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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / ef35d7346285a6958c7c13d0e8ce74f4c4f1d731 / . / y2022 / y2022_roborio.json
blob: 41f5baa7a54cbf0653bcfa144a049e8e02f3e3d9 [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 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]141 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
142 "type": "aos.message_bridge.RemoteMessage",
143 "frequency": 20,
144 "source_node": "roborio",
145 "max_size": 208
146 },
147 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]148 "name": "/roborio/aos",
149 "type": "aos.message_bridge.Timestamp",
150 "source_node": "roborio",
151 "frequency": 15,
152 "num_senders": 2,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]153 "max_size": 512,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]154 "destination_nodes": [
155 {
156 "name": "pi1",
157 "priority": 1,
158 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
159 "timestamp_logger_nodes": [
160 "roborio"
161 ],
162 "time_to_live": 5000000
163 },
164 {
165 "name": "pi2",
166 "priority": 1,
167 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
168 "timestamp_logger_nodes": [
169 "roborio"
170 ],
171 "time_to_live": 5000000
172 },
173 {
174 "name": "pi3",
175 "priority": 1,
176 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
177 "timestamp_logger_nodes": [
178 "roborio"
179 ],
180 "time_to_live": 5000000
181 },
182 {
183 "name": "pi4",
184 "priority": 1,
185 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
186 "timestamp_logger_nodes": [
187 "roborio"
188 ],
189 "time_to_live": 5000000
190 },
191 {
192 "name": "pi5",
193 "priority": 1,
194 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
195 "timestamp_logger_nodes": [
196 "roborio"
197 ],
198 "time_to_live": 5000000
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]199 },
200 {
201 "name": "imu",
202 "priority": 1,
203 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
204 "timestamp_logger_nodes": [
205 "roborio"
206 ],
207 "time_to_live": 5000000
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]208 }
209 ]
210 },
211 {
212 "name": "/superstructure",
213 "type": "y2022.control_loops.superstructure.Goal",
214 "source_node": "roborio",
215 "frequency": 200,
216 "max_size": 512
217 },
218 {
219 "name": "/superstructure",
220 "type": "y2022.control_loops.superstructure.Status",
221 "source_node": "roborio",
222 "frequency": 200,
223 "num_senders": 2
224 },
225 {
226 "name": "/superstructure",
227 "type": "y2022.control_loops.superstructure.Output",
228 "source_node": "roborio",
229 "frequency": 200,
230 "num_senders": 2,
231 "max_size": 224
232 },
233 {
234 "name": "/superstructure",
235 "type": "y2022.control_loops.superstructure.Position",
236 "source_node": "roborio",
237 "frequency": 200,
238 "num_senders": 2,
239 "max_size": 448
240 },
241 {
242 "name": "/drivetrain",
243 "type": "frc971.IMUValuesBatch",
244 "source_node": "roborio",
245 "frequency": 250,
246 "max_size": 2000,
247 "num_senders": 2
248 },
249 {
250 "name": "/drivetrain",
251 "type": "frc971.sensors.GyroReading",
252 "source_node": "roborio",
253 "frequency": 200,
254 "num_senders": 2
255 },
256 {
257 "name": "/drivetrain",
258 "type": "frc971.sensors.Uid",
259 "source_node": "roborio",
260 "frequency": 200,
261 "num_senders": 2
262 },
263 {
264 "name": "/drivetrain",
265 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
266 "source_node": "roborio",
267 "max_size": 600000,
268 "frequency": 10,
269 "logger": "NOT_LOGGED",
270 "num_senders": 2,
271 "read_method": "PIN",
272 "num_readers": 10
273 },
274 {
275 "name": "/drivetrain",
276 "type": "frc971.control_loops.drivetrain.SplineGoal",
277 "source_node": "roborio",
278 "frequency": 10
279 },
280 {
281 "name": "/drivetrain",
282 "type": "frc971.control_loops.drivetrain.Goal",
283 "source_node": "roborio",
284 "max_size": 224,
285 "frequency": 200
286 },
287 {
288 "name": "/drivetrain",
289 "type": "frc971.control_loops.drivetrain.Position",
290 "source_node": "roborio",
291 "frequency": 200,
292 "max_size": 112,
293 "num_senders": 2
294 },
295 {
296 "name": "/drivetrain",
297 "type": "frc971.control_loops.drivetrain.Output",
298 "source_node": "roborio",
299 "frequency": 200,
300 "max_size": 80,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]301 "num_senders": 2,
302 "logger": "LOCAL_AND_REMOTE_LOGGER",
303 "destination_nodes": [
304 {
305 "name": "imu",
306 "priority": 5,
307 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
308 "timestamp_logger_nodes": [
309 "imu"
310 ],
311 "time_to_live": 5000000
312 }
313 ]
314 },
315 {
316 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
317 "type": "aos.message_bridge.RemoteMessage",
318 "source_node": "roborio",
319 "logger": "NOT_LOGGED",
320 "frequency": 200,
321 "num_senders": 2,
322 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]323 },
324 {
325 "name": "/drivetrain",
326 "type": "frc971.control_loops.drivetrain.Status",
327 "source_node": "roborio",
328 "frequency": 200,
329 "max_size": 1616,
330 "num_senders": 2
331 },
332 {
333 "name": "/drivetrain",
334 "type": "frc971.control_loops.drivetrain.LocalizerControl",
335 "source_node": "roborio",
336 "frequency": 200,
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]337 "max_size": 96,
338 "logger": "LOCAL_AND_REMOTE_LOGGER",
339 "destination_nodes": [
340 {
341 "name": "imu",
342 "priority": 5,
343 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
344 "timestamp_logger_nodes": [
345 "imu"
346 ],
347 "time_to_live": 5000000
348 }
349 ]
350 },
351 {
352 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
353 "type": "aos.message_bridge.RemoteMessage",
354 "source_node": "roborio",
355 "logger": "NOT_LOGGED",
356 "frequency": 200,
357 "num_senders": 2,
358 "max_size": 200
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]359 },
360 {
361 "name": "/drivetrain",
362 "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
363 "source_node": "roborio"
364 },
365 {
366 "name": "/autonomous",
367 "type": "aos.common.actions.Status",
368 "source_node": "roborio"
369 },
370 {
371 "name": "/autonomous",
372 "type": "frc971.autonomous.Goal",
373 "source_node": "roborio"
374 },
375 {
376 "name": "/autonomous",
377 "type": "frc971.autonomous.AutonomousMode",
378 "source_node": "roborio",
379 "frequency": 200
380 },
381 {
382 "name": "/roborio/aos",
383 "type": "frc971.PDPValues",
384 "source_node": "roborio",
385 "frequency": 55,
386 "max_size": 368
387 },
388 {
389 "name": "/roborio/aos",
390 "type": "frc971.wpilib.PneumaticsToLog",
391 "source_node": "roborio",
392 "frequency": 50
393 }
394 ],
395 "applications": [
396 {
397 "name": "drivetrain",
398 "executable_name": "drivetrain",
399 "nodes": [
400 "roborio"
401 ]
402 },
403 {
404 "name": "trajectory_generator",
405 "executable_name": "trajectory_generator",
406 "nodes": [
407 "roborio"
408 ]
409 },
410 {
411 "name": "superstructure",
412 "executable_name": "superstructure",
413 "nodes": [
414 "roborio"
415 ]
416 },
417 {
418 "name": "joystick_reader",
419 "executable_name": "joystick_reader",
420 "nodes": [
421 "roborio"
422 ]
423 },
424 {
425 "name": "wpilib_interface",
426 "executable_name": "wpilib_interface",
427 "nodes": [
428 "roborio"
429 ]
430 },
431 {
432 "name": "autonomous_action",
433 "executable_name": "autonomous_action",
434 "nodes": [
435 "roborio"
436 ]
437 },
438 {
439 "name": "web_proxy",
440 "executable_name": "web_proxy_main",
441 "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
442 "nodes": [
443 "roborio"
444 ]
445 },
446 {
447 "name": "message_bridge_client",
448 "executable_name": "message_bridge_client",
449 "args": ["--rt_priority=16"],
450 "nodes": [
451 "roborio"
452 ]
453 },
454 {
455 "name": "message_bridge_server",
456 "executable_name": "message_bridge_server",
457 "args": ["--rt_priority=16"],
458 "nodes": [
459 "roborio"
460 ]
461 },
462 {
463 "name": "logger",
464 "executable_name": "logger_main",
465 "args": ["--snappy_compress"],
466 "nodes": [
467 "roborio"
468 ]
469 }
470 ],
471 "maps": [
472 {
473 "match": {
474 "name": "/aos*",
475 "source_node": "roborio"
476 },
477 "rename": {
478 "name": "/roborio/aos"
479 }
480 }
481 ],
482 "nodes": [
483 {
484 "name": "roborio",
485 "hostname": "roborio",
486 "hostnames": [
487 "roboRIO-971-FRC",
488 "roboRIO-6971-FRC",
489 "roboRIO-7971-FRC",
490 "roboRIO-8971-FRC",
491 "roboRIO-9971-FRC"
492 ],
493 "port": 9971
494 },
495 {
James Kuszmaulef35d732022-02-12 16:37:32 -0800[diff] [blame^]496 "name": "imu"
497 },
498 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]499 "name": "logger"
500 },
501 {
502 "name": "pi1"
503 },
504 {
505 "name": "pi2"
506 },
507 {
508 "name": "pi3"
509 },
510 {
511 "name": "pi4"
512 },
513 {
514 "name": "pi5"
515 }
516 ]
517}