FRC_2015 Class Reference

Implements the FRC 2015-2019 communication protocol. More...

#include <FRC_2015.h>

Inheritance diagram for FRC_2015:

Public Member Functions
	FRC_2015 ()
virtual QString	name ()
virtual int	fmsFrequency ()
virtual int	robotFrequency ()
virtual int	fmsInputPort ()
virtual int	fmsOutputPort ()
virtual int	robotInputPort ()
virtual int	robotOutputPort ()
virtual int	netconsoleInputPort ()
virtual int	maxPOVCount ()
virtual int	maxAxisCount ()
virtual int	maxButtonCount ()
virtual int	maxJoystickCount ()
virtual void	rebootRobot ()
virtual void	restartRobotCode ()
virtual void	onRobotWatchdogExpired ()
virtual qreal	nominalBatteryVoltage ()
virtual qreal	nominalBatteryAmperage ()
virtual DS::SocketType	fmsSocketType ()
virtual DS::SocketType	robotSocketType ()
virtual QString	radioAddress ()
virtual QString	robotAddress ()
virtual QByteArray	getFMSPacket ()
virtual QByteArray	getRobotPacket ()
virtual bool	interpretFMSPacket (const QByteArray &data)
virtual bool	interpretRobotPacket (const QByteArray &data)
Public Member Functions inherited from Protocol
virtual int	radioFrequency ()
virtual int	radioInputPort ()
virtual int	radioOutputPort ()
virtual int	netconsoleOutputPort ()
virtual qreal	nominalBatteryVOltage ()
virtual void	onFMSWatchdogExpired ()
virtual void	onRadioWatchdogExpired ()
virtual DS::SocketType	radioSocketType ()
virtual QString	fmsAddress ()
QByteArray	generateFMSPacket ()
QByteArray	generateRadioPacket ()
QByteArray	generateRobotPacket ()
bool	readFMSPacket (const QByteArray &data)
bool	readRadioPacket (const QByteArray &data)
bool	readRobotPacket (const QByteArray &data)
void	resetLossCounter ()
int	sentFMSPackets ()
int	sentRadioPackets ()
int	sentRobotPackets ()
int	receivedFMSPackets ()
int	receivedRadioPackets ()
int	receivedRobotPackets ()
int	recvRobotPacketsSinceConnect ()
int	sentRobotPacketsSinceConnect ()

Protected Member Functions
virtual QByteArray	getTimezoneData ()
virtual QByteArray	getJoystickData ()
virtual DS::Alliance	getAlliance (DS_UByte station)
virtual DS::Position	getPosition (DS_UByte station)
virtual void	readExtended (const QByteArray &data)
virtual DS_UByte	getControlCode ()
virtual DS_UByte	getRequestCode ()
virtual DS_UByte	getFMSControlCode ()
virtual DS_UByte	getTeamStationCode ()
virtual DS_UByte	getJoystickSize (const DS::Joystick &joystick)
Protected Member Functions inherited from Protocol
DS_Config *	config ()
DS_Joysticks *	joysticks ()
virtual QByteArray	getRadioPacket ()
virtual bool	interpretRadioPacket (const QByteArray &data)

Private Attributes
bool	m_restartCode
bool	m_rebootRobot
bool	m_sendDateTime

Detailed Description

Implements the FRC 2015-2019 communication protocol.

Constructor & Destructor Documentation

FRC_2015::FRC_2015 ( )

explicit

Implements the 2015 FRC Communication protocol

Member Function Documentation

int FRC_2015::fmsFrequency ( )

virtual

Send 2 FMS packets every second

Reimplemented from Protocol.

int FRC_2015::fmsInputPort ( )

virtual

We receive data from FMS at local port 1120

Reimplemented from Protocol.

int FRC_2015::fmsOutputPort ( )

virtual

We send data to the FMS to remote port 1160

Reimplemented from Protocol.

DS::SocketType FRC_2015::fmsSocketType ( )

virtual

FMS communications work with UDP datagrams

Reimplemented from Protocol.

References DS::kSocketTypeUDP.

DS::Alliance FRC_2015::getAlliance ( DS_UByte  station )

protectedvirtual

This function returns the alliance color referenced by the given station code. This function is used to follow the instructions outlined by the FMS packets.

References DS::kAllianceBlue, and DS::kAllianceRed.

DS_UByte FRC_2015::getControlCode ( )

protectedvirtual

Returns the control code sent to the robot. This code contains the following information:

• The control mode of the robot (teleop, autonomous, test)
• The enabled state of the robot
• The FMS attached keyword
• The operation state (e-stop, normal)

References DS::kControlAutonomous, DS::kControlTeleoperated, and DS::kControlTest.

DS_UByte FRC_2015::getFMSControlCode ( )

protectedvirtual

Returns the control code sent to the FMS. This code is very similar to the control code sent to the robot, however, it contains addional information regarding the robot radio.

This code contains the following information:

• The control mode of the robot (teleop, autonomous, test)
• The enabled state of the robot
• The FMS attached keyword
• Robot radio connected?
• The operation state (e-stop, normal)

References DS::kControlAutonomous, DS::kControlTeleoperated, and DS::kControlTest.

QByteArray FRC_2015::getFMSPacket ( )

virtual

Generates a packet that the DS will send to the FMS

Reimplemented from Protocol.

QByteArray FRC_2015::getJoystickData ( )

protectedvirtual

Constructs a joystick information structure for every attached joystick. Unlike the 2014 protocol, the 2015 protocol only generates joystick data for the attached joysticks.

This information is separated with a joystick header code (specified at the top of this file).

DS_UByte FRC_2015::getJoystickSize ( const DS::Joystick &  joystick )

protectedvirtual

Returns the size of the given joystick. This function is used to generate joystick data (which is sent to the robot).

This information will help the robot decide where a information starts and ends for each attached joystick.

References DS::Joystick::numAxes, DS::Joystick::numButtons, and DS::Joystick::numPOVs.

DS::Position FRC_2015::getPosition ( DS_UByte  station )

protectedvirtual

This function returns the position referenced by the given station code. This function is used to follow the instructions outlined by the FMS packets.

References DS::kPosition1, DS::kPosition2, and DS::kPosition3.

DS_UByte FRC_2015::getRequestCode ( )

protectedvirtual

Generates the request code sent to the robot, which may instruct it to:

• Operate normally
• Reboot the RIO
• Restart the robot code

QByteArray FRC_2015::getRobotPacket ( )

virtual

Generates a packet that the DS will send to the robot

Reimplemented from Protocol.

DS_UByte FRC_2015::getTeamStationCode ( )

protectedvirtual

Returns the team station code sent to the robot. This value may be used by the robot program to use specialized autonomous modes or adjust sensor input.

References DS::kAllianceRed, DS::kPosition1, DS::kPosition2, and DS::kPosition3.

QByteArray FRC_2015::getTimezoneData ( )

protectedvirtual

Returns information regarding the current date and time and the timezone of the client computer.

The robot may ask for this information in some cases (e.g. when initializing the robot code).

References DS::timezone().

bool FRC_2015::interpretFMSPacket ( const QByteArray &  data )

virtual

Interprets the packet and follows the instructions sent by the FMS. Possible instructions are:

• Change robot control mode
• Change robot enabled status
• Change team alliance
• Change team position

Reimplemented from Protocol.

References DS::kControlAutonomous, DS::kControlTeleoperated, and DS::kControlTest.

bool FRC_2015::interpretRobotPacket ( const QByteArray &  data )

virtual

Interprets the received data and updates DS values as needed. From the received information, we can extract:

• The robot voltage
• Code state of the robot
• Control mode of the robot
• If the robot is emergency stopped
• If the robot is experiencing a voltage brownout

Reimplemented from Protocol.

int FRC_2015::maxAxisCount ( )

virtual

FRC 2015 protocol supports a maximum of 6 axes. Remaining axes will be ignored.

Reimplemented from Protocol.

int FRC_2015::maxButtonCount ( )

virtual

FRC 2015 protocol supports a maximum of 12 buttons. Remaining buttons will be ignored.

Reimplemented from Protocol.

int FRC_2015::maxJoystickCount ( )

virtual

FRC 2015 Protocol supports a maximum of 6 joysticks. Remaining joysticks will be ignored.

Reimplemented from Protocol.

int FRC_2015::maxPOVCount ( )

virtual

FRC 2015 protocol supports only 1 POV. Remaining POVs will be ignored.

Reimplemented from Protocol.

QString FRC_2015::name ( )

virtual

Returns the display name of the protocol

Reimplemented from Protocol.

Reimplemented in FRC_2016.

int FRC_2015::netconsoleInputPort ( )

virtual

We received broadcasted messages from the robot in port 6666

Reimplemented from Protocol.

qreal FRC_2015::nominalBatteryAmperage ( )

virtual

Returns the nominal amperage given by the robot battery

Reimplemented from Protocol.

qreal FRC_2015::nominalBatteryVoltage ( )

virtual

Returns the nominal/maximum voltage given by the robot battery.

void FRC_2015::onRobotWatchdogExpired ( )

virtual

Do not reboot robot or restart code when we re-establish communications with the robot.

Reimplemented from Protocol.

QString FRC_2015::radioAddress ( )

virtual

Default radio address is 10.TE.AM.1

Reimplemented from Protocol.

References DS::getStaticIP().

void FRC_2015::readExtended ( const QByteArray &  data )

protectedvirtual

Sometimes, the roboRIO will send us additional information, such as CPU usage and CAN metrics. This function is in charge of extracting this information from the packet and updating DS values accordingly.

void FRC_2015::rebootRobot ( )

virtual

Reboots the robot in the next packet cycle

Reimplemented from Protocol.

void FRC_2015::restartRobotCode ( )

virtual

Restarts the robot code in the next packet cycle

Reimplemented from Protocol.

QString FRC_2015::robotAddress ( )

virtual

Default robot address is roboRIO-TEAM.local

Reimplemented from Protocol.

Reimplemented in FRC_2016.

int FRC_2015::robotFrequency ( )

virtual

Send 50 robot packets every second

Reimplemented from Protocol.

int FRC_2015::robotInputPort ( )

virtual

We receive data from the robot at local port 1150

Reimplemented from Protocol.

int FRC_2015::robotOutputPort ( )

virtual

We send data to the robot at remote port 1110

Reimplemented from Protocol.

DS::SocketType FRC_2015::robotSocketType ( )

virtual

Robot communications work with UDP datagrams

Reimplemented from Protocol.

References DS::kSocketTypeUDP.

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The documentation for this class was generated from the following files:

• FRC_2015.h
• FRC_2015.cpp