y2023/y2023_pi_template.json

{
  "channels": [
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.timing.Report",
      "source_node": "pi{{ NUM }}",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 4096
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.logging.LogMessageFbs",
      "source_node": "pi{{ NUM }}",
      "frequency": 200,
      "num_senders": 20
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.starter.Status",
      "source_node": "pi{{ NUM }}",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 2000,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio",
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 5,
          "time_to_live": 5000000
        },
        {
          "name": "logger",
          "priority": 5,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "pi{{ NUM }}",
      "frequency": 10,
      "num_senders": 2,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio",
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 5,
          "time_to_live": 5000000
        },
        {
          "name": "logger",
          "priority": 5,
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.message_bridge.ServerStatistics",
      "source_node": "pi{{ NUM }}",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.message_bridge.ClientStatistics",
      "source_node": "pi{{ NUM }}",
      "frequency": 20,
      "num_senders": 2
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.logging.DynamicLogCommand",
      "source_node": "pi{{ NUM }}",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/pi{{ NUM }}/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "pi{{ NUM }}",
      "frequency": 15,
      "num_senders": 2,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "roborio",
        "imu"
      ],
      "max_size": 200,
      "destination_nodes": [
        {
          "name": "roborio",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ]
        },
        {
          "name": "imu",
          "priority": 1,
          "time_to_live": 5000000,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "imu"
          ]
        }
      ]
    },
    {
      "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "source_node": "pi{{ NUM }}",
      "max_size": 208
    },
    {
      "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "source_node": "pi{{ NUM }}",
      "max_size": 208
    },
    {
      "name": "/imu/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "imu",
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "pi{{ NUM }}"
      ],
      "destination_nodes": [
        {
          "name": "pi{{ NUM }}",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "imu"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/imu/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "source_node": "imu",
      "max_size": 208
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "frc971.vision.CameraImage",
      "source_node": "pi{{ NUM }}",
      "frequency": 40,
      "max_size": 1843456,
      "num_readers": 4,
      "read_method": "PIN",
      "num_senders": 18
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "foxglove.CompressedImage",
      "source_node": "pi{{ NUM }}",
      "frequency": 40,
      "max_size": 300000
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "foxglove.ImageAnnotations",
      "source_node": "pi{{ NUM }}",
      "frequency": 40,
      "max_size": 50000
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "frc971.vision.TargetMap",
      "source_node": "pi{{ NUM }}",
      "frequency": 40,
      "num_senders": 2,
      "max_size": 1024,
      "logger": "LOCAL_AND_REMOTE_LOGGER",
      "logger_nodes": [
        "imu",
        "logger"
      ],
      "destination_nodes": [
        {
          "name": "imu",
          "priority": 4,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "pi{{ NUM }}"
          ],
          "time_to_live": 5000000
        },
        {
          "name": "logger",
          "priority": 4,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "pi{{ NUM }}"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/pi{{ NUM }}/camera",
      "type": "y2023.vision.AprilDebug",
      "source_node": "pi{{ NUM }}",
      "frequency": 40,
      "num_senders": 2,
      "max_size": 40000,
      "logger": "LOCAL_LOGGER"
    },
    {
      "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/frc971-vision-TargetMap",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 80,
      "source_node": "pi{{ NUM }}",
      "max_size": 208
    },
    {
      "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/frc971-vision-TargetMap",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 80,
      "source_node": "pi{{ NUM }}",
      "max_size": 208
    },
    {
      "name": "/logger/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "logger",
      "destination_nodes": [
        {
          "name": "pi{{ NUM }}",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/logger/aos",
      "type": "aos.starter.Status",
      "source_node": "logger",
      "destination_nodes": [
        {
          "name": "pi{{ NUM }}",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "logger"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "logger",
      "logger": "NOT_LOGGED",
      "frequency": 50,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "roborio",
      "destination_nodes": [
        {
          "name": "pi{{ NUM }}",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 20,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.Status",
      "source_node": "roborio",
      "destination_nodes": [
        {
          "name": "pi{{ NUM }}",
          "priority": 5,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
      "type": "aos.message_bridge.RemoteMessage",
      "source_node": "roborio",
      "logger": "NOT_LOGGED",
      "frequency": 50,
      "num_senders": 2,
      "max_size": 200
    },
    {
      "name": "/pi{{ NUM }}/constants",
      "type": "y2023.Constants",
      "source_node": "pi{{ NUM }}",
      "frequency": 1,
      "num_senders": 2,
      "max_size": 4096
    }
  ],
  "applications": [
    {
      "name": "message_bridge_client",
      "args": ["--rt_priority=16"],
      "user": "pi",
      "executable_name": "message_bridge_client.sh",
      "nodes": [
        "pi{{ NUM }}"
      ]
    },
    {
      "name": "irq_affinity",
      "executable_name": "irq_affinity",
      "user": "root",
      "args": ["--user=pi"],
      "nodes": [
          "pi{{ NUM }}"
      ]
    },
    {
      "name": "message_bridge_server",
      "executable_name": "message_bridge_server",
      "user": "pi",
      "nodes": [
        "pi{{ NUM }}"
      ]
    },
    {
      "name": "web_proxy",
      "executable_name": "web_proxy_main",
      "user": "pi",
      "nodes": [
        "pi{{ NUM }}"
      ]
    },
    {
      "name": "camera_reader",
      "executable_name": "camera_reader",
      "args": ["--enable_ftrace"],
      "user": "pi",
      "nodes": [
        "pi{{ NUM }}"
      ]
    },
    {
      "name": "image_logger",
      "executable_name": "logger_main",
      "autostart": false,
      "args": [
        "--logging_folder",
        "",
        "--rotate_every",
        "60.0",
        "--direct",
        "--flush_size=4194304"
      ],
      "nodes": [
        "pi{{ NUM }}"
      ]
    },
    {
      "name": "aprilrobotics",
      "executable_name": "aprilrobotics",
      "args": ["--enable_ftrace"],
      "user": "pi",
      "nodes": [
        "pi{{ NUM }}"
      ]
    },
    {
      "name": "constants_sender",
      "autorestart": false,
      "user": "pi",
      "nodes": [
        "pi{{ NUM }}"
      ]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/aos*",
        "source_node": "pi{{ NUM }}"
      },
      "rename": {
        "name": "/pi{{ NUM }}/aos"
      }
    },
    {
      "match": {
        "name": "/constants*",
        "source_node": "pi{{ NUM }}"
      },
      "rename": {
        "name": "/pi{{ NUM }}/constants"
      }
    },
    {
      "match": {
        "name": "/camera*",
        "source_node": "pi{{ NUM }}"
      },
      "rename": {
        "name": "/pi{{ NUM }}/camera"
      }
    }
  ],
  "nodes": [
    {
      "name": "pi{{ NUM }}",
      "hostname": "pi{{ NUM }}",
      "hostnames": [
        "pi-971-{{ NUM }}",
        "pi-7971-{{ NUM }}",
        "pi-8971-{{ NUM }}",
        "pi-9971-{{ NUM }}"
      ],
      "port": 9971
    },
    {
      "name": "logger"
    },
    {
      "name": "imu"
    },
    {
      "name": "roborio"
    }
  ]
}