Driver Station to FMS¶
UDP¶
Sent to 10.0.100.5 UDP port 1160 (from UDP port 1145).
| Field | Length | Type | Comment |
|---|---|---|---|
| Sequence Num | 2 | uint16 | |
| Comm Version | 1 | uint8 | Only 0x00 has been observed |
| Status Byte | 1 | Status | Contains control bits |
| Team Num | 2 | uint16 | |
| Battery | 2 | Battery | Battery voltage |
| Tags | N | Tags |
Status¶
| 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...... |
Battery¶
Received as a uint16, XXYY. Voltage is calculated by: XX + YY/256
Tags¶
| Field | Length | Type | Comment |
|---|---|---|---|
| Size | 1 | uint8 | |
| ID | 1 | uint8 | See table below |
| Data | n | Depends on tag type |
| ID | Packet Type |
|---|---|
| 0x00 | Field Radio Metrics |
| 0x01 | Comms Metrics |
| 0x02 | Laptop Metrics |
| 0x03 | Robot Radio Metrics |
| 0x04 | PD Info |
Field Radio Metrics (0x00)¶
| Field | Length | Type | Comment |
|---|---|---|---|
| Signal Strength | 1 | uint8 | |
| Bandwidth Utilization | 2 | uint16 |
Comms Metrics (0x01)¶
| Field | Length | Type | Comment |
|---|---|---|---|
| Lost Packets | 2 | uint16 | |
| Sent Packets | 2 | uint16 | |
| Average Trip Time | 1 | uint8 |
Laptop Metrics (0x02)¶
| Field | Length | Type | Comment |
|---|---|---|---|
| Battery Percent | 1 | uint8 | |
| CPU Percent | 1 | uint8 |
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.
| Field | Length | Type | Comment |
|---|---|---|---|
| Signal Strength | 1 | uint8 | |
| Bandwidth Utilization | 2 | uint16 |
TCP¶
Sent to 10.0.100.5 TCP port 1750.
| 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¶
| ID | Tag |
|---|---|
0x00 |
WPILib Version |
0x01 |
RIO Version |
0x02 |
DS Version |
0x03 |
PDP Version |
0x04 |
PCM Version |
0x05 |
CANJag Version |
0x06 |
CANTalon Version |
0x07 |
Third Party Device Version |
0x15 |
Usage Report |
0x16 |
Log Data |
0x17 |
Error and Event Data |
0x18 |
Team Number |
0x1b |
Challenge Response |
0x1c |
DS Ping |
Versions all take the same format
Version¶
See above table for devices and their associated tag IDs.
| Field | Length | Type | Comment |
|---|---|---|---|
| Status | n | string | <bad>, <good>, or <preferred> |
| Version | n | string |
Usage Report (0x15)¶
| Field | Length | Type | Comment |
|---|---|---|---|
| Team Num | 2 | uint16 | |
| Unknown | 1 | uint8 | |
| Entries | n | Entry Data |
See Usage Reporting for details about the Entries format.
Log Data (0x16)¶
| 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 | Battery | XXYY, XX + YY / 256 |
| Robot Status | 1 | Status | |
| CAN | 1 | uint8 | Value is halved |
| SignalDb | 1 | uint8 | Value is halved |
| Bandwidth | 2 | Bandwidth | round(float(uint16) / 256, 2) |
Status¶
| 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 |
Error and Event Data (0x17)¶
| 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 |
Team Number (0x18)¶
Sent immediately upon TCP connection. Sending this triggers a challenge response.
| 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 |
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.
| Field | Length | Type | Comment |
|---|---|---|---|
| Response | n | string |
As of 2017, there’s 23 possible responses. These change year to year.
| 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 Challenge Question.
id = ( (team number) * (random value) ) % 23