Interrobot network communication

[gbear605]

According to the FMS whitepaper, there are a limited number of ports that teams are "able to access on the competition field." Does this mean that if there are two devices on the robot, and they are both connected to the radio via ethernet, they can only communicate using those ports?

For example, if I connect a Jetson TK1 and the RoboRio to the radio via ethernet and try to use TCP over port 1768, will it work?

[GeeTwo]

See R60:

Originally Posted by R60

Communication between the ROBOT and the OPERATOR CONSOLE is restricted as follows:

• A. Network Ports:
  • i. TCP 1180: Camera data from the roboRIO to the Driver Station (DS) when the camera is connected the roboRIO via USB, bi-directional.
  • ii. TCP 1735: SmartDashboard, bi-directional
  • iii. UDP 1130: Dashboard-to-ROBOT control data, uni-directional
  • iv. UDP 1140: ROBOT-to-Dashboard status data, uni-directional
  • v. HTTP 80: Camera connected via switch on the ROBOT, bi-directional
  • vi. HTTP 443: Camera connected via switch on the ROBOT, bi-directional
  • vii. UDP/TCP 554: Real-Time Streaming Protocol for h.264 camera streaming, bidirectional
  • viii. UDP/TCP 5800-5810: Team Use, bi-directional
  Teams may use these ports as they wish if they do not employ them as outlined above (i.e. TCP 1180 can be used to pass data back and forth between the ROBOT and the DS if the Team chooses not to use the camera on USB).
• B. Bandwidth: no more than 7 Mbits/second.

1768 is not listed, and is not allowed. As I understand things, FMS firewalls forbidden ports out.

[scca229]

If the communication is only between devices on the robot and not intended to come back to the driver station, then the ports limitation doesn't come into play. The limitation is only if the communications is attempting to go out via the radio onto the wifi and hence through the FMS router.

[rich2202]

I would be careful on using a non-listed port. You don't know if FMS is using that port. While your hub/switch may pass the info between your devices, it may interfere with FMS using of that port.

[sanelss]

For reference our setup has a vision processing board and camera going to a switch which then go to 2nd Ethernet port on the radio.

Currently we have the vision processing board sending udp packets to both the roborio(local to robot) but also from vision board to driver station. Other than having to use specific ports for the udp packets are there other potential issues?

I did have an issue previously where i had to bridge the networks on the radio setup page to make it work but i was using the wrong ports at the time and obviously can't do that once it's flashed at competition. I'll reflash the radio and use proper ports and hope that fixes the issue. The radio still seems to block communication/have a firewall even between the two Ethernet ports for local connectivity.