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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 3a9bc2670ccfb51792aa8b3acb83096a05dc5327 / . / y2023 / y2023_pi_template.json
blob: cf87798983743af9d88f5fedbd581fc174eb531b [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/pi{{ NUM }}/aos",
5 "type": "aos.timing.Report",
6 "source_node": "pi{{ NUM }}",
7 "frequency": 50,
8 "num_senders": 20,
9 "max_size": 4096
10 },
11 {
12 "name": "/pi{{ NUM }}/aos",
13 "type": "aos.logging.LogMessageFbs",
14 "source_node": "pi{{ NUM }}",
15 "frequency": 200,
16 "num_senders": 20
17 },
18 {
19 "name": "/pi{{ NUM }}/aos",
20 "type": "aos.starter.Status",
21 "source_node": "pi{{ NUM }}",
22 "frequency": 50,
23 "num_senders": 20,
24 "max_size": 2000,
25 "logger": "LOCAL_AND_REMOTE_LOGGER",
26 "logger_nodes": [
27 "roborio",
28 "logger"
29 ],
30 "destination_nodes": [
31 {
32 "name": "roborio",
33 "priority": 5,
34 "time_to_live": 5000000
35 },
36 {
37 "name": "logger",
38 "priority": 5,
39 "time_to_live": 5000000
40 }
41 ]
42 },
43 {
44 "name": "/pi{{ NUM }}/aos",
45 "type": "aos.starter.StarterRpc",
46 "source_node": "pi{{ NUM }}",
47 "frequency": 10,
48 "num_senders": 2,
49 "logger": "LOCAL_AND_REMOTE_LOGGER",
50 "logger_nodes": [
51 "roborio",
52 "logger"
53 ],
54 "destination_nodes": [
55 {
56 "name": "roborio",
57 "priority": 5,
58 "time_to_live": 5000000
59 },
60 {
61 "name": "logger",
62 "priority": 5,
63 "time_to_live": 5000000
64 }
65 ]
66 },
67 {
68 "name": "/pi{{ NUM }}/aos",
69 "type": "aos.message_bridge.ServerStatistics",
70 "source_node": "pi{{ NUM }}",
71 "frequency": 10,
72 "num_senders": 2
73 },
74 {
75 "name": "/pi{{ NUM }}/aos",
76 "type": "aos.message_bridge.ClientStatistics",
77 "source_node": "pi{{ NUM }}",
78 "frequency": 20,
79 "num_senders": 2
80 },
81 {
82 "name": "/pi{{ NUM }}/aos",
83 "type": "aos.logging.DynamicLogCommand",
84 "source_node": "pi{{ NUM }}",
85 "frequency": 10,
86 "num_senders": 2
87 },
88 {
89 "name": "/pi{{ NUM }}/aos",
90 "type": "aos.message_bridge.Timestamp",
91 "source_node": "pi{{ NUM }}",
92 "frequency": 15,
93 "num_senders": 2,
94 "logger": "LOCAL_AND_REMOTE_LOGGER",
95 "logger_nodes": [
96 "roborio",
97 "imu"
98 ],
99 "max_size": 200,
100 "destination_nodes": [
101 {
102 "name": "roborio",
103 "priority": 1,
104 "time_to_live": 5000000,
105 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
106 "timestamp_logger_nodes": [
107 "roborio"
108 ]
109 },
110 {
111 "name": "imu",
112 "priority": 1,
113 "time_to_live": 5000000,
114 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
115 "timestamp_logger_nodes": [
116 "imu"
117 ]
118 }
119 ]
120 },
121 {
122 "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
123 "type": "aos.message_bridge.RemoteMessage",
124 "frequency": 20,
125 "source_node": "pi{{ NUM }}",
126 "max_size": 208
127 },
128 {
129 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
130 "type": "aos.message_bridge.RemoteMessage",
131 "frequency": 20,
132 "source_node": "pi{{ NUM }}",
133 "max_size": 208
134 },
135 {
136 "name": "/imu/aos",
137 "type": "aos.message_bridge.Timestamp",
138 "source_node": "imu",
139 "logger": "LOCAL_AND_REMOTE_LOGGER",
140 "logger_nodes": [
141 "pi{{ NUM }}"
142 ],
143 "destination_nodes": [
144 {
145 "name": "pi{{ NUM }}",
146 "priority": 1,
147 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
148 "timestamp_logger_nodes": [
149 "imu"
150 ],
151 "time_to_live": 5000000
152 }
153 ]
154 },
155 {
156 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/imu/aos/aos-message_bridge-Timestamp",
157 "type": "aos.message_bridge.RemoteMessage",
158 "frequency": 20,
159 "source_node": "imu",
160 "max_size": 208
161 },
162 {
163 "name": "/pi{{ NUM }}/camera",
164 "type": "frc971.vision.CameraImage",
165 "source_node": "pi{{ NUM }}",
166 "frequency": 40,
Austin Schuh84e5b882023-02-03 21:30:28 -0800[diff] [blame]167 "max_size": 1843456,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]168 "num_readers": 4,
169 "read_method": "PIN",
Ravago Jones30225952023-01-29 19:46:10 -0800[diff] [blame]170 "num_senders": 18
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]171 },
172 {
173 "name": "/pi{{ NUM }}/camera",
174 "type": "frc971.vision.TargetMap",
175 "source_node": "pi{{ NUM }}",
Ravago Jones30225952023-01-29 19:46:10 -0800[diff] [blame]176 "frequency": 40,
Maxwell Hendersonfebee252023-01-28 16:53:52 -0800[diff] [blame]177 "num_senders": 2,
178 "max_size": 40000,
179 "logger": "LOCAL_AND_REMOTE_LOGGER",
180 "logger_nodes": [
181 "imu",
182 "logger"
183 ],
184 "destination_nodes": [
185 {
186 "name": "imu",
187 "priority": 4,
188 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
189 "timestamp_logger_nodes": [
190 "pi{{ NUM }}"
191 ],
192 "time_to_live": 5000000
193 },
194 {
195 "name": "logger",
196 "priority": 4,
197 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
198 "timestamp_logger_nodes": [
199 "pi{{ NUM }}"
200 ],
201 "time_to_live": 5000000
202 }
203 ]
204 },
205 {
206 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/frc971-vision-TargetMap",
207 "type": "aos.message_bridge.RemoteMessage",
208 "frequency": 80,
209 "source_node": "pi{{ NUM }}",
210 "max_size": 208
211 },
212 {
213 "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/frc971-vision-TargetMap",
214 "type": "aos.message_bridge.RemoteMessage",
215 "frequency": 80,
216 "source_node": "pi{{ NUM }}",
217 "max_size": 208
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]218 },
219 {
220 "name": "/logger/aos",
221 "type": "aos.starter.StarterRpc",
222 "source_node": "logger",
223 "destination_nodes": [
224 {
225 "name": "pi{{ NUM }}",
226 "priority": 5,
227 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
228 "timestamp_logger_nodes": [
229 "logger"
230 ],
231 "time_to_live": 5000000
232 }
233 ]
234 },
235 {
236 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
237 "type": "aos.message_bridge.RemoteMessage",
238 "source_node": "logger",
239 "logger": "NOT_LOGGED",
240 "frequency": 20,
241 "num_senders": 2,
242 "max_size": 200
243 },
244 {
245 "name": "/logger/aos",
246 "type": "aos.starter.Status",
247 "source_node": "logger",
248 "destination_nodes": [
249 {
250 "name": "pi{{ NUM }}",
251 "priority": 5,
252 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
253 "timestamp_logger_nodes": [
254 "logger"
255 ],
256 "time_to_live": 5000000
257 }
258 ]
259 },
260 {
261 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
262 "type": "aos.message_bridge.RemoteMessage",
263 "source_node": "logger",
264 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]265 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]266 "num_senders": 2,
267 "max_size": 200
268 },
269 {
270 "name": "/roborio/aos",
271 "type": "aos.starter.StarterRpc",
272 "source_node": "roborio",
273 "destination_nodes": [
274 {
275 "name": "pi{{ NUM }}",
276 "priority": 5,
277 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
278 "timestamp_logger_nodes": [
279 "roborio"
280 ],
281 "time_to_live": 5000000
282 }
283 ]
284 },
285 {
286 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
287 "type": "aos.message_bridge.RemoteMessage",
288 "source_node": "roborio",
289 "logger": "NOT_LOGGED",
290 "frequency": 20,
291 "num_senders": 2,
292 "max_size": 200
293 },
294 {
295 "name": "/roborio/aos",
296 "type": "aos.starter.Status",
297 "source_node": "roborio",
298 "destination_nodes": [
299 {
300 "name": "pi{{ NUM }}",
301 "priority": 5,
302 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
303 "timestamp_logger_nodes": [
304 "roborio"
305 ],
306 "time_to_live": 5000000
307 }
308 ]
309 },
310 {
311 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
312 "type": "aos.message_bridge.RemoteMessage",
313 "source_node": "roborio",
314 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]315 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]316 "num_senders": 2,
317 "max_size": 200
318 }
319 ],
320 "applications": [
321 {
322 "name": "message_bridge_client",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]323 "args": ["--rt_priority=16"],
Austin Schuh3e1d3b62023-01-08 13:52:31 -0800[diff] [blame]324 "user": "pi",
Maxwell Hendersonad312342023-01-10 12:07:47 -0800[diff] [blame]325 "executable_name": "message_bridge_client.sh",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]326 "nodes": [
327 "pi{{ NUM }}"
328 ]
329 },
330 {
Austin Schuh3e1d3b62023-01-08 13:52:31 -0800[diff] [blame]331 "name": "irq_affinity",
332 "executable_name": "irq_affinity",
333 "user": "root",
334 "args": ["--user=pi"],
335 "nodes": [
336 "pi{{ NUM }}"
337 ]
338 },
339 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]340 "name": "message_bridge_server",
341 "executable_name": "message_bridge_server",
Austin Schuh3e1d3b62023-01-08 13:52:31 -0800[diff] [blame]342 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]343 "nodes": [
344 "pi{{ NUM }}"
345 ]
346 },
347 {
348 "name": "web_proxy",
349 "executable_name": "web_proxy_main",
Austin Schuh3e1d3b62023-01-08 13:52:31 -0800[diff] [blame]350 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]351 "nodes": [
352 "pi{{ NUM }}"
353 ]
354 },
355 {
356 "name": "camera_reader",
357 "executable_name": "camera_reader",
358 "args": ["--enable_ftrace"],
Austin Schuh3e1d3b62023-01-08 13:52:31 -0800[diff] [blame]359 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]360 "nodes": [
361 "pi{{ NUM }}"
362 ]
milind-ue377bf82023-02-04 17:54:33 -0800[diff] [blame]363 },
364 {
365 "name": "aprilrobotics",
366 "executable_name": "aprilrobotics",
367 "args": ["--enable_ftrace"],
368 "user": "pi",
369 "nodes": [
370 "pi{{ NUM }}"
371 ]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]372 }
373 ],
374 "maps": [
375 {
376 "match": {
377 "name": "/aos*",
378 "source_node": "pi{{ NUM }}"
379 },
380 "rename": {
381 "name": "/pi{{ NUM }}/aos"
382 }
383 },
384 {
385 "match": {
386 "name": "/camera*",
387 "source_node": "pi{{ NUM }}"
388 },
389 "rename": {
390 "name": "/pi{{ NUM }}/camera"
391 }
392 }
393 ],
394 "nodes": [
395 {
396 "name": "pi{{ NUM }}",
397 "hostname": "pi{{ NUM }}",
398 "hostnames": [
399 "pi-971-{{ NUM }}",
400 "pi-7971-{{ NUM }}",
401 "pi-8971-{{ NUM }}",
402 "pi-9971-{{ NUM }}"
403 ],
404 "port": 9971
405 },
406 {
407 "name": "logger"
408 },
409 {
410 "name": "imu"
411 },
412 {
413 "name": "roborio"
414 }
415 ]
416}