nt2mqtt

WPILib FRC Network Tables to MQTT

Goals

• Stream live data from the robot to Grafana during test/practice
  • Useful for troubleshooting and testing
  • Same data being sent to the dashboard
• Store data for later analysis
  • Lower-resolution version of the streaming data
  • Use Grafana for post-match analysis of critical systems and sensors
  • Time syncronization to correlate data with points during the match
  • Leverage Grafana annotations API to highlight segment of data during the match(?)

Overview

The general flow is as follows:

flowchart
    NT["Network Tables"]--NT Protocol-->Bridge
    Bridge--MQTT Protocol-->Mosquitto
    Mosquitto--Live Stream API-->Grafana
    Mosquitto--Telegraf MQTT Sub-->Telegraf
    Telegraf--HTTP API-->InfluxDB
    InfluxDB--Stored Metrics Query-->Grafana

Loading

Reference Links

• Streaming MQTT sensor data: https://grafana.com/blog/2021/08/12/streaming-real-time-sensor-data-to-grafana-using-mqtt-and-grafana-live/
  • MQTT data sourcehttps://grafana.com/grafana/plugins/grafana-mqtt-datasource/
• Streaming Telegraf data: https://grafana.com/tutorials/stream-metrics-from-telegraf-to-grafana/
• Annotations: https://grafana.com/docs/grafana/latest/dashboards/build-dashboards/annotate-visualizations/
  • Annotation API: https://grafana.com/docs/grafana/latest/developers/http_api/annotations/