org.usfirst.frc.team1736.lib.CoProcessor

Class UDPReceiver

java.lang.Object

org.usfirst.frc.team1736.lib.CoProcessor.UDPReceiver

public class UDPReceiver
extends java.lang.Object

DESCRIPTION:
Simple class to receive UDP data from a coprocessor (such as a Beaglebone Black)

The class is designed to be robust against spurious signals, connect/disconnect due to faulty wiring, etc.


USAGE:

1. Instantiate the receiver with the listen address and port
2. Call the getPacket() method each time a new packet is desired.

Constructor Summary

Constructors

Constructor and Description
UDPReceiver(java.lang.String listen_from_addr_in, int listen_on_port_in) Constructor for the UDP reciever.

Method Summary

Modifier and Type	Method and Description
java.lang.String	getPacket() Listens on the UPD connection for a packet.
static void	main(java.lang.String[] args) Here, the main function is used as a test which can be run on a user's PC.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

UDPReceiver

public UDPReceiver(java.lang.String listen_from_addr_in,
                   int listen_on_port_in)

Constructor for the UDP reciever. Sets up internal memory structures in prep to start listening for packets.

Parameters:

listen_to_addr - String of the IP address of the coprocessor (For example, "10.17.36.8")

listen_on_port - integer port number to listen on. Often between 5800 and 5810 per FMS whitepaper. Must match whatever port the coprocessor is sending information to.

Method Detail

getPacket

public java.lang.String getPacket()

Listens on the UPD connection for a packet. Casts it into a java string and returns it. Note this method will block while aggressively polling until a full packet is received, and drop all packets but the most recent.

Returns:

String of the data acquired from the UDP connection (if any data gotten)

main

public static void main(java.lang.String[] args)

Here, the main function is used as a test which can be run on a user's PC. It should NOT be called by any robot code.