Add FMS network documentation summary pages#3149
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jasondaming wants to merge 2 commits intowpilibsuite:mainfrom
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Add FMS network documentation summary pages#3149jasondaming wants to merge 2 commits intowpilibsuite:mainfrom
jasondaming wants to merge 2 commits intowpilibsuite:mainfrom
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Adds three new documentation pages summarizing key information from the FMS whitepaper: - fms-network-architecture.rst: Explains FMS network topology, VLANs, IP addressing, wireless specs, and security - fms-ports-protocols.rst: Reference table of network ports and protocols used by FMS and FRC software - network-performance-optimization.rst: Practical guidance for staying within 7 Mbps bandwidth limit These pages provide teams with essential FMS networking information without duplicating the full technical details from the FMS whitepaper. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
rzblue
requested changes
Oct 13, 2025
| The FMS network is an Ethernet-based system that connects all robots, driver stations, and field equipment. The network centers around a **Score Switch** that manages traffic between: | ||
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| - **Field Router**: Connects to the FMS server and manages alliance networks | ||
| - **FMS Server**: Controls match flow and communicates with all robots |
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| - **FMS Server**: Controls match flow and communicates with all robots | |
| - **FMS Server**: Controls match flow and communicates with Driver Station software. |
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| - **Field Router**: Connects to the FMS server and manages alliance networks | ||
| - **FMS Server**: Controls match flow and communicates with all robots | ||
| - **Field Access Points (APs)**: Provide 6 GHz wireless connectivity to robots |
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| - **Field Access Points (APs)**: Provide 6 GHz wireless connectivity to robots | |
| - **Field Access Point (AP)**: Provide 6 GHz wireless connectivity to robots |
| - **Field Access Points (APs)**: Provide 6 GHz wireless connectivity to robots | ||
| - **Smart Router**: Manages external connectivity and network services | ||
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| All competition field communication uses dedicated wireless access points operating in the 6 GHz band with 802.11ax (Wi-Fi 6E) to minimize interference from spectator devices. |
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Only communication between robots and the rest of the network uses wireless, and there's only 1 AP.
| - **Frequency Band**: 6 GHz exclusively (avoids 2.4/5 GHz congestion from phones, tablets) | ||
| - **Standard**: 802.11ax (Wi-Fi 6E) | ||
| - **Encryption**: WPA3 with AES encryption | ||
| - **Security Keys**: Unique per team, per event (teams receive keys at check-in) |
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teams program the radio using a kiosk, they don't get the keys directly
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| ## Wireless Specifications | ||
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| FMS wireless uses modern standards to ensure reliable connectivity: | ||
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| - **Frequency Band**: 6 GHz exclusively (avoids 2.4/5 GHz congestion from phones, tablets) | ||
| - **Standard**: 802.11ax (Wi-Fi 6E) | ||
| - **Encryption**: WPA3 with AES encryption | ||
| - **Security Keys**: Unique per team, per event (teams receive keys at check-in) | ||
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| .. warning:: Field staff devices use separate 2.4 GHz and 5 GHz networks. Robot radios must be configured for 6 GHz operation at competition. | ||
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| ## Security Features | ||
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| FMS implements multiple security layers: | ||
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| 1. **VLAN Isolation**: Teams cannot see or communicate with other teams' networks | ||
| 2. **WPA3 Encryption**: All wireless traffic is encrypted with per-team keys | ||
| 3. **Port Restrictions**: Only approved network ports are allowed (see :doc:`fms-ports-protocols`) | ||
| 4. **Traffic Inspection**: FMS monitors network traffic for rules compliance |
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This whole section feels a bit... advertisey?
| - roboRIO: ``10.TE.AM.2`` (DHCP from robot radio) | ||
| - Other robot devices: ``10.TE.AM.200`` - ``10.TE.AM.219`` (DHCP from robot radio) | ||
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| .. note:: The Field Router does **not** provide DHCP services to robot devices. Your team's robot radio provides DHCP addressing for the robot network. |
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| .. note:: The Field Router does **not** provide DHCP services to robot devices. Your team's robot radio provides DHCP addressing for the robot network. | |
| .. note:: The Field Router does **not** provide DHCP services to robot devices. Your team's robot radio provides DHCP addressing for devices onboard the robot. |
| 1. **Driver Station** connects to field via Ethernet or field AP, receives DHCP address from FMS | ||
| 2. **Robot Radio** connects to 6 GHz field AP using team-specific WPA3 key | ||
| 3. **roboRIO** receives DHCP address ``10.TE.AM.2`` from robot radio | ||
| 4. **FMS Server** establishes control connection with both DS and robot |
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| 4. **FMS Server** establishes control connection with both DS and robot | |
| 4. **FMS Server** establishes connection with the Driver Station software and begins sending control packets to the Driver Station software. |
| 2. **Robot Radio** connects to 6 GHz field AP using team-specific WPA3 key | ||
| 3. **roboRIO** receives DHCP address ``10.TE.AM.2`` from robot radio | ||
| 4. **FMS Server** establishes control connection with both DS and robot | ||
| 5. **Driver Station** sends control packets through FMS to robot |
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| 5. **Driver Station** sends control packets through FMS to robot | |
| 5. **Driver Station** sends control packets to the robot, corresponding to the FMS-commanded mode |
| 3. **roboRIO** receives DHCP address ``10.TE.AM.2`` from robot radio | ||
| 4. **FMS Server** establishes control connection with both DS and robot | ||
| 5. **Driver Station** sends control packets through FMS to robot | ||
| 6. **Robot** sends status information back through FMS to DS |
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| 6. **Robot** sends status information back through FMS to DS | |
| 6. **Robot** sends status information back to the Driver Station | |
| 7. **Driver Station** sends status information back to the FMS |
| 5. **Driver Station** sends control packets through FMS to robot | ||
| 6. **Robot** sends status information back through FMS to DS | ||
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| All control traffic is routed through the FMS server, which enforces match timing, enable/disable states, and mode selection (auto/teleop/test). |
Key changes: - Clarified FMS Server communicates with Driver Station software, not robots directly - Changed "Field Access Points" to singular "Field Access Point" - Simplified VLAN section to focus on isolation rather than specific VLAN numbers - Updated wireless section to clarify only robot communication uses the 6 GHz AP - Changed WPA3 key distribution to mention teams use event kiosks to configure radios - Removed "advertisey" language and incorrect traffic monitoring claims from security section - Rewrote communication flow using "conductor" analogy: FMS tells DS what to do, but DS communicates directly with robot - Corrected communication flow steps to reflect DS-robot direct communication with FMS coordinating - Updated field firewall description to clarify it restricts ports, doesn't monitor/control all traffic - Improved field vs pits section to be more practical and accurate All changes verified against FMS whitepaper for technical accuracy. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
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Summary
Adds three new documentation pages summarizing key information from the FMS whitepaper to help teams understand FMS networking:
fms-network-architecture.rst: Explains how FMS network is structured
fms-ports-protocols.rst: Reference for network ports and protocols
network-performance-optimization.rst: Practical bandwidth optimization guidance
Design Decisions
Testing
🤖 Generated with Claude Code