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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 0b341f566a5842055171de184812b3cc55fa96ed / . / y2024 / y2024_roborio.json
blob: 2f5f4b7e2211188fa77fc8ee1cfd1c7ad8628725 [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/roborio/aos",
5 "type": "aos.JoystickState",
6 "source_node": "roborio",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "imu",
15 "priority": 5,
16 "time_to_live": 50000000
17 }
18 ]
19 },
20 {
21 "name": "/roborio/aos",
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]22 "type": "frc971.PDPValues",
23 "source_node": "roborio",
24 "frequency": 55,
25 "max_size": 368
26 },
27 {
28 "name": "/roborio/aos",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]29 "type": "aos.RobotState",
30 "source_node": "roborio",
31 "frequency": 250
32 },
33 {
34 "name": "/roborio/aos",
35 "type": "aos.timing.Report",
36 "source_node": "roborio",
37 "frequency": 50,
Maxwell Henderson0e2ca7c2024-02-22 13:59:05 -0800[diff] [blame]38 "num_senders": 30,
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]39 "max_size": 8192
40 },
41 {
42 "name": "/roborio/aos",
43 "type": "aos.logging.LogMessageFbs",
44 "source_node": "roborio",
45 "frequency": 500,
46 "max_size": 1000,
47 "num_senders": 20
48 },
49 {
50 "name": "/roborio/aos",
51 "type": "aos.starter.Status",
52 "source_node": "roborio",
53 "frequency": 50,
54 "num_senders": 20,
55 "max_size": 2000
56 },
57 {
58 "name": "/roborio/aos",
59 "type": "aos.starter.StarterRpc",
60 "source_node": "roborio",
61 "frequency": 10,
62 "max_size": 400,
63 "num_senders": 2
64 },
65 {
66 "name": "/roborio/aos",
67 "type": "aos.message_bridge.ServerStatistics",
68 "source_node": "roborio",
69 "max_size": 2048,
70 "frequency": 10,
71 "num_senders": 2
72 },
73 {
74 "name": "/roborio/aos",
75 "type": "aos.message_bridge.ClientStatistics",
76 "source_node": "roborio",
77 "frequency": 20,
78 "max_size": 2000,
79 "num_senders": 2
80 },
81 {
82 "name": "/roborio/aos",
83 "type": "aos.logging.DynamicLogCommand",
84 "source_node": "roborio",
85 "frequency": 10,
86 "num_senders": 2
87 },
88 {
89 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
90 "type": "aos.message_bridge.RemoteMessage",
91 "frequency": 20,
92 "source_node": "roborio",
93 "max_size": 208
94 },
95 {
96 "name": "/roborio/aos",
97 "type": "aos.message_bridge.Timestamp",
98 "source_node": "roborio",
99 "frequency": 15,
100 "num_senders": 2,
101 "max_size": 512,
102 "logger": "LOCAL_AND_REMOTE_LOGGER",
103 "logger_nodes": [
104 "imu"
105 ],
106 "destination_nodes": [
107 {
108 "name": "imu",
109 "priority": 1,
110 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
111 "timestamp_logger_nodes": [
112 "roborio"
113 ],
114 "time_to_live": 5000000
115 }
116 ]
117 },
118 {
119 "name": "/superstructure",
120 "type": "y2024.control_loops.superstructure.Goal",
121 "source_node": "roborio",
122 "frequency": 250,
123 "max_size": 512
124 },
125 {
126 "name": "/superstructure",
127 "type": "y2024.control_loops.superstructure.Status",
128 "source_node": "roborio",
129 "frequency": 400,
James Kuszmaul0281e152024-02-26 22:26:16 -0800[diff] [blame]130 "max_size": 2048,
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]131 "num_senders": 2
132 },
133 {
134 "name": "/superstructure",
135 "type": "y2024.control_loops.superstructure.Output",
136 "source_node": "roborio",
137 "frequency": 250,
138 "num_senders": 2,
139 "max_size": 224
140 },
141 {
142 "name": "/superstructure",
143 "type": "y2024.control_loops.superstructure.Position",
144 "source_node": "roborio",
145 "frequency": 250,
146 "num_senders": 2,
147 "max_size": 448
148 },
149 {
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame]150 "name": "/superstructure/canivore",
151 "type": "y2024.control_loops.superstructure.CANPosition",
152 "source_node": "roborio",
153 "frequency": 220,
154 "num_senders": 2,
Maxwell Henderson3d68e142024-02-25 09:58:11 -0800[diff] [blame]155 "max_size": 1024
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame]156 },
157 {
158 "name": "/superstructure/rio",
159 "type": "y2024.control_loops.superstructure.CANPosition",
160 "source_node": "roborio",
161 "frequency": 220,
162 "num_senders": 2,
Maxwell Henderson3d68e142024-02-25 09:58:11 -0800[diff] [blame]163 "max_size": 1024
Niko Sohmers84273952024-02-14 18:40:55 -0800[diff] [blame]164 },
165 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]166 "name": "/can",
167 "type": "frc971.can_logger.CanFrame",
168 "source_node": "roborio",
169 "frequency": 6000,
170 "num_senders": 2,
171 "max_size": 200
172 },
173 {
174 "name": "/drivetrain",
175 "type": "frc971.control_loops.drivetrain.CANPosition",
176 "source_node": "roborio",
177 "frequency": 220,
178 "num_senders": 2,
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]179 "max_size": 424
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]180 },
181 {
182 "name": "/drivetrain",
183 "type": "frc971.sensors.GyroReading",
184 "source_node": "roborio",
185 "frequency": 250,
186 "num_senders": 2
187 },
188 {
189 "name": "/drivetrain",
190 "type": "frc971.sensors.Uid",
191 "source_node": "roborio",
192 "frequency": 250,
193 "num_senders": 2
194 },
195 {
196 "name": "/drivetrain",
197 "type": "frc971.control_loops.drivetrain.fb.Trajectory",
198 "source_node": "roborio",
199 "max_size": 600000,
200 "frequency": 10,
201 "logger": "NOT_LOGGED",
202 "num_senders": 2,
203 "read_method": "PIN",
204 "num_readers": 10
205 },
206 {
207 "name": "/drivetrain",
208 "type": "frc971.control_loops.drivetrain.SplineGoal",
209 "source_node": "roborio",
210 "frequency": 10
211 },
212 {
213 "name": "/drivetrain",
214 "type": "frc971.control_loops.drivetrain.Goal",
215 "source_node": "roborio",
216 "max_size": 224,
217 "frequency": 250
218 },
219 {
220 "name": "/drivetrain",
221 "type": "frc971.control_loops.drivetrain.Position",
222 "source_node": "roborio",
223 "frequency": 400,
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]224 "max_size": 128,
James Kuszmaul313e9ce2024-02-11 17:47:33 -0800[diff] [blame]225 "num_senders": 2,
226 "logger": "LOCAL_AND_REMOTE_LOGGER",
227 "logger_nodes": [
228 "imu"
229 ],
230 "destination_nodes": [
231 {
232 "name": "imu",
233 "priority": 5,
234 "time_to_live": 5000000
235 }
236 ]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]237 },
238 {
239 "name": "/drivetrain",
240 "type": "frc971.control_loops.drivetrain.Output",
241 "source_node": "roborio",
242 "frequency": 400,
243 "max_size": 80,
244 "num_senders": 2,
245 "logger": "LOCAL_AND_REMOTE_LOGGER",
246 "logger_nodes": [
247 "imu"
248 ],
249 "destination_nodes": [
250 {
251 "name": "imu",
252 "priority": 5,
253 "time_to_live": 5000000
254 }
255 ]
256 },
257 {
258 "name": "/drivetrain",
259 "type": "frc971.control_loops.drivetrain.Status",
260 "source_node": "roborio",
261 "frequency": 400,
262 "max_size": 1616,
263 "num_senders": 2
264 },
265 {
266 "name": "/drivetrain",
267 "type": "frc971.control_loops.drivetrain.LocalizerControl",
268 "source_node": "roborio",
269 "frequency": 250,
270 "max_size": 96,
271 "logger": "LOCAL_AND_REMOTE_LOGGER",
272 "logger_nodes": [
273 "imu"
274 ],
275 "destination_nodes": [
276 {
277 "name": "imu",
278 "priority": 5,
279 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
280 "timestamp_logger_nodes": [
281 "roborio"
282 ],
283 "time_to_live": 0
284 }
285 ]
286 },
287 {
288 "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
289 "type": "aos.message_bridge.RemoteMessage",
290 "source_node": "roborio",
291 "logger": "NOT_LOGGED",
292 "frequency": 400,
293 "num_senders": 2,
294 "max_size": 200
295 },
296 {
297 "name": "/autonomous",
298 "type": "aos.common.actions.Status",
299 "source_node": "roborio"
300 },
301 {
302 "name": "/autonomous",
303 "type": "frc971.autonomous.Goal",
304 "source_node": "roborio"
305 },
306 {
307 "name": "/autonomous",
308 "type": "frc971.autonomous.AutonomousMode",
309 "source_node": "roborio",
310 "frequency": 250
311 },
312
313 {
314 "name": "/roborio",
315 "type": "frc971.CANConfiguration",
316 "source_node": "roborio",
317 "frequency": 2
318 },
319 {
320 "name": "/roborio/constants",
321 "type": "y2024.Constants",
322 "source_node": "roborio",
323 "frequency": 1,
324 "num_senders": 2,
325 "max_size": 65536
326 }
327 ],
328 "applications": [
329 {
330 "name": "drivetrain",
331 "executable_name": "drivetrain",
332 "nodes": [
333 "roborio"
334 ]
335 },
336 {
337 "name": "trajectory_generator",
338 "executable_name": "trajectory_generator",
339 "nodes": [
340 "roborio"
341 ]
342 },
343 {
344 "name": "superstructure",
345 "executable_name": "superstructure",
346 "nodes": [
347 "roborio"
348 ]
349 },
350 {
351 "name": "roborio_irq_affinity",
352 "executable_name": "irq_affinity",
353 "args": [
354 "--irq_config=/home/admin/bin/roborio_irq_config.json"
355 ],
356 "nodes": [
357 "roborio"
358 ]
359 },
360 {
361 "name": "joystick_reader",
362 "executable_name": "joystick_reader",
363 "args": [
364 "--nodie_on_malloc"
365 ],
366 "nodes": [
367 "roborio"
368 ]
369 },
370 {
371 "name": "wpilib_interface",
372 "executable_name": "wpilib_interface",
373 "args": [
374 "--nodie_on_malloc"
375 ],
376 "nodes": [
377 "roborio"
378 ]
379 },
380 {
381 "name": "autonomous_action",
382 "executable_name": "autonomous_action",
383 "args": [
384 "--nodie_on_malloc"
385 ],
386 "autostart": true,
387 "nodes": [
388 "roborio"
389 ]
390 },
391 {
392 "name": "roborio_web_proxy",
393 "executable_name": "web_proxy_main",
394 "args": [
395 "--min_ice_port=5800",
396 "--max_ice_port=5810"
397 ],
398 "nodes": [
399 "roborio"
400 ]
401 },
402 {
403 "name": "roborio_message_bridge_client",
404 "executable_name": "message_bridge_client",
405 "args": [
406 "--rt_priority=16",
407 "--sinit_max_init_timeout=5000"
408 ],
409 "nodes": [
410 "roborio"
411 ]
412 },
413 {
414 "name": "roborio_message_bridge_server",
415 "executable_name": "message_bridge_server",
416 "args": [
417 "--rt_priority=16"
418 ],
419 "nodes": [
420 "roborio"
421 ]
422 },
423 {
424 "name": "logger",
425 "executable_name": "logger_main",
426 "args": [
427 "--snappy_compress",
428 "--logging_folder=/home/admin/logs/",
429 "--rotate_every", "30.0"
430 ],
431 "nodes": [
432 "roborio"
433 ]
434 },
435 {
436 "name": "constants_sender_roborio",
437 "executable_name": "constants_sender",
438 "autorestart": false,
439 "nodes": [
440 "roborio"
441 ]
442 },
443 {
Austin Schuhc41249a2024-02-28 20:58:12 -0800[diff] [blame]444 "name": "roborio_can_logger",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]445 "executable_name": "can_logger",
James Kuszmaul0b341f52024-03-01 21:31:04 -0800[diff] [blame^]446 "autostart": false,
Austin Schuhc41249a2024-02-28 20:58:12 -0800[diff] [blame]447 "args": [
448 "--poll"
449 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]450 "nodes": [
451 "roborio"
452 ]
453 }
454 ],
455 "maps": [
456 {
457 "match": {
458 "name": "/constants*",
459 "source_node": "roborio"
460 },
461 "rename": {
462 "name": "/roborio/constants"
463 }
464 },
465 {
466 "match": {
467 "name": "/aos*",
468 "source_node": "roborio"
469 },
470 "rename": {
471 "name": "/roborio/aos"
472 }
473 }
474 ],
475 "nodes": [
476 {
477 "name": "roborio",
478 "hostname": "roborio",
479 "hostnames": [
480 "roboRIO-971-FRC",
481 "roboRIO-6971-FRC",
482 "roboRIO-7971-FRC",
483 "roboRIO-8971-FRC",
484 "roboRIO-9971-FRC"
485 ],
486 "port": 9971
487 },
488 {
489 "name": "imu"
490 }
491 ]
492}