Driver Station to FMS
=====================

.. _ds_fms_udp:

UDP
---

Sent to `10.0.100.5` UDP port 1160 (from UDP port 1145).

.. table::
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   +--------------+--------+---------------------------------------+---------------------------------+
   | Field        | Length | Type                                  | Comment                         |
   +==============+========+=======================================+=================================+
   | Sequence Num | 2      | uint16                                |                                 |
   +--------------+--------+---------------------------------------+---------------------------------+
   | Comm Version | 1      | uint8                                 | Only ``0x00`` has been observed |
   +--------------+--------+---------------------------------------+---------------------------------+
   | Status Byte  | 1      | :ref:`Status <ds_fms_control_status>` | Contains control bits           |
   +--------------+--------+---------------------------------------+---------------------------------+
   | Team Num     | 2      | uint16                                |                                 |
   +--------------+--------+---------------------------------------+---------------------------------+
   | Battery      | 2      | :ref:`Battery <ds_fms_battery>`       | Battery voltage                 |
   +--------------+--------+---------------------------------------+---------------------------------+
   | Tags         | N      | :ref:`Tags <ds_fms_udp_tags>`         |                                 |
   +--------------+--------+---------------------------------------+---------------------------------+

.. _ds_fms_control_status:

Status
^^^^^^

.. table::
   :widths: auto

   +--------------------+--------------+-----------------------------------+
   | Field              | Mask         | Comment                           |
   +--------------------+--------------+-----------------------------------+
   | E-Stop             | ``x.......`` | 0: Normal, 1: Emergency Stopped   |
   +--------------------+--------------+-----------------------------------+
   | Robot Comms Active | ``..x.....`` | 0: No, 1: Yes                     |
   +--------------------+--------------+-----------------------------------+
   | Radio Ping         | ``...x....`` | 0: No, 1: Yes                     |
   +--------------------+--------------+-----------------------------------+
   | Rio Ping           | ``....x...`` | 0: No, 1: Yes                     |
   +--------------------+--------------+-----------------------------------+
   | Enabled            | ``.....x..`` | 0: Disabled, 1: Enabled           |
   +--------------------+--------------+-----------------------------------+
   | Mode               | ``......xx`` | 0: TeleOp, 1: Test, 2: Autonomous |
   +--------------------+--------------+-----------------------------------+
   | Reserved           | ``.x......`` |                                   |
   +--------------------+--------------+-----------------------------------+

.. _ds_fms_battery:

Battery
^^^^^^^
Received as a uint16, ``XXYY``. Voltage is calculated by: ``XX + YY/256``


.. _ds_fms_udp_tags:

Tags
^^^^

.. table::
   :widths: auto

   +-------+--------+-------+---------------------+
   | Field | Length | Type  | Comment             |
   +=======+========+=======+=====================+
   | Size  | 1      | uint8 |                     |
   +-------+--------+-------+---------------------+
   | ID    | 1      | uint8 | See table below     |
   +-------+--------+-------+---------------------+
   | Data  | n      |       | Depends on tag type |
   +-------+--------+-------+---------------------+


.. table::
   :widths: auto

   +--------+---------------------------------------------------------+
   | ID     | Packet Type                                             |
   +========+=========================================================+
   | `0x00` | :ref:`Field Radio Metrics <ds_fms_field_radio_metrics>` |
   +--------+---------------------------------------------------------+
   | `0x01` | :ref:`Comms Metrics <ds_fms_comms_metrics>`             |
   +--------+---------------------------------------------------------+
   | `0x02` | :ref:`Laptop Metrics <ds_fms_laptop_metrics>`           |
   +--------+---------------------------------------------------------+
   | `0x03` | :ref:`Robot Radio Metrics <ds_fms_robot_radio_metrics>` |
   +--------+---------------------------------------------------------+
   | `0x04` | :ref:`PD Info <ds_fms_pd_info>`                         |
   +--------+---------------------------------------------------------+

.. _ds_fms_field_radio_metrics:

Field Radio Metrics (``0x00``)
""""""""""""""""""""""""""""""

.. table::
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   +-----------------------+--------+--------+---------+
   | Field                 | Length | Type   | Comment |
   +=======================+========+========+=========+
   | Signal Strength       | 1      | uint8  |         |
   +-----------------------+--------+--------+---------+
   | Bandwidth Utilization | 2      | uint16 |         |
   +-----------------------+--------+--------+---------+

.. _ds_fms_comms_metrics:

Comms Metrics (``0x01``)
""""""""""""""""""""""""

.. table::
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   +-------------------+--------+--------+---------+
   | Field             | Length | Type   | Comment |
   +===================+========+========+=========+
   | Lost Packets      | 2      | uint16 |         |
   +-------------------+--------+--------+---------+
   | Sent Packets      | 2      | uint16 |         |
   +-------------------+--------+--------+---------+
   | Average Trip Time | 1      | uint8  |         |
   +-------------------+--------+--------+---------+

.. _ds_fms_laptop_metrics:

Laptop Metrics (``0x02``)
"""""""""""""""""""""""""

.. table::
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   +-----------------+--------+-------+---------+
   | Field           | Length | Type  | Comment |
   +=================+========+=======+=========+
   | Battery Percent | 1      | uint8 |         |
   +-----------------+--------+-------+---------+
   | CPU Percent     | 1      | uint8 |         |
   +-----------------+--------+-------+---------+

.. _ds_fms_robot_radio_metrics:

Robot Radio Metrics (``0x03``)
""""""""""""""""""""""""""""""

Decompiling the Offseason FMS code shows "Robot Radio Metrics" in the enum, and a "UDPTagBridgeWifiMetrics".
Neither of which are used or handled, but I assume they are the same thing.

.. table::
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   +-----------------------+--------+--------+---------+
   | Field                 | Length | Type   | Comment |
   +=======================+========+========+=========+
   | Signal Strength       | 1      | uint8  |         |
   +-----------------------+--------+--------+---------+
   | Bandwidth Utilization | 2      | uint16 |         |
   +-----------------------+--------+--------+---------+

.. _ds_fms_pd_info:

PD Info (``0x04``)
""""""""""""""""""

Seems to be empty for now

.. table::
   :widths: auto

   +-------+--------+------+---------+
   | Field | Length | Type | Comment |
   +=======+========+======+=========+
   |       |        |      |         |
   +-------+--------+------+---------+

.. _ds_fms_tcp:

TCP
---

Sent to `10.0.100.5` TCP port 1750.

.. table::
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   +-------+--------+--------+------------------------------------+
   | Field | Length | Type   | Comment                            |
   +=======+========+========+====================================+
   | Size  | 2      | uint16 | Including ID                       |
   +-------+--------+--------+------------------------------------+
   | ID    | 1      | uint8  | See table below (only of Size > 0) |
   +-------+--------+--------+------------------------------------+
   | Tags  | n      |        | Depends on tag type                |
   +-------+--------+--------+------------------------------------+


Tags
^^^^

.. table::
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   +----------+-----------------------------------------------------------+
   | ID       | Tag                                                       |
   +==========+===========================================================+
   | ``0x00`` | :ref:`WPILib Version <ds_fms_version>`                    |
   +----------+-----------------------------------------------------------+
   | ``0x01`` | :ref:`RIO Version <ds_fms_version>`                       |
   +----------+-----------------------------------------------------------+
   | ``0x02`` | :ref:`DS Version <ds_fms_version>`                        |
   +----------+-----------------------------------------------------------+
   | ``0x03`` | :ref:`PDP Version <ds_fms_version>`                       |
   +----------+-----------------------------------------------------------+
   | ``0x04`` | :ref:`PCM Version <ds_fms_version>`                       |
   +----------+-----------------------------------------------------------+
   | ``0x05`` | :ref:`CANJag Version <ds_fms_version>`                    |
   +----------+-----------------------------------------------------------+
   | ``0x06`` | :ref:`CANTalon Version <ds_fms_version>`                  |
   +----------+-----------------------------------------------------------+
   | ``0x07`` | :ref:`Third Party Device Version <ds_fms_version>`        |
   +----------+-----------------------------------------------------------+
   | ``0x15`` | :ref:`Usage Report <ds_fms_usage_report>`                 |
   +----------+-----------------------------------------------------------+
   | ``0x16`` | :ref:`Log Data <ds_fms_log_data>`                         |
   +----------+-----------------------------------------------------------+
   | ``0x17`` | :ref:`Error and Event Data <ds_fms_error_and_event_data>` |
   +----------+-----------------------------------------------------------+
   | ``0x18`` | :ref:`Team Number <ds_fms_team_number>`                   |
   +----------+-----------------------------------------------------------+
   | ``0x1b`` | :ref:`Challenge Response <ds_fms_challenge_response>`     |
   +----------+-----------------------------------------------------------+
   | ``0x1d`` | :ref:`DS Ping <ds_fms_ds_ping>`                           |
   +----------+-----------------------------------------------------------+

Versions all take the same format

.. _ds_fms_version:

Version
"""""""

See above table for devices and their associated tag IDs.

.. table::
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   +---------+--------+--------+-------------------------------------+
   | Field   | Length | Type   | Comment                             |
   +=========+========+========+=====================================+
   | Status  | n      | string | `<bad>`, `<good>`, or `<preferred>` |
   +---------+--------+--------+-------------------------------------+
   | Version | n      | string |                                     |
   +---------+--------+--------+-------------------------------------+

.. _ds_fms_usage_report:

Usage Report (``0x15``)
"""""""""""""""""""""""

.. table::
   :widths: auto

   +----------+--------+-------------------------------------+---------+
   | Field    | Length | Type                                | Comment |
   +==========+========+=====================================+=========+
   | Team Num | 2      | uint16                              |         |
   +----------+--------+-------------------------------------+---------+
   | Unknown  | 1      | uint8                               |         |
   +----------+--------+-------------------------------------+---------+
   | Entries  | n      | :ref:`Entry Data <usage reporting>` |         |
   +----------+--------+-------------------------------------+---------+

See :ref:`Usage Reporting <usage reporting>` for details about the Entries format.

.. _ds_fms_log_data:

Log Data (``0x16``)
"""""""""""""""""""

.. table::
   :widths: auto

   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | Field        | Length | Type                                | Comment                                                   |
   +==============+========+=====================================+===========================================================+
   | Trip Time    | 1      | uint8                               | This is round trip time, actual trip time is half of this |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | Lost Packets | 1      | uint8                               |                                                           |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | Voltage      | 2      | :ref:`Battery <ds_fms_battery>`     | ``XXYY, XX + YY / 256``                                   |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | Robot Status | 1      | :ref:`Status <ds_fms_robot_status>` |                                                           |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | CAN          | 1      | uint8                               | Value is halved                                           |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | SignalDb     | 1      | uint8                               | Value is halved                                           |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+
   | Bandwidth    | 2      | Bandwidth                           | ``round(float(uint16) / 256, 2)``                         |
   +--------------+--------+-------------------------------------+-----------------------------------------------------------+

.. _ds_fms_robot_status:

Status
......

.. table::
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   +---------------+--------------+---------+
   | Field         | Mask         | Comment |
   +===============+==============+=========+
   | Brownout      | ``x.......`` |         |
   +---------------+--------------+---------+
   | Watchdog      | ``.x......`` |         |
   +---------------+--------------+---------+
   | DS TeleOp     | ``..x.....`` |         |
   +---------------+--------------+---------+
   | DS Auto       | ``...x....`` |         |
   +---------------+--------------+---------+
   | DS Disable    | ``....x...`` |         |
   +---------------+--------------+---------+
   | Robot TeleOp  | ``.....x..`` |         |
   +---------------+--------------+---------+
   | Robot Auto    | ``......x.`` |         |
   +---------------+--------------+---------+
   | Robot Disable | ``.......x`` |         |
   +---------------+--------------+---------+

.. _ds_fms_error_and_event_data:

Error and Event Data (``0x17``)
"""""""""""""""""""""""""""""""

.. table::
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   +---------------+--------+--------+-------------------------------------------------+
   | Field         | Length | Type   | Comment                                         |
   +===============+========+========+=================================================+
   | Message Count | 4      | uint32 | Number of messages to process                   |
   +---------------+--------+--------+-------------------------------------------------+
   | Timestamp     | 8      | uint64 | Number of seconds since 1904/01/01 00:00:00 GMT |
   +---------------+--------+--------+-------------------------------------------------+
   | Unknown       | 8      |        | ``86 48 b0 00 00 00 00 00``                     |
   +---------------+--------+--------+-------------------------------------------------+
   | Log Message   | 4 + n  | string |                                                 |
   +---------------+--------+--------+-------------------------------------------------+

.. _ds_fms_team_number:

Team Number (``0x18``)
""""""""""""""""""""""

Sent immediately upon TCP connection. Sending this triggers a challenge response.

.. table::
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   +----------+--------+--------+--------------------------------------------------------------------------------------------------+
   | Field    | Length | Type   | Comment                                                                                          |
   +==========+========+========+==================================================================================================+
   | Team Num | 2      | uint16 | Looks like it takes over the FMS's Driver Station context associated                             |
   |          |        |        | with that team number. Would probably be bad to send another team's number from your own station |
   +----------+--------+--------+--------------------------------------------------------------------------------------------------+

.. _ds_fms_challenge_response:

Challenge Response (``0x1b``)
"""""""""""""""""""""""""""""

Used to verify if the Driver Station is "official".
Trivial to figure out the correct response from the off-season FMS, which isn't
incredibly useful.

.. table::
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   +----------+--------+--------+---------+
   | Field    | Length | Type   | Comment |
   +==========+========+========+=========+
   | Response | n      | string |         |
   +----------+--------+--------+---------+

As of 2017, there's 23 possible responses. These change year to year.

.. table::
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   +----+----------------+
   | ID | Response       |
   +====+================+
   | 0  | Johnny Five    |
   +----+----------------+
   | 1  | Data           |
   +----+----------------+
   | 2  | ED-209         |
   +----+----------------+
   | 3  | Bishop         |
   +----+----------------+
   | 4  | NXT            |
   +----+----------------+
   | 5  | Optimus Prime  |
   +----+----------------+
   | 6  | Roomba         |
   +----+----------------+
   | 7  | Rosie          |
   +----+----------------+
   | 8  | The Terminator |
   +----+----------------+
   | 9  | HAL 9000       |
   +----+----------------+
   | 10 | Sojourner      |
   +----+----------------+
   | 11 | R2-D2          |
   +----+----------------+
   | 12 | C-3PO          |
   +----+----------------+
   | 13 | Wall-E         |
   +----+----------------+
   | 14 | Curiosity      |
   +----+----------------+
   | 15 | Opportunity    |
   +----+----------------+
   | 16 | Spirit         |
   +----+----------------+
   | 17 | Cylons         |
   +----+----------------+
   | 18 | Stinky         |
   +----+----------------+
   | 19 | Iron Giant     |
   +----+----------------+
   | 20 | RCX            |
   +----+----------------+
   | 21 | EV3            |
   +----+----------------+
   | 22 | ASIMO          |
   +----+----------------+

The correct response uses the Random Value sent by the
:ref:`Challenge Question <fms_ds_challenge_question>`.

``id = ( (team number) * (random value) ) % 23``

.. _ds_fms_ds_ping:

DS Ping (``0x1d``)
""""""""""""""""""

Just an empty tag. Sent by DS to FMS as a heartbeat.

.. table::
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   +-------+--------+------+---------+
   | Field | Length | Type | Comment |
   +=======+========+======+=========+
   |       |        |      |         |
   +-------+--------+------+---------+