTE_LOGGER",
26 "logger_nodes": [
27 "logger"
28 ],
29 "destination_nodes": [
30 {
31 "name": "logger",
32 "priority": 2,
33 "time_to_live": 500000000
34 }
35 ]
36 },
37 {
38 "name": "/drivetrain",
39 "type": "frc971.control_loops.drivetrain.Position",
40 "source_node": "roborio",
41 "logger": "LOCAL_AND_REMOTE_LOGGER",
42 "logger_nodes": [
43 "logger"
44 ],
45 "destination_nodes": [
46 {
47 "name": "logger",
48 "priority": 2,
49 "time_to_live": 500000000
50 }
51 ]
52 },
53 {
54 "name": "/pi1/aos",
55 "type": "aos.message_bridge.Timestamp",
56 "source_node": "pi1",
57 "logger": "LOCAL_AND_REMOTE_LOGGER",
58 "logger_nodes": [
59 "logger"
60 ],
61 "destination_nodes": [
62 {
63 "name": "logger",
64 "priority": 1,
65 "time_to_live": 5000000
66 }
67 ]
68 },
69 {
70 "name": "/pi2/aos",
71 "type": "aos.message_bridge.Timestamp",
72 "source_node": "pi2",
73 "logger": "LOCAL_AND_REMOTE_LOGGER",
74 "logger_nodes": [
75 "logger"
76 ],
77 "destination_nodes": [
78 {
79 "name": "logger",
80 "priority": 1,
81 "time_to_live": 5000000
82 }
83 ]
84 },
85 {
86 "name": "/pi3/aos",
87 "type": "aos.message_bridge.Timestamp",
88 "source_node": "pi3",
89 "logger": "LOCAL_AND_REMOTE_LOGGER",
90 "logger_nodes": [
91 "logger"
92 ],
93 "destination_nodes": [
94 {
95 "name": "logger",
96 "priority": 1,
97 "time_to_live": 5000000
98 }
99 ]
100 },
101 {
102 "name": "/pi4/aos",
103 "type": "aos.message_bridge.Timestamp",
104 "source_node": "pi4",
105 "logger": "LOCAL_AND_REMOTE_LOGGER",
106 "logger_nodes": [
107 "logger"
108 ],
109 "destination_nodes": [
110 {
111 "name": "logger",
112 "priority": 1,
113 "time_to_live": 5000000
114 }
115 ]
116 },
117 {
118 "name": "/pi5/aos",
119 "type": "aos.message_bridge.Timestamp",
120 "source_node": "pi5",
121 "logger": "LOCAL_AND_REMOTE_LOGGER",
122 "logger_nodes": [
123 "logger"
124 ],
125 "destination_nodes": [
126 {
127 "name": "logger",
128 "priority": 1,
129 "time_to_live": 5000000
130 }
131 ]
132 },
133 {
134 "name": "/logger/aos",
135 "type": "aos.timing.Report",
136 "source_node": "logger",
137 "frequency": 50,
138 "num_senders": 20,
139 "max_size": 4096
140 },
141 {
142 "name": "/logger/aos",
143 "type": "aos.logging.LogMessageFbs",
144 "source_node": "logger",
145 "frequency": 400,
146 "num_senders": 20
147 },
148 {
149 "name": "/logger/aos",
150 "type": "aos.message_bridge.ServerStatistics",
151 "source_node": "logger",
152 "frequency": 10,
153 "num_senders": 2
154 },
155 {
156 "name": "/logger/aos",
157 "type": "aos.message_bridge.ClientStatistics",
158 "source_node": "logger",
159 "frequency": 10,
160 "max_size": 2000,
161 "num_senders": 2
162 },
163 {
164 "name": "/logger/aos",
165 "type": "aos.starter.Status",
166 "source_node": "logger",
167 "frequency": 50,
168 "num_senders": 20,
169 "destination_nodes": [
170 {
171 "name": "roborio",
172 "priority": 5,
173 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
174 "timestamp_logger_nodes": [
175 "logger"
176 ],
177 "time_to_live": 5000000
178 }
179 ]
180 },
181 {
182 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
183 "type": "aos.message_bridge.RemoteMessage",
184 "source_node": "logger",
185 "logger": "NOT_LOGGED",
186 "frequency": 20,
187 "num_senders": 2,
188 "max_size": 200
189 },
190 {
191 "name": "/logger/aos",
192 "type": "aos.starter.StarterRpc",
193 "source_node": "logger",
194 "frequency": 10,
195 "num_senders": 2,
196 "destination_nodes": [
197 {
198 "name": "roborio",
199 "priority": 5,
200 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
201 "timestamp_logger_nodes": [
202 "logger"
203 ],
204 "time_to_live": 5000000
205 }
206 ]
207 },
208 {
209 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
210 "type": "aos.message_bridge.RemoteMessage",
211 "source_node": "logger",
212 "logger": "NOT_LOGGED",
213 "frequency": 20,
214 "num_senders": 2,
215 "max_size": 200
216 },
217 {
218 "name": "/logger/aos",
219 "type": "aos.message_bridge.Timestamp",
220 "source_node": "logger",
221 "frequency": 15,
222 "num_senders": 2,
223 "max_size": 400,
224 "destination_nodes": [
225 {
226 "name": "pi1",
227 "priority": 1,
228 "time_to_live": 5000000,
229 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
230 "timestamp_logger_nodes": [
231 "logger"
232 ]
233 },
234 {
235 "name": "pi2",
236 "priority": 1,
237 "time_to_live": 5000000,
238 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
239 "timestamp_logger_nodes": [
240 "logger"
241 ]
242 },
243 {
244 "name": "pi3",
245 "priority": 1,
246 "time_to_live": 5000000,
247 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
248 "timestamp_logger_nodes": [
249 "logger"
250 ]
251 },
252 {
253 "name": "pi4",
254 "priority": 1,
255 "time_to_live": 5000000,
256 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
257 "timestamp_logger_nodes": [
258 "logger"
259 ]
260 },
261 {
262 "name": "pi5",
263 "priority": 1,
264 "time_to_live": 5000000,
265 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
266 "timestamp_logger_nodes": [
267 "logger"
268 ]
269 },
270 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]271 "name": "imu",
272 "priority": 1,
273 "time_to_live": 5000000,
274 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
275 "timestamp_logger_nodes": [
276 "logger"
277 ]
278 },
279 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]280 "name": "roborio",
281 "priority": 1,
282 "time_to_live": 5000000,
283 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
284 "timestamp_logger_nodes": [
285 "logger"
286 ]
287 }
288 ]
289 },
290 {
291 "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
292 "type": "aos.message_bridge.RemoteMessage",
293 "source_node": "logger",
294 "logger": "NOT_LOGGED",
295 "frequency": 20,
296 "num_senders": 2,
297 "max_size": 200
298 },
299 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]300 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
301 "type": "aos.message_bridge.RemoteMessage",
302 "source_node": "logger",
303 "logger": "NOT_LOGGED",
304 "frequency": 20,
305 "num_senders": 2,
306 "max_size": 200
307 },
308 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]309 "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
310 "type": "aos.message_bridge.RemoteMessage",
311 "source_node": "logger",
312 "logger": "NOT_LOGGED",
313 "frequency": 20,
314 "num_senders": 2,
315 "max_size": 200
316 },
317 {
318 "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
319 "type": "aos.message_bridge.RemoteMessage",
320 "source_node": "logger",
321 "logger": "NOT_LOGGED",
322 "frequency": 20,
323 "num_senders": 2,
324 "max_size": 200
325 },
326 {
327 "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
328 "type": "aos.message_bridge.RemoteMessage",
329 "source_node": "logger",
330 "logger": "NOT_LOGGED",
331 "frequency": 20,
332 "num_senders": 2,
333 "max_size": 200
334 },
335 {
336 "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
337 "type": "aos.message_bridge.RemoteMessage",
338 "source_node": "logger",
339 "logger": "NOT_LOGGED",
340 "frequency": 20,
341 "num_senders": 2,
342 "max_size": 200
343 },
344 {
345 "name": "/logger/aos/remote_timestamps/pi5/logger/aos/aos-message_bridge-Timestamp",
346 "type": "aos.message_bridge.RemoteMessage",
347 "source_node": "logger",
348 "logger": "NOT_LOGGED",
349 "frequency": 20,
350 "num_senders": 2,
351 "max_size": 200
352 },
353 {
354 "name": "/pi1/camera",
355 "type": "frc971.vision.CameraImage",
356 "source_node": "pi1",
357 "logger": "LOCAL_AND_REMOTE_LOGGER",
358 "logger_nodes": [
359 "logger"
360 ],
361 "destination_nodes": [
362 {
363 "name": "logger",
364 "priority": 3,
365 "time_to_live": 5000000
366 }
367 ]
368 },
369 {
370 "name": "/pi2/camera",
371 "type": "frc971.vision.CameraImage",
372 "source_node": "pi2",
373 "logger": "LOCAL_AND_REMOTE_LOGGER",
374 "logger_nodes": [
375 "logger"
376 ],
377 "destination_nodes": [
378 {
379 "name": "logger",
380 "priority": 3,
381 "time_to_live": 5000000
382 }
383 ]
384 },
385 {
386 "name": "/pi3/camera",
387 "type": "frc971.vision.CameraImage",
388 "source_node": "pi3",
389 "logger": "LOCAL_AND_REMOTE_LOGGER",
390 "logger_nodes": [
391 "logger"
392 ],
393 "destination_nodes": [
394 {
395 "name": "logger",
396 "priority": 3,
397 "time_to_live": 5000000
398 }
399 ]
400 },
401 {
402 "name": "/pi4/camera",
403 "type": "frc971.vision.CameraImage",
404 "source_node": "pi4",
405 "logger": "LOCAL_AND_REMOTE_LOGGER",
406 "logger_nodes": [
407 "logger"
408 ],
409 "destination_nodes": [
410 {
411 "name": "logger",
412 "priority": 3,
413 "time_to_live": 5000000
414 }
415 ]
416 },
417 {
418 "name": "/pi5/camera",
419 "type": "frc971.vision.CameraImage",
420 "source_node": "pi5",
421 "logger": "LOCAL_AND_REMOTE_LOGGER",
422 "logger_nodes": [
423 "logger"
424 ],
425 "destination_nodes": [
426 {
427 "name": "logger",
428 "priority": 3,
429 "time_to_live": 5000000
430 }
431 ]
432 }
433 ],
434 "maps": [
435 {
436 "match": {
437 "name": "/aos*",
438 "source_node": "logger"
439 },
440 "rename": {
441 "name": "/logger/aos"
442 }
443 }
444 ],
445 "applications": [
446 {
447 "name": "message_bridge_client",
448 "executable_name": "message_bridge_client",
449 "args": ["--rmem=8388608"],
450 "nodes": [
451 "logger"
452 ]
453 },
454 {
455 "name": "message_bridge_server",
456 "executable_name": "message_bridge_server",
457 "nodes": [
458 "logger"
459 ]
460 },
461 {
462 "name": "image_logger",
463 "executable_name": "logger_main",
464 "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress"],
465 "nodes": [
466 "logger"
467 ]
468 }
469 ],
470 "nodes": [
471 {
472 "name": "logger",
473 "hostname": "logger",
474 "hostnames": [
475 "pi-971-6",
476 "pi-9971-6",
477 "ASchuh-T480s",
478 "aschuh-3950x"
479 ],
480 "port": 9971
481 },
482 {
483 "name": "pi1"
484 },
485 {
486 "name": "pi2"
487 },
488 {
489 "name": "pi3"
490 },
491 {
492 "name": "roborio"
493 },
494 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]495 "name": "imu"
496 },
497 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]498 "name": "pi4"
499 },
500 {
501 "name": "pi5"
502 }
503 ]
504}