| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [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 | "max_size": 2048 |
| 25 | }, |
| 26 | { |
| 27 | "name": "/imu/aos", |
| 28 | "type": "aos.starter.StarterRpc", |
| 29 | "source_node": "imu", |
| 30 | "frequency": 10, |
| 31 | "num_senders": 2 |
| 32 | }, |
| 33 | { |
| 34 | "name": "/imu/aos", |
| 35 | "type": "aos.message_bridge.ServerStatistics", |
| 36 | "source_node": "imu", |
| 37 | "frequency": 10, |
| 38 | "num_senders": 2 |
| 39 | }, |
| 40 | { |
| 41 | "name": "/imu/aos", |
| 42 | "type": "aos.message_bridge.ClientStatistics", |
| 43 | "source_node": "imu", |
| 44 | "frequency": 20, |
| 45 | "num_senders": 2 |
| 46 | }, |
| 47 | { |
| 48 | "name": "/imu/aos", |
| 49 | "type": "aos.logging.DynamicLogCommand", |
| 50 | "source_node": "imu", |
| 51 | "frequency": 10, |
| 52 | "num_senders": 2 |
| 53 | }, |
| 54 | { |
| 55 | "name": "/imu/aos", |
| 56 | "type": "aos.message_bridge.Timestamp", |
| 57 | "source_node": "imu", |
| 58 | "frequency": 15, |
| 59 | "num_senders": 2, |
| 60 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 61 | "logger_nodes": [ |
| 62 | "roborio", |
| 63 | "logger" |
| 64 | ], |
| 65 | "max_size": 400, |
| 66 | "destination_nodes": [ |
| 67 | { |
| 68 | "name": "roborio", |
| 69 | "priority": 1, |
| 70 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 71 | "timestamp_logger_nodes": [ |
| 72 | "imu" |
| 73 | ], |
| 74 | "time_to_live": 5000000 |
| 75 | }, |
| 76 | { |
| 77 | "name": "logger", |
| 78 | "priority": 1, |
| 79 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 80 | "timestamp_logger_nodes": [ |
| 81 | "imu" |
| 82 | ], |
| 83 | "time_to_live": 5000000 |
| 84 | } |
| 85 | ] |
| 86 | }, |
| 87 | { |
| 88 | "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp", |
| 89 | "type": "aos.message_bridge.RemoteMessage", |
| 90 | "frequency": 20, |
| 91 | "source_node": "imu", |
| 92 | "max_size": 208 |
| 93 | }, |
| 94 | { |
| 95 | "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp", |
| 96 | "type": "aos.message_bridge.RemoteMessage", |
| 97 | "frequency": 20, |
| 98 | "source_node": "imu", |
| 99 | "max_size": 208 |
| 100 | }, |
| 101 | { |
| 102 | "name": "/roborio/aos", |
| 103 | "type": "aos.starter.StarterRpc", |
| 104 | "source_node": "roborio", |
| 105 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 106 | "logger_nodes": [ |
| 107 | "imu" |
| 108 | ], |
| 109 | "destination_nodes": [ |
| 110 | { |
| 111 | "name": "imu", |
| 112 | "priority": 5, |
| 113 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 114 | "timestamp_logger_nodes": [ |
| 115 | "roborio" |
| 116 | ], |
| 117 | "time_to_live": 5000000 |
| 118 | } |
| 119 | ] |
| 120 | }, |
| 121 | { |
| 122 | "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc", |
| 123 | "type": "aos.message_bridge.RemoteMessage", |
| 124 | "source_node": "roborio", |
| 125 | "logger": "NOT_LOGGED", |
| 126 | "frequency": 20, |
| 127 | "num_senders": 2, |
| 128 | "max_size": 200 |
| 129 | }, |
| 130 | { |
| 131 | "name": "/localizer", |
| 132 | "type": "frc971.IMUValuesBatch", |
| 133 | "source_node": "imu", |
| 134 | "frequency": 2200, |
| 135 | "max_size": 1600, |
| 136 | "num_senders": 2 |
| 137 | } |
| 138 | ], |
| 139 | "applications": [ |
| 140 | { |
| 141 | "name": "message_bridge_client", |
| 142 | "nodes": [ |
| 143 | "imu" |
| 144 | ] |
| 145 | }, |
| 146 | { |
| 147 | "name": "imu", |
| 148 | "executable_name": "imu_main", |
| 149 | "user": "pi", |
| 150 | "nodes": [ |
| 151 | "imu" |
| 152 | ] |
| 153 | }, |
| 154 | { |
| 155 | "name": "message_bridge_server", |
| 156 | "executable_name": "message_bridge_server", |
| 157 | "user": "pi", |
| 158 | "nodes": [ |
| 159 | "imu" |
| 160 | ] |
| 161 | }, |
| 162 | { |
| 163 | "name": "web_proxy", |
| 164 | "executable_name": "web_proxy_main", |
| 165 | "args": [ |
| 166 | "--min_ice_port=5800", |
| 167 | "--max_ice_port=5810" |
| 168 | ], |
| 169 | "user": "pi", |
| 170 | "nodes": [ |
| 171 | "imu" |
| 172 | ] |
| 173 | }, |
| 174 | { |
| 175 | "name": "foxglove_websocket", |
| 176 | "user": "pi", |
| 177 | "nodes": [ |
| 178 | "imu" |
| 179 | ] |
| 180 | } |
| 181 | ], |
| 182 | "maps": [ |
| 183 | { |
| 184 | "match": { |
| 185 | "name": "/aos*", |
| 186 | "source_node": "imu" |
| 187 | }, |
| 188 | "rename": { |
| 189 | "name": "/imu/aos" |
| 190 | } |
| 191 | } |
| 192 | ], |
| 193 | "nodes": [ |
| 194 | { |
| 195 | "name": "imu", |
| 196 | "hostname": "pi6", |
| 197 | "hostnames": [ |
| 198 | "pi-971-6", |
| 199 | "pi-7971-6", |
| 200 | "pi-8971-6", |
| 201 | "pi-9971-6" |
| 202 | ], |
| 203 | "port": 9971 |
| 204 | }, |
| 205 | { |
| 206 | "name": "logger" |
| 207 | }, |
| 208 | { |
| 209 | "name": "roborio" |
| 210 | } |
| 211 | ] |
| 212 | } |