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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / refs/heads/main / . / y2022 / y2022_pi_template.json
blob: 907cac1db7e3cc8bc8a1e171dc0aa5d9ec7490a4 [file] [log] [blame]
milind-ude5a4222022-01-22 13:23:29 -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,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]24 "max_size": 2000,
25 "logger": "LOCAL_AND_REMOTE_LOGGER",
26 "logger_nodes": [
27 "roborio",
28 "logger"
29 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]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,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]49 "logger": "LOCAL_AND_REMOTE_LOGGER",
50 "logger_nodes": [
51 "roborio",
52 "logger"
53 ],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]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 }}",
James Kuszmaula6681e22023-05-26 11:20:40 -0700[diff] [blame]71 "max_size": 2048,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]72 "frequency": 10,
73 "num_senders": 2
74 },
75 {
76 "name": "/pi{{ NUM }}/aos",
77 "type": "aos.message_bridge.ClientStatistics",
78 "source_node": "pi{{ NUM }}",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]79 "frequency": 20,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]80 "num_senders": 2
81 },
82 {
83 "name": "/pi{{ NUM }}/aos",
Sarah Newman45a64df2022-04-11 19:33:46 -0700[diff] [blame]84 "type": "aos.logging.DynamicLogCommand",
85 "source_node": "pi{{ NUM }}",
86 "frequency": 10,
87 "num_senders": 2
88 },
89 {
90 "name": "/pi{{ NUM }}/aos",
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]91 "type": "aos.message_bridge.Timestamp",
92 "source_node": "pi{{ NUM }}",
93 "frequency": 15,
94 "num_senders": 2,
95 "logger": "LOCAL_AND_REMOTE_LOGGER",
96 "logger_nodes": [
James Kuszmaulb2c1be22022-02-26 20:03:16 -0800[diff] [blame]97 "roborio",
98 "imu"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]99 ],
100 "max_size": 200,
101 "destination_nodes": [
102 {
103 "name": "roborio",
104 "priority": 1,
105 "time_to_live": 5000000,
106 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
107 "timestamp_logger_nodes": [
James Kuszmaulab236182023-05-16 21:10:40 -0700[diff] [blame]108 "pi{{ NUM }}"
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]109 ]
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]110 },
111 {
112 "name": "imu",
113 "priority": 1,
114 "time_to_live": 5000000,
115 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
116 "timestamp_logger_nodes": [
James Kuszmaulab236182023-05-16 21:10:40 -0700[diff] [blame]117 "pi{{ NUM }}"
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]118 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]119 }
120 ]
121 },
122 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]123 "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
124 "type": "aos.message_bridge.RemoteMessage",
125 "frequency": 20,
126 "source_node": "pi{{ NUM }}",
127 "max_size": 208
128 },
129 {
130 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
131 "type": "aos.message_bridge.RemoteMessage",
132 "frequency": 20,
133 "source_node": "pi{{ NUM }}",
134 "max_size": 208
135 },
136 {
137 "name": "/imu/aos",
138 "type": "aos.message_bridge.Timestamp",
139 "source_node": "imu",
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]140 "logger": "LOCAL_AND_REMOTE_LOGGER",
141 "logger_nodes": [
142 "pi{{ NUM }}"
143 ],
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]144 "destination_nodes": [
145 {
146 "name": "pi{{ NUM }}",
147 "priority": 1,
148 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
149 "timestamp_logger_nodes": [
150 "imu"
151 ],
152 "time_to_live": 5000000
153 }
154 ]
155 },
156 {
157 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/imu/aos/aos-message_bridge-Timestamp",
158 "type": "aos.message_bridge.RemoteMessage",
159 "frequency": 20,
160 "source_node": "imu",
161 "max_size": 208
162 },
163 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]164 "name": "/pi{{ NUM }}/camera",
165 "type": "frc971.vision.CameraImage",
166 "source_node": "pi{{ NUM }}",
Austin Schuh2e6e07c2022-04-16 14:26:31 -0700[diff] [blame]167 "frequency": 40,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]168 "max_size": 620000,
169 "num_senders": 18
170 },
171 {
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]172 "name": "/pi{{ NUM }}/camera/decimated",
173 "type": "frc971.vision.CameraImage",
174 "source_node": "pi{{ NUM }}",
175 "frequency": 2,
176 "max_size": 620000,
Milind Upadhyay222abc82022-04-13 19:57:34 -0700[diff] [blame]177 "num_senders": 2
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]178 },
179 {
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]180 "name": "/pi{{ NUM }}/camera",
Jim Ostrowski007e2ea2022-01-30 13:13:26 -0800[diff] [blame]181 "type": "frc971.vision.calibration.CalibrationData",
182 "source_node": "pi{{ NUM }}",
183 "frequency": 2,
184 "max_size": 100000
185 },
186 {
187 "name": "/pi{{ NUM }}/camera",
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]188 "type": "y2022.vision.TargetEstimate",
189 "source_node": "pi{{ NUM }}",
Austin Schuh37559162022-11-09 09:45:15 -0800[diff] [blame]190 "frequency": 80,
Jim Ostrowski3af082f2022-02-11 23:55:46 -0800[diff] [blame]191 "num_senders": 2,
Austin Schuh35cb7d92022-04-02 21:13:13 -0700[diff] [blame]192 "max_size": 40000,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]193 "logger": "LOCAL_AND_REMOTE_LOGGER",
194 "logger_nodes": [
195 "imu",
196 "logger"
197 ],
198 "destination_nodes": [
199 {
200 "name": "imu",
201 "priority": 4,
202 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
203 "timestamp_logger_nodes": [
204 "pi{{ NUM }}"
205 ],
206 "time_to_live": 5000000
207 },
208 {
209 "name": "logger",
210 "priority": 4,
211 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
212 "timestamp_logger_nodes": [
213 "pi{{ NUM }}"
214 ],
215 "time_to_live": 5000000
216 }
217 ]
218 },
219 {
220 "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
221 "type": "aos.message_bridge.RemoteMessage",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]222 "frequency": 80,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]223 "source_node": "pi{{ NUM }}",
224 "max_size": 208
225 },
226 {
227 "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
228 "type": "aos.message_bridge.RemoteMessage",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]229 "frequency": 80,
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]230 "source_node": "pi{{ NUM }}",
231 "max_size": 208
milind-uf2f59aa2022-01-23 21:06:12 -0800[diff] [blame]232 },
milind-u92195982022-01-22 20:29:31 -0800[diff] [blame]233 {
Milind Upadhyayd67e9cf2022-03-13 13:56:57 -0700[diff] [blame]234 "name": "/localizer",
235 "type": "frc971.controls.LocalizerOutput",
236 "source_node": "imu",
237 "destination_nodes": [
238 {
239 "name": "pi{{ NUM }}",
240 "priority": 5,
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]241 "time_to_live": 5000000,
242 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
243 "timestamp_logger_nodes": [
244 "imu"
245 ]
Milind Upadhyayd67e9cf2022-03-13 13:56:57 -0700[diff] [blame]246 }
247 ]
248 },
249 {
Austin Schuh63f65162022-04-01 22:31:19 -0700[diff] [blame]250 "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/localizer/frc971-controls-LocalizerOutput",
251 "type": "aos.message_bridge.RemoteMessage",
252 "source_node": "imu",
253 "logger": "NOT_LOGGED",
254 "frequency": 400,
255 "num_senders": 2,
256 "max_size": 200
257 },
258 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]259 "name": "/logger/aos",
260 "type": "aos.starter.StarterRpc",
261 "source_node": "logger",
262 "destination_nodes": [
263 {
264 "name": "pi{{ NUM }}",
265 "priority": 5,
266 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
267 "timestamp_logger_nodes": [
268 "logger"
269 ],
270 "time_to_live": 5000000
271 }
272 ]
273 },
274 {
275 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
276 "type": "aos.message_bridge.RemoteMessage",
277 "source_node": "logger",
278 "logger": "NOT_LOGGED",
279 "frequency": 20,
280 "num_senders": 2,
281 "max_size": 200
282 },
283 {
284 "name": "/logger/aos",
285 "type": "aos.starter.Status",
286 "source_node": "logger",
287 "destination_nodes": [
288 {
289 "name": "pi{{ NUM }}",
290 "priority": 5,
291 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
292 "timestamp_logger_nodes": [
293 "logger"
294 ],
295 "time_to_live": 5000000
296 }
297 ]
298 },
299 {
300 "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
301 "type": "aos.message_bridge.RemoteMessage",
302 "source_node": "logger",
303 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]304 "frequency": 50,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]305 "num_senders": 2,
306 "max_size": 200
307 },
308 {
309 "name": "/roborio/aos",
310 "type": "aos.starter.StarterRpc",
311 "source_node": "roborio",
312 "destination_nodes": [
313 {
314 "name": "pi{{ NUM }}",
315 "priority": 5,
316 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
317 "timestamp_logger_nodes": [
318 "roborio"
319 ],
320 "time_to_live": 5000000
321 }
322 ]
323 },
324 {
325 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
326 "type": "aos.message_bridge.RemoteMessage",
327 "source_node": "roborio",
328 "logger": "NOT_LOGGED",
329 "frequency": 20,
330 "num_senders": 2,
331 "max_size": 200
332 },
333 {
334 "name": "/roborio/aos",
335 "type": "aos.starter.Status",
336 "source_node": "roborio",
337 "destination_nodes": [
338 {
339 "name": "pi{{ NUM }}",
340 "priority": 5,
341 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
342 "timestamp_logger_nodes": [
343 "roborio"
344 ],
345 "time_to_live": 5000000
346 }
347 ]
348 },
349 {
350 "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
351 "type": "aos.message_bridge.RemoteMessage",
352 "source_node": "roborio",
353 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]354 "frequency": 50,
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]355 "num_senders": 2,
356 "max_size": 200
357 }
358 ],
359 "applications": [
360 {
361 "name": "message_bridge_client",
Austin Schuh37559162022-11-09 09:45:15 -0800[diff] [blame]362 "executable_name": "message_bridge_client.sh",
Austin Schuh6b2edc62022-03-27 13:32:09 -0700[diff] [blame]363 "args": ["--rt_priority=16"],
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]364 "nodes": [
365 "pi{{ NUM }}"
366 ]
367 },
368 {
369 "name": "message_bridge_server",
370 "executable_name": "message_bridge_server",
371 "nodes": [
372 "pi{{ NUM }}"
373 ]
374 },
375 {
376 "name": "web_proxy",
377 "executable_name": "web_proxy_main",
378 "nodes": [
379 "pi{{ NUM }}"
380 ]
381 },
382 {
383 "name": "camera_reader",
384 "executable_name": "camera_reader",
385 "nodes": [
386 "pi{{ NUM }}"
387 ]
James Kuszmaul3eb753d2022-03-12 15:21:12 -0800[diff] [blame]388 },
389 {
390 "name": "image_decimator",
391 "executable_name": "image_decimator",
392 "nodes": [
393 "pi{{ NUM }}"
394 ]
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]395 }
396 ],
397 "maps": [
398 {
399 "match": {
400 "name": "/aos*",
401 "source_node": "pi{{ NUM }}"
402 },
403 "rename": {
404 "name": "/pi{{ NUM }}/aos"
405 }
406 },
407 {
408 "match": {
409 "name": "/camera*",
410 "source_node": "pi{{ NUM }}"
411 },
412 "rename": {
413 "name": "/pi{{ NUM }}/camera"
414 }
415 }
416 ],
417 "nodes": [
418 {
419 "name": "pi{{ NUM }}",
420 "hostname": "pi{{ NUM }}",
421 "hostnames": [
422 "pi-971-{{ NUM }}",
423 "pi-7971-{{ NUM }}",
424 "pi-8971-{{ NUM }}",
425 "pi-9971-{{ NUM }}"
426 ],
427 "port": 9971
428 },
429 {
430 "name": "logger"
431 },
432 {
James Kuszmaula04ac0c2022-02-26 15:52:27 -0800[diff] [blame]433 "name": "imu"
434 },
435 {
milind-ude5a4222022-01-22 13:23:29 -0800[diff] [blame]436 "name": "roborio"
437 }
438 ]
439}