Cosmos FMS

An unofficial Field Management Software
I have files for specific deployments, but they are not included here AND ARE REQUIRED FOR PROPER OPERATION. Please contact me if you want them. Also can contact me for help setting up/fi```jaanding parts/or really anything.
discord: @thefandit
(For FIRST YPP, you must be under 18 to DM me, otherwise ping me in the FRC discord server: https://discord.gg/frc)

Features

• Multiple modes
• E-Stops and A-Stops
• Match timers and scoring for matches
• Logging and web access to logs
• Speed and port restrictions
• VLANs
• Security and internet access when needed
• Safety features including field "greenlighting" and optional automatic disconnection of robots
• Easy to use web interface for configuration and monitoring

Modes

Development

• No restrictions on ports, speed, or anything else
• No VLANs
• No security
• No scoring
• No lights
• Only E-Stops work, A-Stops in auton-running
• Constant logging
• Internet access

Testing

• Restricted to official ports, speed, and other settings
• VLANs
• Security
• No scoring
• No lights
• Only E-Stops work, A-Stops in auton-running
• Constant logging
• No internet access

Match

• Restricted to official ports, speed, and other settings
• VLANs
• Security
• Scoring
• Lights
• E-Stops and A-Stops work
• Match timers and per match logs
• No internet access

To Do

Integrations

• Driverstation TCP send
• Driverstation TCP recieve
• Driverstation UDP send
• Driverstation UDP recieve
• Field AP write
• Field AP read
• PLC write
• PLC read
• Main switch write
• Red switch write
• Blue switch write

Field states

• Off
• Booting
• Modeless
• Field-test
• Field-disabled
• Field-presentation
• Field-development
• Field-diagnostic
• Development-configuring
• Development-main
• Development-estop
• Development-greenlight
• Testing-configuring
• Testing-main
• Testing-estop
• Testing-greenlight
• Match-configuring
• Match-pre
• Match-autonomous
• Match-transition
• Match-teleop
• Match-endgame
• Match-abort
• Match-post
• Match-greenlight
• Crashed
• Shutting-down

Switch configs

• Disabled

• Unmanaged

• Development

• Testing

• Match Syntax: <&station_1@team_number> <&station_1@team_name> &station_1@ip

  &plc_red@ip &plc_blue@ip

Priorities

• Network infrastructure
• Robot comms
• Enable/disable robots
• PLC integration
• Estops
• Matches
• Logging
• Auto-scoring

Roles

• Default (D)
  • Has E-Stop access
• Team Member (TM)
  • Can be approved for a specific team by a FH/FM (for a period of time), or permanently by an FA
  • Can see most information having to do with their team/robot
  • Has E-Stop access
• Field Helper (FH)
  • Can be approved by an FM (for a period of time), or permanently by an FA
  • Can see most information having to do with the field
  • Can't change states or settings
  • Has E-Stop access
• Field Manager (FM)
  • Can be approved by an FA
  • Can start matches
  • Can go into most required states
  • Has E-Stop access
• Field Admin (FA)
  • Can be approved by an FA
  • Needed for any development/diagnostics
  • Can go into all states
  • Can change all settings
  • Has E-Stop and A-Stop access

Webserver stack

• Flask
• nginx
• cloudflared

Server files

• /opt/cosmos/

  • fms/
    • src/
      • fms.py
    • logs/
    • webserver/
      • src/
        • webserver.py
      • logs/

• /etc/systemd/system/

  • cosmos.service
  • cloudflared.service
  • webserver.service

• /etc/nginx/sites-available/

  • cosmos.conf

• /etc/cloudflared/

  • config.yml

Ports

• 22 (SSH)
• 8070 (PLC communication)
• 8080 (webserver traffic)
• 8090 (webserver/fms socket)

Network Infrastructure

1. Core Network Infrastructure

1.1 Core Switch

Purpose: Acts as the layer 3 gateway for all VLANs, routes trafic between DSs, robots, FMS, APs, etc. Model: Cisco Catalyst 3850

Todo

• Vlans:
  • 10-60: Red1-Blue3
  • 100: FMS network
  • 200: Venue Internet
• SVIs for each VLAN
• Trunks:
  • To red switch (10, 20, 30, 40, 50, 60, 100)
  • To blue switch (10, 20, 30, 40, 50)
  • To FMS AP (100, 200)
  • To robot AP (10, 20, 30, 40, 50, 60, 100)
• Routing:
  • Enabel IP routing
  • Set default route to venue internet gateway
• Access Control Lists (ACLs):
  • Block inter-VLAN between team VLANs (10-60)
  • Allow FMS VLAN (100) to access all VLANs
  • Allow DHCP, DNS, and NTP
  • Block internet except via venue internet VLAN (200) if enabled

1.2 Edge Switches

Purpose: Connect driverstations, isolate DSs via VLANs, and connect field end PLCs Model: Cisco SG250-08

Todo

• Access Ports:
  • port 1: station 1 DS (10 for red, 40 for blue)
  • port 2: station 2 DS (20 for red, 50 for blue)
  • port 3: station 3 DS (30 for red, 60 for blue)
  • port 4: PLC (100)
• Trunk Port:
  • port 8: to core switch (10, 20, 30 or 40, 50, 60, and 100 (and 200 if internet enabled))
• Management IP on VLAN 100 (10.0.100.11 for red, 10.0.100.12 for blue)
• POE disabled on all ports

1.3 FMS Access Point

Purpose: Provide wireless access to FMS network & venue internet for field staff devices Model: TBD

Todo

• SSID: cosmos-fms
• Static IP: 10.0.100.30

1.4 Robot Access Point

Purpose: Provide wireless access to robots Model: VH-109 or VH-113

Todo

• Plug it in

2. FMS Server

2.1 Cosmos Application Network Side

Purpose: Core control for assigning teams, coordinating networking, and logging

Todo

• Network assignment manager (pushing configs to switches, APs, etc)
• PLC integration
• Logging system

2.2 DNS/NTP Server

Purpose: Provide DNS and NTP services to all devices on the FMS network

Todo

• dnsmasq forward to 1.1.1.1 or upstream DNS
• NTP server (can be dnsmasq or chrony)
• Add local DNS entries for field devices

3. "PLCs"

Purpose: Control field elements (lights, sounds, etc) and read field sensors (E-Stops, A-Stops, etc) Model: Raspberry Pi

Todo

• Static IPs:
  • Core PLC: 10.0.100.20
  • Red PLC: 10.0.100.21
  • Blue PLC: 10.0.100.22

4. Venue Internet

Purpose: Provide internet access to FMS and field staff devices, and DSs when enabled

Todo

• SVI on core switch (200) -> 10.0.200.1/24
• NAT or routing to venue uplink gateway
• VLAN 200 trunk to FMS server and APs (tagged)
• ACLs to restrict internet access as needed

5. Automation

• VLAN assignment script for SVI IPs and DHCP ranges
• DHCP Confrig Builder
• Network Monitor
• Venue Internet toggle script