top level class for the XRP-style WPILib communications This class handles the UDP communication, message parsing, and data retrieval/sending. More...

#include <xrp-style-wpilib-comms.h>

Classes
class	MessageTypeFactory
	Factory class to create message types based on their tag. This is only used internally by the XSWC class. More...

Public Member Functions
bool	getData_xrp_motor (xrp_motor_t &data, const uint8_t id)
	Retrieves data for a specific motor by ID.

float	getValue_xrp_motor (const uint8_t id)
	Retrieves the value of a specific motor by ID.

bool	getData_xrp_servo (xrp_servo_t &data, const uint8_t id)
	Retrieves data for a specific servo by ID.

float	getValue_xrp_servo (const uint8_t id)
	Retrieves the value of a specific servo by ID.

bool	getData_xrp_dio (xrp_dio_t &data, const uint8_t id)
	Retrieves data for a specific digital input/output by ID.

bool	getValue_xrp_dio (const uint8_t id)
	Retrieves the value of a specific digital input/output by ID.

bool	getData_xrp_analog (xrp_analog_t &data, const uint8_t id)
	Retrieves data for a specific analog input by ID.

float	getValue_xrp_analog (const uint8_t id)
	Retrieves the value of a specific analog input by ID.

bool	sendData_xrp_dio (const xrp_dio_t &data, bool checkUniqueness=false)
	Sends data for a specific digital input by ID.

bool	sendValue_xrp_dio (const uint8_t id, bool value, bool checkUniqueness=false)
	Send a boolean value for a specific digital input/output by ID.

bool	sendData_xrp_analog (const xrp_analog_t &data, bool checkUniqueness=false)
	Sends data for a specific analog input by ID.

bool	sendValue_xrp_analog (const uint8_t id, float value, bool checkUniqueness=false)
	Sends a float value for a specific analog input by ID.

bool	sendData_xrp_encoder (const xrp_encoder_t &data, bool checkUniqueness=false)
	Sends data for a specific encoder by ID.

bool	sendValue_xrp_encoder (const uint8_t id, int32_t count, int32_t period=0, int32_t divisor=1, bool checkUniqueness=false)
	Sends values for a specific encoder by ID.

bool	sendData_xrp_gyro (const xrp_gyro_t &data, bool checkUniqueness=false)
	Sends gyroscope data.

bool	sendValue_xrp_gyro (float xRate, float yRate, float zRate, float roll, float pitch, float yaw, bool checkUniqueness=false)
	Sends gyroscope values.

bool	sendData_xrp_accel (const xrp_accel_t &data, bool checkUniqueness=false)
	Sends accelerometer data.

bool	sendValue_xrp_accel (const uint8_t id, float xAccel, float yAccel, float zAccel, bool checkUniqueness=false)
	Sends accelerometer values.

	XSWC ()
	constructor of XSWC class, use the global xswc instance to access this class

bool	begin (void(_receiveCallback)(void), void(_sendCallback)(void), uint16_t port=3540)
	begin udp communication on given port

bool	begin (const char ssid, const char password, void(_receiveCallback)(void), void(_sendCallback)(void), const char *hostname="XRP-XSWC", uint16_t port=3540)
	connect to a WiFi network and begin udp communication on given port

bool	update ()
	call this in void loop()

bool	isConnected ()

bool	isEnabled ()

bool	isConnectedAndEnabled ()

Public Attributes
unsigned long	TIMEOUT_MS = 1000

unsigned long	MIN_UPDATE_TIME_MS = 50

bool	useAP = false
	set to true before calling begin() to skip straight to creating an Access Point

Protected Member Functions
template<typename T >
bool	getData (T &data, const uint8_t id)

template<typename T >
bool	sendData (T data, bool checkUniqueness)

boolean	processReceivedBufferIntoMessages (char *buffer, int length)

int	processMessagesIntoBufferToSend (char *buffer, int length)

Protected Attributes
WiFiUDP	udp

std::vector< MessageType * >	receivedMessages

std::vector< MessageType * >	sentMessages

boolean	cmdEnable = false

unsigned long	millisWhenLastMessageReceived = -TIMEOUT_MS

unsigned long	millisWhenLastSent = -MIN_UPDATE_TIME_MS

uint16_t	txSeq = 0

char	rxBuf [UDP_PACKET_MAX_SIZE_XRP+1]

char	txBuf [UDP_PACKET_MAX_SIZE_XRP+1]

bool	connectedToRemote = false

IPAddress	udpRemoteAddr = IPAddress()

int32_t	udpRemotePort = -1

void(*	sendCallback )(void)

void(*	receiveCallback )(void)

Detailed Description

top level class for the XRP-style WPILib communications This class handles the UDP communication, message parsing, and data retrieval/sending.

Constructor & Destructor Documentation

◆ XSWC()

XSWC::XSWC ( )

constructor of XSWC class, use the global xswc instance to access this class

Member Function Documentation

◆ begin() [1/2]

bool XSWC::begin	(	const char *	ssid,
		const char *	password,
		void(*	_receiveCallback )(void),
		void(*	_sendCallback )(void),
		const char *	hostname = "XRP-XSWC",
		uint16_t	port = 3540 )

connect to a WiFi network and begin udp communication on given port

Note: if connection fails, it will create a WiFi network named "XRP-XSWC-AP" with password "password"

Parameters

ssid	the SSID of the WiFi network to connect to
password	the password for the WiFi network
_receiveCallback	a function to call when data is received (add getData methods to the function to retrieve the data)
_sendCallback	a function to call to collect data to send (add sendData methods to the function to send the data)
hostname	the hostname to use for the WiFi connection, default "XRP-XSWC"
port	the UDP port to use for communication, default 3540

Return values

(bool) true if connection was successful, false otherwise

◆ begin() [2/2]

bool XSWC::begin	(	void(*	_receiveCallback )(void),
		void(*	_sendCallback )(void),
		uint16_t	port = 3540 )

begin udp communication on given port

Note: YOU PROBABLY DO NOT WANT TO USE THIS FUNCTION begin() without a network name and password will not connect to a WiFi network, if you use this method, you must connect to a WiFi network before calling this method.

Parameters

_receiveCallback	a function to call when data is received (add getData methods to the function to retrieve the data)
_sendCallback	a function to call to collect data to send (add sendData methods to the function to send the data)
port	udp port, default 3540

Return values

(bool) true if connection was successful, false otherwise

◆ getData()

template<typename T >

bool XSWC::getData	(	T &	data,
		const uint8_t	id )

inlineprotected

◆ getData_xrp_analog()

bool XSWC::getData_xrp_analog	(	xrp_analog_t &	data,
		const uint8_t	id )

inline

Retrieves data for a specific analog input by ID.

Parameters

data	a reference to an xrp_analog_t structure to fill with data
id	the ID of the analog input

Return values

(bool) true if data was found, false otherwise

◆ getData_xrp_dio()

bool XSWC::getData_xrp_dio	(	xrp_dio_t &	data,
		const uint8_t	id )

inline

Retrieves data for a specific digital input/output by ID.

Parameters

data	a reference to an xrp_dio_t structure to fill with data
id	the ID of the digital input/output

Return values

(bool) true if data was found, false otherwise

◆ getData_xrp_motor()

bool XSWC::getData_xrp_motor	(	xrp_motor_t &	data,
		const uint8_t	id )

inline

Retrieves data for a specific motor by ID.

Parameters

data	a reference to an xrp_motor_t structure to fill with data
id	the ID of the motor

Return values

(bool) true if data was found, false otherwise

◆ getData_xrp_servo()

bool XSWC::getData_xrp_servo	(	xrp_servo_t &	data,
		const uint8_t	id )

inline

Retrieves data for a specific servo by ID.

Parameters

data	a reference to an xrp_servo_t structure to fill with data
id	the ID of the servo

Return values

(bool) true if data was found, false otherwise

◆ getValue_xrp_analog()

float XSWC::getValue_xrp_analog ( const uint8_t id )

inline

Retrieves the value of a specific analog input by ID.

Note: If the analog input is not found, it returns 0.0.

Parameters

id	the ID of the analog input

Return values

(float) the value of the analog input, or 0.0 if not found

◆ getValue_xrp_dio()

bool XSWC::getValue_xrp_dio ( const uint8_t id )

inline

Retrieves the value of a specific digital input/output by ID.

Note: If the digital input/output is not found, it returns false.

Parameters

id	the ID of the digital input/output

Return values

(bool) true if the value is 1 (true), false if the value is 0 (false) or not found

◆ getValue_xrp_motor()

float XSWC::getValue_xrp_motor ( const uint8_t id )

inline

Retrieves the value of a specific motor by ID.

Note: If the motor is not found, it returns 0.0.

Parameters

id	the ID of the motor

Return values

(float) the value of the motor, or 0.0 if not found

◆ getValue_xrp_servo()

float XSWC::getValue_xrp_servo ( const uint8_t id )

inline

Retrieves the value of a specific servo by ID.

Note: If the servo is not found, it returns 0.0.

Parameters

id	the ID of the servo

Return values

(float) the value of the servo, or 0.0 if not found

◆ isConnected()

bool XSWC::isConnected ( )

◆ isConnectedAndEnabled()

bool XSWC::isConnectedAndEnabled ( )

◆ isEnabled()

bool XSWC::isEnabled ( )

◆ processMessagesIntoBufferToSend()

int XSWC::processMessagesIntoBufferToSend	(	char *	buffer,
		int	length )

protected

◆ processReceivedBufferIntoMessages()

boolean XSWC::processReceivedBufferIntoMessages	(	char *	buffer,
		int	length )

protected

◆ sendData()

template<typename T >

bool XSWC::sendData	(	T	data,
		bool	checkUniqueness )

inlineprotected

◆ sendData_xrp_accel()

bool XSWC::sendData_xrp_accel	(	const xrp_accel_t &	data,
		bool	checkUniqueness = false )

inline

Sends accelerometer data.

Note: XRP accelerometer data doesn't have an ID, so only one accelerometer can be transmitted

Parameters

data	the xrp_accel_t structure containing the accelerometer data
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendData_xrp_analog()

bool XSWC::sendData_xrp_analog	(	const xrp_analog_t &	data,
		bool	checkUniqueness = false )

inline

Sends data for a specific analog input by ID.

Parameters

data	the xrp_analog_t structure containing the data to send (including ID)
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendData_xrp_dio()

bool XSWC::sendData_xrp_dio	(	const xrp_dio_t &	data,
		bool	checkUniqueness = false )

inline

Sends data for a specific digital input by ID.

Parameters

data	the xrp_dio_t structure containing the data to send (including ID)
checkUniqueness	if true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendData_xrp_encoder()

bool XSWC::sendData_xrp_encoder	(	const xrp_encoder_t &	data,
		bool	checkUniqueness = false )

inline

Sends data for a specific encoder by ID.

Parameters

data	the xrp_encoder_t structure containing the data to send (including ID)
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendData_xrp_gyro()

bool XSWC::sendData_xrp_gyro	(	const xrp_gyro_t &	data,
		bool	checkUniqueness = false )

inline

Sends gyroscope data.

Note: XRP gyroscope data doesn't have an ID, so only one gyroscope can be transmitted

Parameters

data	the xrp_gyro_t structure containing the gyroscope data
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendValue_xrp_accel()

bool XSWC::sendValue_xrp_accel	(	const uint8_t	id,
		float	xAccel,
		float	yAccel,
		float	zAccel,
		bool	checkUniqueness = false )

inline

Sends accelerometer values.

Note: XRP accelerometer data doesn't have an ID, so only one accelerometer can be transmitted

Parameters

xAccel	(float) acceleration in X/forward direction
yAccel	(float) acceleration in Y/left direction
zAccel	(float) acceleration in Z/up direction
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendValue_xrp_analog()

bool XSWC::sendValue_xrp_analog	(	const uint8_t	id,
		float	value,
		bool	checkUniqueness = false )

inline

Sends a float value for a specific analog input by ID.

Parameters

id	the ID of the analog input
value	(float) the value to send
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendValue_xrp_dio()

bool XSWC::sendValue_xrp_dio	(	const uint8_t	id,
		bool	value,
		bool	checkUniqueness = false )

inline

Send a boolean value for a specific digital input/output by ID.

Parameters

id	the ID of the digital input/output
value	(bool) the boolean value to send (true or false)
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendValue_xrp_encoder()

bool XSWC::sendValue_xrp_encoder	(	const uint8_t	id,
		int32_t	count,
		int32_t	period = 0,
		int32_t	divisor = 1,
		bool	checkUniqueness = false )

inline

Sends values for a specific encoder by ID.

Parameters

id	the ID of the encoder
count	(int32_t) count of encoder ticks
period	(int32_t) encoder period
divisor	(int32_t) encoder divisor
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ sendValue_xrp_gyro()

bool XSWC::sendValue_xrp_gyro	(	float	xRate,
		float	yRate,
		float	zRate,
		float	roll,
		float	pitch,
		float	yaw,
		bool	checkUniqueness = false )

inline

Sends gyroscope values.

Note: XRP gyroscope data doesn't have an ID, so only one gyroscope can be transmitted

Parameters

xRate	(float) gyro rate around X/roll axis
yRate	(float) gyro rate around Y/pitch axis
zRate	(float) gyro rate around Z/yaw axis
roll	(float) angle around X axis
pitch	(float) angle around Y axis
yaw	(float) angle around Z axis
checkUniqueness	If true, it checks if a message with the same ID already exists in the sent messages, default false

Return values

(bool) true if data was queued successfully, false otherwise

◆ update()

bool XSWC::update ( )

call this in void loop()

Return values

true	if data was just received

Member Data Documentation

◆ cmdEnable

boolean XSWC::cmdEnable = false

protected

◆ connectedToRemote

bool XSWC::connectedToRemote = false

protected

◆ millisWhenLastMessageReceived

unsigned long XSWC::millisWhenLastMessageReceived = -TIMEOUT_MS

protected

◆ millisWhenLastSent

unsigned long XSWC::millisWhenLastSent = -MIN_UPDATE_TIME_MS

protected

◆ MIN_UPDATE_TIME_MS

unsigned long XSWC::MIN_UPDATE_TIME_MS = 50

◆ receiveCallback

void(* XSWC::receiveCallback) (void)

protected

◆ receivedMessages

std::vector<MessageType*> XSWC::receivedMessages

protected

◆ rxBuf

char XSWC::rxBuf[UDP_PACKET_MAX_SIZE_XRP+1]

protected

◆ sendCallback

void(* XSWC::sendCallback) (void)

protected

◆ sentMessages

std::vector<MessageType*> XSWC::sentMessages

protected

◆ TIMEOUT_MS

unsigned long XSWC::TIMEOUT_MS = 1000

◆ txBuf

char XSWC::txBuf[UDP_PACKET_MAX_SIZE_XRP+1]

protected

◆ txSeq

uint16_t XSWC::txSeq = 0

protected

◆ udp

WiFiUDP XSWC::udp

protected

◆ udpRemoteAddr

IPAddress XSWC::udpRemoteAddr = IPAddress()

protected

◆ udpRemotePort

int32_t XSWC::udpRemotePort = -1

protected

◆ useAP

bool XSWC::useAP = false

set to true before calling begin() to skip straight to creating an Access Point

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

src/xrp-style-wpilib-comms.h
src/xrp-style-wpilib-comms.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ XSWC()

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ getData()

◆ getData_xrp_analog()

◆ getData_xrp_dio()

◆ getData_xrp_motor()

◆ getData_xrp_servo()

◆ getValue_xrp_analog()

◆ getValue_xrp_dio()

◆ getValue_xrp_motor()

◆ getValue_xrp_servo()

◆ isConnected()

◆ isConnectedAndEnabled()

◆ isEnabled()

◆ processMessagesIntoBufferToSend()

◆ processReceivedBufferIntoMessages()

◆ sendData()

◆ sendData_xrp_accel()

◆ sendData_xrp_analog()

◆ sendData_xrp_dio()

◆ sendData_xrp_encoder()

◆ sendData_xrp_gyro()

◆ sendValue_xrp_accel()

◆ sendValue_xrp_analog()

◆ sendValue_xrp_dio()

◆ sendValue_xrp_encoder()

◆ sendValue_xrp_gyro()

◆ update()

Member Data Documentation

◆ cmdEnable

◆ connectedToRemote

◆ millisWhenLastMessageReceived

◆ millisWhenLastSent

◆ MIN_UPDATE_TIME_MS

◆ receiveCallback

◆ receivedMessages

◆ rxBuf

◆ sendCallback

◆ sentMessages

◆ TIMEOUT_MS

◆ txBuf

◆ txSeq

◆ udp

◆ udpRemoteAddr

◆ udpRemotePort

◆ useAP