[writchie]

Thanks. Using your information and looking through the code I think I now have the complete picture.

1. The Robot sends packets to the DS that may include up to 984 bytes of "user status". For the Labview dashboard, the "user status" is formatted into a one byte header and three byte arrays, each preceeded by a 4 byte size. The first byte array is printf strings, the second is error strings, and the third is structured data.

2. When the DS receives a packet from the robot, it formats a UDP packet and sends it to 10.xx.yy.6 on port 1165. The UDP packet contains a 28 byte header as described in Greg's attachment followed by the 984 user status bytes. These can be received and processed by an application, either the standard Labview Dashboard or any other application that can read UDP packets.

3. The 28 byte header information is fixed and always present. The user status data may or not be present depending on what's running in the cRIO.

4. I seem to be missing 6 bytes somewhere (if 1018 is the total and 984 is the correct user status size) but I suspect they'll show up when I start looking at real data.

5. My understanding is that we can either use the Labview format data with a Labview Dashboard, the Labview format data with a custom Dashboard (in Labview or otherwise), or whatever we want to stick into the user status data for use by whatever laptop application we desire.

6. Does anyone know the packet rate for the Robot to DS and/or DS to Dashboard streams?

Thanks Greg for your help.