Are there any limitations on Robot - Driver Station communication?

[Itamar]

Hey,

Our team finally decided to switch working with C++. We thought about building our own Dashboard, maybe to do the vision analysis or other "heavy" computation, and send the result back to the C++ running on the robot.

Today we achieved communication between the C++ on the robot and the C# exe that was running on the driver station. The communication was over TCP and a port we chose. Now, my question is: when the robot is connected to the Driver Station through the FMS, are there some ports which are forbidden to use? Do we get to choose between UDP and TCP, or is either of them problematic to use?

Thanks,
Itamar