| Maxwell Henderson | f63a0d9 | 2023-06-24 14:49:51 -0700 | [diff] [blame^] | 1 | { |
| 2 | "channels": [ |
| 3 | { |
| 4 | "name": "/roborio/aos", |
| 5 | "type": "aos.RobotState", |
| 6 | "source_node": "roborio", |
| 7 | "frequency": 250 |
| 8 | }, |
| 9 | { |
| 10 | "name": "/roborio/aos", |
| 11 | "type": "aos.timing.Report", |
| 12 | "source_node": "roborio", |
| 13 | "frequency": 50, |
| 14 | "num_senders": 20, |
| 15 | "max_size": 8192 |
| 16 | }, |
| 17 | { |
| 18 | "name": "/roborio/aos", |
| 19 | "type": "aos.logging.LogMessageFbs", |
| 20 | "source_node": "roborio", |
| 21 | "frequency": 500, |
| 22 | "max_size": 1000, |
| 23 | "num_senders": 20 |
| 24 | }, |
| 25 | { |
| 26 | "name": "/roborio/aos", |
| 27 | "type": "aos.starter.Status", |
| 28 | "source_node": "roborio", |
| 29 | "frequency": 50, |
| 30 | "num_senders": 20, |
| 31 | "max_size": 2000 |
| 32 | }, |
| 33 | { |
| 34 | "name": "/roborio/aos", |
| 35 | "type": "aos.starter.StarterRpc", |
| 36 | "source_node": "roborio", |
| 37 | "frequency": 10, |
| 38 | "max_size": 400, |
| 39 | "num_senders": 2 |
| 40 | }, |
| 41 | { |
| 42 | "name": "/roborio/aos", |
| 43 | "type": "aos.message_bridge.ServerStatistics", |
| 44 | "source_node": "roborio", |
| 45 | "frequency": 10, |
| 46 | "num_senders": 2 |
| 47 | }, |
| 48 | { |
| 49 | "name": "/roborio/aos", |
| 50 | "type": "aos.message_bridge.ClientStatistics", |
| 51 | "source_node": "roborio", |
| 52 | "frequency": 20, |
| 53 | "max_size": 2000, |
| 54 | "num_senders": 2 |
| 55 | }, |
| 56 | { |
| 57 | "name": "/roborio/aos", |
| 58 | "type": "aos.logging.DynamicLogCommand", |
| 59 | "source_node": "roborio", |
| 60 | "frequency": 10, |
| 61 | "num_senders": 2 |
| 62 | }, |
| 63 | { |
| 64 | "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp", |
| 65 | "type": "aos.message_bridge.RemoteMessage", |
| 66 | "frequency": 20, |
| 67 | "source_node": "roborio", |
| 68 | "max_size": 208 |
| 69 | }, |
| 70 | { |
| 71 | "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp", |
| 72 | "type": "aos.message_bridge.RemoteMessage", |
| 73 | "frequency": 300, |
| 74 | "source_node": "roborio" |
| 75 | }, |
| 76 | { |
| 77 | "name": "/roborio/aos", |
| 78 | "type": "aos.message_bridge.Timestamp", |
| 79 | "source_node": "roborio", |
| 80 | "frequency": 15, |
| 81 | "num_senders": 2, |
| 82 | "max_size": 512, |
| 83 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 84 | "logger_nodes": [ |
| 85 | "imu" |
| 86 | ], |
| 87 | "destination_nodes": [ |
| 88 | { |
| 89 | "name": "imu", |
| 90 | "priority": 1, |
| 91 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 92 | "timestamp_logger_nodes": [ |
| 93 | "roborio" |
| 94 | ], |
| 95 | "time_to_live": 5000000 |
| 96 | } |
| 97 | ] |
| 98 | }, |
| 99 | { |
| 100 | "name": "/drivetrain", |
| 101 | "type": "y2023_bot4.AbsoluteDrivetrainPosition", |
| 102 | "source_node": "roborio", |
| 103 | "frequency": 250, |
| 104 | "num_senders": 1, |
| 105 | "max_size": 480 |
| 106 | }, |
| 107 | { |
| 108 | "name": "/drivetrain", |
| 109 | "type": "y2023_bot4.AbsoluteCANPosition", |
| 110 | "source_node": "roborio", |
| 111 | "frequency": 250, |
| 112 | "num_senders": 1, |
| 113 | "max_size": 480 |
| 114 | }, |
| 115 | { |
| 116 | "name": "/can", |
| 117 | "type": "frc971.can_logger.CanFrame", |
| 118 | "source_node": "roborio", |
| 119 | "frequency": 6000, |
| 120 | "num_senders": 2, |
| 121 | "max_size": 200 |
| 122 | }, |
| 123 | { |
| 124 | "name": "/drivetrain", |
| 125 | "type": "frc971.control_loops.drivetrain.CANPosition", |
| 126 | "source_node": "roborio", |
| 127 | "frequency": 220, |
| 128 | "num_senders": 2, |
| 129 | "max_size": 400 |
| 130 | }, |
| 131 | { |
| 132 | "name": "/drivetrain", |
| 133 | "type": "frc971.control_loops.drivetrain.SplineGoal", |
| 134 | "source_node": "roborio", |
| 135 | "frequency": 10 |
| 136 | }, |
| 137 | { |
| 138 | "name": "/drivetrain", |
| 139 | "type": "frc971.control_loops.drivetrain.Goal", |
| 140 | "source_node": "roborio", |
| 141 | "max_size": 224, |
| 142 | "frequency": 250 |
| 143 | }, |
| 144 | { |
| 145 | "name": "/drivetrain", |
| 146 | "type": "frc971.control_loops.drivetrain.swerve.Position", |
| 147 | "source_node": "roborio", |
| 148 | "frequency": 400, |
| 149 | "max_size": 112, |
| 150 | "num_senders": 2 |
| 151 | }, |
| 152 | { |
| 153 | "name": "/drivetrain", |
| 154 | "type": "frc971.control_loops.drivetrain.swerve.Output", |
| 155 | "source_node": "roborio", |
| 156 | "frequency": 400, |
| 157 | "max_size": 200, |
| 158 | "num_senders": 2, |
| 159 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 160 | "logger_nodes": [ |
| 161 | "imu" |
| 162 | ], |
| 163 | "destination_nodes": [ |
| 164 | { |
| 165 | "name": "imu", |
| 166 | "priority": 5, |
| 167 | "time_to_live": 5000000 |
| 168 | } |
| 169 | ] |
| 170 | }, |
| 171 | { |
| 172 | "name": "/drivetrain", |
| 173 | "type": "frc971.control_loops.drivetrain.Status", |
| 174 | "source_node": "roborio", |
| 175 | "frequency": 400, |
| 176 | "max_size": 1616, |
| 177 | "num_senders": 2 |
| 178 | }, |
| 179 | { |
| 180 | "name": "/drivetrain", |
| 181 | "type": "frc971.control_loops.drivetrain.LocalizerControl", |
| 182 | "source_node": "roborio", |
| 183 | "frequency": 250, |
| 184 | "max_size": 96, |
| 185 | "logger": "LOCAL_AND_REMOTE_LOGGER", |
| 186 | "logger_nodes": [ |
| 187 | "imu" |
| 188 | ], |
| 189 | "destination_nodes": [ |
| 190 | { |
| 191 | "name": "imu", |
| 192 | "priority": 5, |
| 193 | "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER", |
| 194 | "timestamp_logger_nodes": [ |
| 195 | "roborio" |
| 196 | ], |
| 197 | "time_to_live": 0 |
| 198 | } |
| 199 | ] |
| 200 | }, |
| 201 | { |
| 202 | "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl", |
| 203 | "type": "aos.message_bridge.RemoteMessage", |
| 204 | "source_node": "roborio", |
| 205 | "logger": "NOT_LOGGED", |
| 206 | "frequency": 400, |
| 207 | "num_senders": 2, |
| 208 | "max_size": 200 |
| 209 | }, |
| 210 | { |
| 211 | "name": "/autonomous", |
| 212 | "type": "aos.common.actions.Status", |
| 213 | "source_node": "roborio" |
| 214 | }, |
| 215 | { |
| 216 | "name": "/autonomous", |
| 217 | "type": "frc971.autonomous.Goal", |
| 218 | "source_node": "roborio" |
| 219 | }, |
| 220 | { |
| 221 | "name": "/autonomous", |
| 222 | "type": "frc971.autonomous.AutonomousMode", |
| 223 | "source_node": "roborio", |
| 224 | "frequency": 250 |
| 225 | }, |
| 226 | { |
| 227 | "name": "/roborio/aos", |
| 228 | "type": "frc971.PDPValues", |
| 229 | "source_node": "roborio", |
| 230 | "frequency": 55, |
| 231 | "max_size": 368 |
| 232 | }, |
| 233 | { |
| 234 | "name": "/roborio/aos", |
| 235 | "type": "frc971.wpilib.PneumaticsToLog", |
| 236 | "source_node": "roborio", |
| 237 | "frequency": 50 |
| 238 | }, |
| 239 | { |
| 240 | "name": "/roborio", |
| 241 | "type": "frc971.CANConfiguration", |
| 242 | "source_node": "roborio", |
| 243 | "frequency": 2 |
| 244 | } |
| 245 | ], |
| 246 | "applications": [ |
| 247 | { |
| 248 | "name": "wpilib_interface", |
| 249 | "executable_name": "wpilib_interface", |
| 250 | "args": [ |
| 251 | "--nodie_on_malloc", |
| 252 | "--ctre_diag_server" |
| 253 | ], |
| 254 | "nodes": [ |
| 255 | "roborio" |
| 256 | ] |
| 257 | }, |
| 258 | { |
| 259 | "name": "swerve_publisher", |
| 260 | "executable_name": "swerve_publisher", |
| 261 | "autostart": false, |
| 262 | "nodes": [ |
| 263 | "roborio" |
| 264 | ] |
| 265 | }, |
| 266 | { |
| 267 | "name": "roborio_web_proxy", |
| 268 | "executable_name": "web_proxy_main", |
| 269 | "args": [ |
| 270 | "--min_ice_port=5800", |
| 271 | "--max_ice_port=5810" |
| 272 | ], |
| 273 | "nodes": [ |
| 274 | "roborio" |
| 275 | ] |
| 276 | }, |
| 277 | { |
| 278 | "name": "roborio_message_bridge_client", |
| 279 | "executable_name": "message_bridge_client", |
| 280 | "args": [ |
| 281 | "--rt_priority=16", |
| 282 | "--sinit_max_init_timeout=5000" |
| 283 | ], |
| 284 | "nodes": [ |
| 285 | "roborio" |
| 286 | ] |
| 287 | }, |
| 288 | { |
| 289 | "name": "roborio_message_bridge_server", |
| 290 | "executable_name": "message_bridge_server", |
| 291 | "args": [ |
| 292 | "--rt_priority=16" |
| 293 | ], |
| 294 | "nodes": [ |
| 295 | "roborio" |
| 296 | ] |
| 297 | }, |
| 298 | { |
| 299 | "name": "logger", |
| 300 | "executable_name": "logger_main", |
| 301 | "args": [ |
| 302 | "--snappy_compress", |
| 303 | "--logging_folder=/home/admin/logs/", |
| 304 | "--rotate_every", |
| 305 | "30.0" |
| 306 | ], |
| 307 | "nodes": [ |
| 308 | "roborio" |
| 309 | ] |
| 310 | }, |
| 311 | { |
| 312 | "name": "can_logger", |
| 313 | "executable_name": "can_logger", |
| 314 | "nodes": [ |
| 315 | "roborio" |
| 316 | ] |
| 317 | } |
| 318 | ], |
| 319 | "maps": [ |
| 320 | { |
| 321 | "match": { |
| 322 | "name": "/aos*", |
| 323 | "source_node": "roborio" |
| 324 | }, |
| 325 | "rename": { |
| 326 | "name": "/roborio/aos" |
| 327 | } |
| 328 | } |
| 329 | ], |
| 330 | "nodes": [ |
| 331 | { |
| 332 | "name": "roborio", |
| 333 | "hostname": "roborio", |
| 334 | "hostnames": [ |
| 335 | "roboRIO-971-FRC", |
| 336 | "roboRIO-6971-FRC", |
| 337 | "roboRIO-7971-FRC", |
| 338 | "roboRIO-8971-FRC", |
| 339 | "roboRIO-9971-FRC" |
| 340 | ], |
| 341 | "port": 9971 |
| 342 | }, |
| 343 | { |
| 344 | "name": "imu" |
| 345 | }, |
| 346 | { |
| 347 | "name": "logger" |
| 348 | } |
| 349 | ] |
| 350 | } |