Driver Station to RoboRIO
=========================

.. _ds_rio_udp:

UDP
---

Sent every 20ms to the RoboRIO, UDP port 1110 (port 1115 when connected to FMS)

.. table::
   :widths: auto

   +--------------+--------+-----------------------------------+-----------------------------------------------+
   | Field        | Length | Type                              | Comment                                       |
   +==============+========+===================================+===============================================+
   | Sequence Num | 2      | uint16                            |                                               |
   +--------------+--------+-----------------------------------+-----------------------------------------------+
   | Comm Version | 1      | uint8                             | ``0x01`` is currently the only observed value |
   +--------------+--------+-----------------------------------+-----------------------------------------------+
   | Control      | 1      | :ref:`Control <ds_rio_control>`   |                                               |
   +--------------+--------+-----------------------------------+-----------------------------------------------+
   | Request      | 1      | :ref:`Request <ds_rio_request>`   |                                               |
   +--------------+--------+-----------------------------------+-----------------------------------------------+
   | Alliance     | 1      | :ref:`Alliance <ds_rio_alliance>` |                                               |
   +--------------+--------+-----------------------------------+-----------------------------------------------+
   | Tags         | n      | :ref:`Tags <ds_rio_udp_tags>`     |                                               |
   +--------------+--------+-----------------------------------+-----------------------------------------------+

.. _ds_rio_control:

Control
^^^^^^^

.. table::
   :widths: auto

   +----------------+--------------+-----------------------------------+
   | Field          | Mask         | Comment                           |
   +================+==============+===================================+
   | E-Stop         | ``x.......`` |                                   |
   +----------------+--------------+-----------------------------------+
   | FMS Connected  | ``....x...`` |                                   |
   +----------------+--------------+-----------------------------------+
   | Enabled        | ``.....x..`` |                                   |
   +----------------+--------------+-----------------------------------+
   | Mode           | ``......xx`` | 0: Teleop, 1: Test, 2: Autonomous |
   +----------------+--------------+-----------------------------------+

.. _ds_rio_request:

Request
^^^^^^^

.. table::
   :widths: auto

   +----------------+--------------+-----------------------------------------------+
   | Field          | Mask         | Comment                                       |
   +================+==============+===============================================+
   | Reboot RoboRIO | ``....x...`` |                                               |
   +----------------+--------------+-----------------------------------------------+
   | Restart Code   | ``.....x..`` |                                               |
   +----------------+--------------+-----------------------------------------------+

.. _ds_rio_alliance:

Alliance
^^^^^^^^

Color is Red if ``value < 3``, else Blue. Position is ``value % 3 + 1``

.. _ds_rio_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       | Tag        |
   +==========+============+
   | ``0x07`` | Countdown_ |
   +----------+------------+
   | ``0x0c`` | Joystick_  |
   +----------+------------+
   | ``0x0f`` | Date_      |
   +----------+------------+
   | ``0x10`` | Timezone_  |
   +----------+------------+

.. _countdown:

Countdown ``0x07``
""""""""""""""""""

.. table::
   :widths: auto

   +-----------+--------+--------+-----------------------------------------------+
   | Field     | Length | Type   | Comment                                       |
   +===========+========+========+===============================================+
   | Countdown | 4      | float  | In seconds                                    |
   +-----------+--------+--------+-----------------------------------------------+

.. _joystick:

Joystick ``0x0c``
""""""""""""""""""

.. table::
   :widths: auto

   +--------------+--------+---------+-----------------------------------------------+
   | Field        | Length | Type    | Comment                                       |
   +==============+========+=========+===============================================+
   | Axis Count   | 1      | uint8   | Number of axis bytes to follow                |
   +--------------+--------+---------+-----------------------------------------------+
   | Axes         | n      | int8    | -128 to 127, for each axis                    |
   +--------------+--------+---------+-----------------------------------------------+
   | Button Count | 1      | uint8   | Number of buttons                             |
   +--------------+--------+---------+-----------------------------------------------+
   | Buttons      | n      | Button_ | Bytes containing button data                  |
   +--------------+--------+---------+-----------------------------------------------+
   | POV Count    | 1      | uint8   | Number of POVs                                |
   +--------------+--------+---------+-----------------------------------------------+
   | POVs         | 2 * n  | int16   | 0 to 360, -1 if not pressed                   |
   +--------------+--------+---------+-----------------------------------------------+

.. _button:

Button
......

1 bit per button, so the number of bytes is ``count / 8 + ((count == 0) ? 0 : 1)``

Stored `LSB 0 <https://en.wikipedia.org/wiki/Bit_numbering#LSB_0_bit_numbering>`_. All bits after the specified number of buttons are 0.

.. _date:

Date ``0x0f``
""""""""""""""
This and Timezone_ below are sent once when the DS first connects.

.. table::
   :widths: auto

   +--------------+--------+--------+-------------------------+
   | Field        | Length | Type   | Comment                 |
   +--------------+--------+--------+-------------------------+
   | Microseconds | 4      | uint32 |                         |
   +--------------+--------+--------+-------------------------+
   | Second       | 1      | uint8  |                         |
   +--------------+--------+--------+-------------------------+
   | Minute       | 1      | uint8  |                         |
   +--------------+--------+--------+-------------------------+
   | Hour         | 1      | uint8  | In UTC                  |
   +--------------+--------+--------+-------------------------+
   | Day          | 1      | uint8  |                         |
   +--------------+--------+--------+-------------------------+
   | Month        | 1      | uint8  | 0 is January            |
   +--------------+--------+--------+-------------------------+
   | Year         | 1      | uint8  | Year (starting at 1900) |
   +--------------+--------+--------+-------------------------+

.. _timezone:

Timezone ``0x10``
""""""""""""""""""

.. table::
   :widths: auto

   +----------+--------+--------+----------+
   | Field    | Length | Type   | Comment  |
   +----------+--------+--------+----------+
   | Timezone | n      | string | Timezone |
   +----------+--------+--------+----------+


.. _ds_rio_tcp:

TCP
---

Sent over TCP port 1740. Strings are either prefixed with a length (specified)
or implied.

.. table::
   :widths: auto

   +-------+--------+-------------------------------+------------------------------------+
   | Field | Length | Type                          | Comment                            |
   +-------+--------+-------------------------------+------------------------------------+
   | Size  | 2      | uint16                        | Including ID                       |
   +-------+--------+-------------------------------+------------------------------------+
   | ID    | 1      | uint8                         | See table below (only if Size > 0) |
   +-------+--------+-------------------------------+------------------------------------+
   | Tags  | n      | :ref:`Tags <ds_rio_tcp_tags>` |                                    |
   +-------+--------+-------------------------------+------------------------------------+

.. _ds_rio_tcp_tags:

Tags
^^^^

.. table::
   :widths: auto

   +----------+---------------------------------------------------------+
   | ID       | Tag                                                     |
   +----------+---------------------------------------------------------+
   | ``0x02`` | :ref:`Joystick Descriptor <ds_rio_joystick_descriptor>` |
   +----------+---------------------------------------------------------+
   | ``0x07`` | :ref:`Match Info <ds_rio_match_info>`                   |
   +----------+---------------------------------------------------------+
   | ``0x0e`` | :ref:`Game Data <ds_rio_game_data>`                     |
   +----------+---------------------------------------------------------+

.. _ds_rio_joystick_descriptor:

Joystick Descriptor ``0x02``
""""""""""""""""""""""""""""

Sends everything on the USB Devices tab of the DS, whether connected or not.
Sent when joystick is plugged in, unplugged, or reordered.

.. table::
   :widths: auto

   +--------------+--------+--------+----------------------------------------------------+
   | Field        | Length | Type   | Comment                                            |
   +==============+========+========+====================================================+
   | Index        | 1      | uint8  |                                                    |
   +--------------+--------+--------+----------------------------------------------------+
   | Is Xbox      | 1      | bool   | True if XBox controller                            |
   +--------------+--------+--------+----------------------------------------------------+
   | Type         | 1      | int8   | :ref:`See below <ds_rio_joystick_type>`            |
   +--------------+--------+--------+----------------------------------------------------+
   | Name         | 1 + n  | string |                                                    |
   +--------------+--------+--------+----------------------------------------------------+
   | Axis Count   | 1      | uint8  |                                                    |
   +--------------+--------+--------+----------------------------------------------------+
   | Axis Types   | n      | bytes  | :ref:`See below <ds_rio_axis_type>` (one per axis) |
   +--------------+--------+--------+----------------------------------------------------+
   | Button Count | 1      | uint8  |                                                    |
   +--------------+--------+--------+----------------------------------------------------+
   | POV Count    | 1      | uint8  |                                                    |
   +--------------+--------+--------+----------------------------------------------------+

.. _ds_rio_joystick_type:

Joystick Type
.............

.. table::
   :widths: auto

   +-----+---------------------+-----+-------------------+
   | Num | Type                | Num | Type              |
   +-----+---------------------+-----+-------------------+
   | -1  | Unknown             | 8   | XInput Drum Kit   |
   +-----+---------------------+-----+-------------------+
   | 0   | XInput Unknown      | 11  | XInput Guitar 3   |
   +-----+---------------------+-----+-------------------+
   | 1   | XInput Gamepad      | 19  | XINput Arcade Pad |
   +-----+---------------------+-----+-------------------+
   | 2   | XInput Wheel        | 20  | HID Joystick      |
   +-----+---------------------+-----+-------------------+
   | 3   | XInput Arcade       | 21  | HID Gamepad       |
   +-----+---------------------+-----+-------------------+
   | 4   | XInput Flight Stick | 22  | HID Driving       |
   +-----+---------------------+-----+-------------------+
   | 5   | XInput Dance Pad    | 23  | HID Flight        |
   +-----+---------------------+-----+-------------------+
   | 6   | XInput Guitar       | 24  | HID 1st Person    |
   +-----+---------------------+-----+-------------------+
   | 7   | XInput Guitar 2     |     |                   |
   +-----+---------------------+-----+-------------------+

.. _ds_rio_axis_type:

Axis Type
.........

.. table::
   :widths: auto

   +-----+--------+-----+---------------+
   | Num | Type   | Num | Type          |
   +=====+========+=====+===============+
   | 0   | X Axis | 3   | Twist Axis    |
   +-----+--------+-----+---------------+
   | 1   | Y Axis | 4   | Throttle Axis |
   +-----+--------+-----+---------------+
   | 2   | Z Axis |     |               |
   +-----+--------+-----+---------------+

.. _ds_rio_match_info:

Match Info ``0x07``
"""""""""""""""""""

.. table::
   :widths: auto

   +--------------+--------+--------+---------------------------------------------+
   | Field        | Length | Type   | Comment                                     |
   +==============+========+========+=============================================+
   | Competition  | 1 + n  | string |                                             |
   +--------------+--------+--------+---------------------------------------------+
   | Match Type   | 1      | enum   | 0:"None", 1:Practice, 2:Qualifications,     |
   |              |        |        | 3:Eliminations                              |
   +--------------+--------+--------+---------------------------------------------+


.. _ds_rio_game_data:

Game Data ``0x0e``
""""""""""""""""""

.. table::
   :widths: auto

   +--------------+--------+--------+---------------------------------------------+
   | Field        | Length | Type   | Comment                                     |
   +==============+========+========+=============================================+
   | Game Data    | n      | string |                                             |
   +--------------+--------+--------+---------------------------------------------+