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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / fda8c6f0b10b0ecdb0cf3d5c73cb99035f7b97bf / . / y2023 / y2023_imu.json
blob: b521e0738cb189889e400f61a2a25d5c116227bf [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[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 "logger": "LOCAL_AND_REMOTE_LOGGER",
23 "frequency": 50,
24 "num_senders": 20,
25 "logger_nodes": [
26 "roborio",
27 "logger"
28 ],
29 "destination_nodes": [
30 {
31 "name": "roborio",
32 "priority": 5,
33 "time_to_live": 5000000,
34 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
35 "timestamp_logger_nodes": [
36 "imu"
37 ]
38 },
39 {
40 "name": "logger",
41 "priority": 5,
42 "time_to_live": 5000000,
43 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
44 "timestamp_logger_nodes": [
45 "imu"
46 ]
47 }
48 ]
49 },
50 {
51 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-Status",
52 "type": "aos.message_bridge.RemoteMessage",
53 "frequency": 100,
54 "source_node": "imu",
55 "max_size": 208
56 },
57 {
58 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-Status",
59 "type": "aos.message_bridge.RemoteMessage",
60 "frequency": 100,
61 "source_node": "imu",
62 "max_size": 208
63 },
64 {
65 "name": "/imu/aos",
66 "type": "aos.starter.StarterRpc",
67 "source_node": "imu",
68 "frequency": 10,
69 "num_senders": 2,
70 "logger": "LOCAL_AND_REMOTE_LOGGER",
71 "logger_nodes": [
72 "roborio",
73 "logger"
74 ],
75 "destination_nodes": [
76 {
77 "name": "roborio",
78 "priority": 5,
79 "time_to_live": 5000000,
80 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
81 "timestamp_logger_nodes": [
82 "imu"
83 ]
84 },
85 {
86 "name": "logger",
87 "priority": 5,
88 "time_to_live": 5000000,
89 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
90 "timestamp_logger_nodes": [
91 "imu"
92 ]
93 }
94 ]
95 },
96 {
97 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-StarterRpc",
98 "type": "aos.message_bridge.RemoteMessage",
99 "frequency": 20,
100 "source_node": "imu",
101 "max_size": 208
102 },
103 {
104 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
105 "type": "aos.message_bridge.RemoteMessage",
106 "frequency": 20,
107 "source_node": "imu",
108 "max_size": 208
109 },
110 {
111 "name": "/imu/aos",
112 "type": "aos.message_bridge.ServerStatistics",
113 "source_node": "imu",
114 "frequency": 10,
115 "num_senders": 2
116 },
117 {
118 "name": "/imu/aos",
119 "type": "aos.message_bridge.ClientStatistics",
120 "source_node": "imu",
121 "frequency": 20,
122 "num_senders": 2
123 },
124 {
125 "name": "/imu/aos",
126 "type": "aos.logging.DynamicLogCommand",
127 "source_node": "imu",
128 "frequency": 10,
129 "num_senders": 2
130 },
131 {
132 "name": "/imu/aos",
133 "type": "aos.message_bridge.Timestamp",
134 "source_node": "imu",
135 "frequency": 15,
136 "num_senders": 2,
137 "logger": "LOCAL_AND_REMOTE_LOGGER",
138 "logger_nodes": [
139 "roborio",
140 "logger"
141 ],
142 "max_size": 400,
143 "destination_nodes": [
144 {
145 "name": "roborio",
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 "name": "logger",
155 "priority": 1,
156 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
157 "timestamp_logger_nodes": [
158 "imu"
159 ],
160 "time_to_live": 5000000
161 }
162 ]
163 },
164 {
165 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
166 "type": "aos.message_bridge.RemoteMessage",
167 "frequency": 20,
168 "source_node": "imu",
169 "max_size": 208
170 },
171 {
172 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
173 "type": "aos.message_bridge.RemoteMessage",
174 "frequency": 20,
175 "source_node": "imu",
176 "max_size": 208
177 },
178 {
179 "name": "/logger/aos",
180 "type": "aos.starter.StarterRpc",
181 "source_node": "logger",
182 "logger": "LOCAL_AND_REMOTE_LOGGER",
183 "logger_nodes": [
184 "imu"
185 ],
186 "destination_nodes": [
187 {
188 "name": "imu",
189 "priority": 5,
190 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
191 "timestamp_logger_nodes": [
192 "logger"
193 ],
194 "time_to_live": 5000000
195 }
196 ]
197 },
198 {
199 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
200 "type": "aos.message_bridge.RemoteMessage",
201 "source_node": "logger",
202 "logger": "NOT_LOGGED",
203 "frequency": 20,
204 "num_senders": 2,
205 "max_size": 200
206 },
207 {
208 "name": "/logger/aos",
209 "type": "aos.starter.Status",
210 "source_node": "logger",
211 "logger": "LOCAL_AND_REMOTE_LOGGER",
212 "logger_nodes": [
213 "imu"
214 ],
215 "destination_nodes": [
216 {
217 "name": "imu",
218 "priority": 5,
219 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
220 "timestamp_logger_nodes": [
221 "logger"
222 ],
223 "time_to_live": 5000000
224 }
225 ]
226 },
227 {
228 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
229 "type": "aos.message_bridge.RemoteMessage",
230 "source_node": "logger",
231 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]232 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]233 "num_senders": 2,
234 "max_size": 200
235 },
236 {
237 "name": "/roborio/aos",
238 "type": "aos.starter.StarterRpc",
239 "source_node": "roborio",
240 "logger": "LOCAL_AND_REMOTE_LOGGER",
241 "logger_nodes": [
242 "imu"
243 ],
244 "destination_nodes": [
245 {
246 "name": "imu",
247 "priority": 5,
248 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
249 "timestamp_logger_nodes": [
250 "roborio"
251 ],
252 "time_to_live": 5000000
253 }
254 ]
255 },
256 {
257 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
258 "type": "aos.message_bridge.RemoteMessage",
259 "source_node": "roborio",
260 "logger": "NOT_LOGGED",
261 "frequency": 20,
262 "num_senders": 2,
263 "max_size": 200
264 },
265 {
266 "name": "/roborio/aos",
267 "type": "aos.starter.Status",
268 "source_node": "roborio",
269 "logger": "LOCAL_AND_REMOTE_LOGGER",
270 "logger_nodes": [
271 "imu"
272 ],
273 "destination_nodes": [
274 {
275 "name": "imu",
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/imu/roborio/aos/aos-starter-Status",
287 "type": "aos.message_bridge.RemoteMessage",
288 "source_node": "roborio",
289 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]290 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]291 "num_senders": 2,
292 "max_size": 200
293 },
294 {
295 "name": "/localizer",
296 "type": "frc971.IMUValuesBatch",
297 "source_node": "imu",
298 "frequency": 2200,
299 "max_size": 1600,
300 "num_senders": 2
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]301 },
302 {
303 "name": "/imu/constants",
304 "type": "y2023.Constants",
305 "source_node": "imu",
306 "frequency": 1,
307 "num_senders": 2,
308 "max_size": 4096
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]309 }
310 ],
311 "applications": [
312 {
313 "name": "message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]314 "executable_name": "message_bridge_client",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]315 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]316 "nodes": [
317 "imu"
318 ]
319 },
320 {
321 "name": "localizer",
322 "executable_name": "localizer_main",
323 /* TODO(james): Remove this once confident in the accelerometer code. */
324 "args": ["--ignore_accelerometer"],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]325 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]326 "nodes": [
327 "imu"
328 ]
329 },
330 {
331 "name": "imu",
332 "executable_name": "imu_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]333 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]334 "nodes": [
335 "imu"
336 ]
337 },
338 {
339 "name": "message_bridge_server",
340 "executable_name": "message_bridge_server",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]341 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]342 "nodes": [
343 "imu"
344 ]
345 },
346 {
347 "name": "localizer_logger",
348 "executable_name": "logger_main",
349 "args": ["--logging_folder", "", "--snappy_compress"],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]350 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]351 "nodes": [
352 "imu"
353 ]
354 },
355 {
356 "name": "web_proxy",
357 "executable_name": "web_proxy_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]358 "user": "pi",
359 "nodes": [
360 "imu"
361 ]
362 },
363 {
364 "name": "constants_sender",
365 "autorestart": false,
366 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]367 "nodes": [
368 "imu"
369 ]
370 }
371 ],
372 "maps": [
373 {
374 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]375 "name": "/constants*",
376 "source_node": "imu"
377 },
378 "rename": {
379 "name": "/imu/constants"
380 }
381 },
382 {
383 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]384 "name": "/aos*",
385 "source_node": "imu"
386 },
387 "rename": {
388 "name": "/imu/aos"
389 }
390 }
391 ],
392 "nodes": [
393 {
394 "name": "imu",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame^]395 "hostname": "pi6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]396 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame^]397 "pi-971-6",
398 "pi-7971-6",
399 "pi-8971-6",
400 "pi-9971-6"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]401 ],
402 "port": 9971
403 },
404 {
405 "name": "logger"
406 },
407 {
408 "name": "roborio"
409 }
410 ]
411}