Implement 2015 driver station protocol.

2026-03-09 13:46:44 -04:00 · 2016-08-24 20:54:31 -07:00
parent 1358ae6b83
commit a987086160
13 changed files with 447 additions and 372 deletions
--- a/arena.go
+++ b/arena.go
@@ -160,10 +160,7 @@ func (arena *Arena) AssignTeam(teamId int, station string) error {
 		return nil
 	}
 	if dsConn != nil {
-		err := dsConn.Close()
-		if err != nil {
-			return err
-		}
+		dsConn.Close()
 		arena.AllianceStations[station].team = nil
 		arena.AllianceStations[station].DsConn = nil
 	}
@@ -183,10 +180,6 @@ func (arena *Arena) AssignTeam(teamId int, station string) error {
 	}

 	arena.AllianceStations[station].team = team
-	arena.AllianceStations[station].DsConn, err = NewDriverStationConnection(team.Id, station)
-	if err != nil {
-		return err
-	}
 	return nil
 }

@@ -327,7 +320,7 @@ func (arena *Arena) CheckCanStartMatch() error {
 			return fmt.Errorf("Cannot start match while an emergency stop is active.")
 		}
 		if !allianceStation.Bypass {
-			if allianceStation.DsConn == nil || !allianceStation.DsConn.DriverStationStatus.RobotLinked {
+			if allianceStation.DsConn == nil || !allianceStation.DsConn.RobotLinked {
 				return fmt.Errorf("Cannot start match until all robots are connected or bypassed.")
 			}
 		}
@@ -514,10 +507,11 @@ func (arena *Arena) Run() {

 func (arena *Arena) sendDsPacket(auto bool, enabled bool) {
 	for _, allianceStation := range arena.AllianceStations {
-		if allianceStation.DsConn != nil {
-			allianceStation.DsConn.Auto = auto
-			allianceStation.DsConn.Enabled = enabled && !allianceStation.EmergencyStop && !allianceStation.Bypass
-			err := allianceStation.DsConn.Update()
+		dsConn := allianceStation.DsConn
+		if dsConn != nil {
+			dsConn.Auto = auto
+			dsConn.Enabled = enabled && !allianceStation.EmergencyStop && !allianceStation.Bypass
+			err := dsConn.Update()
 			if err != nil {
 				log.Printf("Unable to send driver station packet for team %d.", allianceStation.team.Id)
 			}
@@ -564,3 +558,15 @@ func (arena *Arena) handleLighting() {
 		}
 	}
 }
+
+// Returns the alliance station identifier for the given team, or the empty string if the team is not present
+// in the current match.
+func (arena *Arena) getAssignedAllianceStation(teamId int) string {
+	for station, allianceStation := range arena.AllianceStations {
+		if allianceStation.team != nil && allianceStation.team.Id == teamId {
+			return station
+		}
+	}
+
+	return ""
+}
--- a/arena_test.go
+++ b/arena_test.go
@@ -29,24 +29,21 @@ func TestAssignTeam(t *testing.T) {
 	err = mainArena.AssignTeam(254, "B1")
 	assert.Nil(t, err)
 	assert.Equal(t, team, *mainArena.AllianceStations["B1"].team)
-	dsConn := mainArena.AllianceStations["B1"].DsConn
-	assert.Equal(t, 254, dsConn.TeamId)
-	assert.Equal(t, "B1", dsConn.AllianceStation)
+	dummyDs := &DriverStationConnection{TeamId: 254}
+	mainArena.AllianceStations["B1"].DsConn = dummyDs

 	// Nothing should happen if the same team is assigned to the same station.
 	err = mainArena.AssignTeam(254, "B1")
 	assert.Nil(t, err)
 	assert.Equal(t, team, *mainArena.AllianceStations["B1"].team)
-	dsConn2 := mainArena.AllianceStations["B1"].DsConn
-	assert.Equal(t, dsConn, dsConn2) // Pointer equality
+	assert.NotNil(t, mainArena.AllianceStations["B1"])
+	assert.Equal(t, dummyDs, mainArena.AllianceStations["B1"].DsConn) // Pointer equality

 	// Test reassignment to another team.
 	err = mainArena.AssignTeam(1114, "B1")
 	assert.Nil(t, err)
 	assert.NotEqual(t, team, *mainArena.AllianceStations["B1"].team)
-	assert.Equal(t, 1114, mainArena.AllianceStations["B1"].DsConn.TeamId)
-	err = dsConn.conn.Close()
-	assert.NotNil(t, err) // Connection should have already been closed.
+	assert.Nil(t, mainArena.AllianceStations["B1"].DsConn)

 	// Check assigning zero as the team number.
 	err = mainArena.AssignTeam(0, "R2")
@@ -73,6 +70,8 @@ func TestArenaMatchFlow(t *testing.T) {
 	mainArena.Setup()
 	db.CreateTeam(&Team{Id: 254})
 	err = mainArena.AssignTeam(254, "B3")
+	dummyDs := &DriverStationConnection{TeamId: 254}
+	mainArena.AllianceStations["B3"].DsConn = dummyDs
 	assert.Nil(t, err)

 	// Check pre-match state and packet timing.
@@ -94,7 +93,7 @@ func TestArenaMatchFlow(t *testing.T) {
 	mainArena.AllianceStations["R3"].Bypass = true
 	mainArena.AllianceStations["B1"].Bypass = true
 	mainArena.AllianceStations["B2"].Bypass = true
-	mainArena.AllianceStations["B3"].DsConn.DriverStationStatus.RobotLinked = true
+	mainArena.AllianceStations["B3"].DsConn.RobotLinked = true
 	err = mainArena.StartMatch()
 	assert.Nil(t, err)
 	mainArena.Update()
@@ -309,8 +308,14 @@ func TestMatchStartRobotLinkEnforcement(t *testing.T) {

 	err = mainArena.LoadMatch(&match)
 	assert.Nil(t, err)
+	mainArena.AllianceStations["R1"].DsConn = &DriverStationConnection{TeamId: 101}
+	mainArena.AllianceStations["R2"].DsConn = &DriverStationConnection{TeamId: 102}
+	mainArena.AllianceStations["R3"].DsConn = &DriverStationConnection{TeamId: 103}
+	mainArena.AllianceStations["B1"].DsConn = &DriverStationConnection{TeamId: 104}
+	mainArena.AllianceStations["B2"].DsConn = &DriverStationConnection{TeamId: 105}
+	mainArena.AllianceStations["B3"].DsConn = &DriverStationConnection{TeamId: 106}
 	for _, station := range mainArena.AllianceStations {
-		station.DsConn.DriverStationStatus.RobotLinked = true
+		station.DsConn.RobotLinked = true
 	}
 	err = mainArena.StartMatch()
 	assert.Nil(t, err)
@@ -323,7 +328,7 @@ func TestMatchStartRobotLinkEnforcement(t *testing.T) {
 		assert.Contains(t, err.Error(), "while an emergency stop is active")
 	}
 	mainArena.AllianceStations["R1"].EmergencyStop = false
-	mainArena.AllianceStations["R1"].DsConn.DriverStationStatus.RobotLinked = false
+	mainArena.AllianceStations["R1"].DsConn.RobotLinked = false
 	err = mainArena.StartMatch()
 	if assert.NotNil(t, err) {
 		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
--- a/bandwidth_monitor.go
+++ b/bandwidth_monitor.go
@@ -95,14 +95,13 @@ func (monitor *BandwidthMonitor) updateStationBandwidth(station string, port int
 		// No team assigned; just skip it.
 		return
 	}
-	dsStatus := dsConn.DriverStationStatus
 	secondsSinceLast := time.Now().Sub(monitor.lastBytesTime).Seconds()

 	toRobotBytesForPort := uint32(toRobotBytes[fmt.Sprintf("%s.%d", toRobotBytesOid, port)].(wapsnmp.Counter))
 	lastToRobotBytesForPort := uint32(monitor.lastToRobotBytes[fmt.Sprintf("%s.%d", toRobotBytesOid, port)].(wapsnmp.Counter))
-	dsStatus.MBpsToRobot = float64(toRobotBytesForPort-lastToRobotBytesForPort) / 1024 / 1024 / secondsSinceLast
+	dsConn.MBpsToRobot = float64(toRobotBytesForPort-lastToRobotBytesForPort) / 1024 / 1024 / secondsSinceLast

 	fromRobotBytesForPort := uint32(fromRobotBytes[fmt.Sprintf("%s.%d", fromRobotBytesOid, port)].(wapsnmp.Counter))
 	lastFromRobotBytesForPort := uint32(monitor.lastFromRobotBytes[fmt.Sprintf("%s.%d", fromRobotBytesOid, port)].(wapsnmp.Counter))
-	dsStatus.MBpsFromRobot = float64(fromRobotBytesForPort-lastFromRobotBytesForPort) / 1024 / 1024 / secondsSinceLast
+	dsConn.MBpsFromRobot = float64(fromRobotBytesForPort-lastFromRobotBytesForPort) / 1024 / 1024 / secondsSinceLast
 }
--- a/catalyst.go
+++ b/catalyst.go
@@ -17,8 +17,6 @@ import (

 var catalystTelnetPort = 23

-const eventServerAddress = "10.0.100.50"
-
 var catalystMutex sync.Mutex

 // Sets up wired networks for the given set of teams.
@@ -42,7 +40,7 @@ func ConfigureTeamEthernet(red1, red2, red3, blue1, blue2, blue3 *Team) error {
 		} else {
 			addTeamVlansCommand += fmt.Sprintf("no access-list 1%d\naccess-list 1%d permit ip "+
 				"10.%d.%d.0 0.0.0.255 host %s\ninterface Vlan%d\nip address 10.%d.%d.61 255.255.255.0\n", vlan,
-				vlan, team.Id/100, team.Id%100, eventServerAddress, vlan, team.Id/100, team.Id%100)
+				vlan, team.Id/100, team.Id%100, driverStationTcpListenAddress, vlan, team.Id/100, team.Id%100)
 		}
 	}
 	replaceTeamVlan(red1, red1Vlan)
--- a/catalyst_test.go
+++ b/catalyst_test.go
@@ -31,6 +31,6 @@ func TestConfigureCatalyst(t *testing.T) {
 	mockTelnet(t, catalystTelnetPort, "interface Vlan15\nip address 10.2.54.61\n", &command)
 	assert.Nil(t, ConfigureTeamEthernet(nil, &Team{Id: 1114}, nil, nil, &Team{Id: 254}, nil))
 	assert.Equal(t, "password\nenable\npassword\nterminal length 0\nconfig terminal\nno access-list 112\n"+
-		"access-list 112 permit ip 10.11.14.0 0.0.0.255 host 10.0.100.50\ninterface Vlan12\nip address "+
+		"access-list 112 permit ip 10.11.14.0 0.0.0.255 host 10.0.100.5\ninterface Vlan12\nip address "+
 		"10.11.14.61 255.255.255.0\nend\ncopy running-config startup-config\n\nexit\n", command)
 }
--- a/driver_station_connection.go
+++ b/driver_station_connection.go
@@ -7,34 +7,17 @@ package main

 import (
 	"fmt"
-	"hash/crc32"
+	"log"
 	"net"
-	"strconv"
 	"time"
 )

-// UDP port numbers that the Driver Station sends and receives on.
-const driverStationSendPort = 1120
-const driverStationReceivePort = 1160
-const driverStationProtocolVersion = "11191100"
-const driverStationLinkTimeoutMs = 500
-
-type DriverStationStatus struct {
-	TeamId            int
-	AllianceStation   string
-	DsLinked          bool
-	RobotLinked       bool
-	Auto              bool
-	Enabled           bool
-	EmergencyStop     bool
-	BatteryVoltage    float64
-	DsVersion         string
-	PacketCount       int
-	MissedPacketCount int
-	DsRobotTripTimeMs int
-	MBpsToRobot       float64
-	MBpsFromRobot     float64
-}
+const (
+	driverStationTcpListenPort  = 1750
+	driverStationUdpSendPort    = 1120
+	driverStationLinkTimeoutSec = 5
+	maxTcpPacketBytes           = 4096
+)

 type DriverStationConnection struct {
 	TeamId                    int
@@ -42,24 +25,40 @@ type DriverStationConnection struct {
 	Auto                      bool
 	Enabled                   bool
 	EmergencyStop             bool
-	DriverStationStatus       *DriverStationStatus
-	LastPacketTime            time.Time
-	LastRobotLinkedTime       time.Time
+	DsLinked                  bool
+	RobotLinked               bool
+	BatteryVoltage            float64
+	DsRobotTripTimeMs         int
+	MissedPacketCount         int
+	MBpsToRobot               float64
+	MBpsFromRobot             float64
 	SecondsSinceLastRobotLink float64
-	conn                      net.Conn
+	lastPacketTime            time.Time
+	lastRobotLinkedTime       time.Time
 	packetCount               int
 	missedPacketOffset        int
+	tcpConn                   net.Conn
+	udpConn                   net.Conn
 	log                       *TeamMatchLog
 }

+var allianceStationPositionMap = map[string]byte{"R1": 0, "R2": 1, "R3": 2, "B1": 3, "B2": 4, "B3": 5}
+var driverStationTcpListenAddress = "10.0.100.5" // The DS will try to connect to this address only.
+
 // Opens a UDP connection for communicating to the driver station.
-func NewDriverStationConnection(teamId int, station string) (*DriverStationConnection, error) {
-	conn, err := net.Dial("udp4", fmt.Sprintf("10.%d.%d.5:%d", teamId/100, teamId%100, driverStationSendPort))
+func NewDriverStationConnection(teamId int, allianceStation string, tcpConn net.Conn) (*DriverStationConnection, error) {
+	ipAddress, _, err := net.SplitHostPort(tcpConn.RemoteAddr().String())
 	if err != nil {
 		return nil, err
 	}
-	return &DriverStationConnection{TeamId: teamId, AllianceStation: station,
-		DriverStationStatus: new(DriverStationStatus), conn: conn}, nil
+	log.Printf("Driver station for Team %d connected from %s\n", teamId, ipAddress)
+
+	udpConn, err := net.Dial("udp4", fmt.Sprintf("%s:%d", ipAddress, driverStationUdpSendPort))
+	if err != nil {
+		return nil, err
+	}
+	return &DriverStationConnection{TeamId: teamId, AllianceStation: allianceStation, DsLinked: true,
+		lastPacketTime: time.Now(), tcpConn: tcpConn, udpConn: udpConn}, nil
 }

 // Sends a control packet to the Driver Station and checks for timeout conditions.
@@ -69,112 +68,120 @@ func (dsConn *DriverStationConnection) Update() error {
 		return err
 	}

-	if time.Since(dsConn.LastPacketTime).Seconds()*1000 > driverStationLinkTimeoutMs {
-		dsConn.DriverStationStatus.DsLinked = false
-		dsConn.DriverStationStatus.RobotLinked = false
-		dsConn.DriverStationStatus.BatteryVoltage = 0
-		dsConn.DriverStationStatus.MBpsToRobot = 0
-		dsConn.DriverStationStatus.MBpsFromRobot = 0
+	if time.Since(dsConn.lastPacketTime).Seconds() > driverStationLinkTimeoutSec {
+		dsConn.DsLinked = false
+		dsConn.RobotLinked = false
+		dsConn.BatteryVoltage = 0
+		dsConn.MBpsToRobot = 0
+		dsConn.MBpsFromRobot = 0
 	}
+	dsConn.SecondsSinceLastRobotLink = time.Since(dsConn.lastRobotLinkedTime).Seconds()

 	return nil
 }

-func (dsConn *DriverStationConnection) Close() error {
+func (dsConn *DriverStationConnection) Close() {
 	if dsConn.log != nil {
 		dsConn.log.Close()
 	}
-	return dsConn.conn.Close()
-}
-
-// Sets up a watch on the UDP port that Driver Stations send on.
-func DsPacketListener() (*net.UDPConn, error) {
-	udpAddress, err := net.ResolveUDPAddr("udp4", fmt.Sprintf(":%d", driverStationReceivePort))
-	if err != nil {
-		return nil, err
+	if dsConn.udpConn != nil {
+		dsConn.udpConn.Close()
 	}
-	listen, err := net.ListenUDP("udp4", udpAddress)
-	if err != nil {
-		return nil, err
-	}
-	return listen, nil
-}
-
-// Loops indefinitely to read packets and update connection status.
-func ListenForDsPackets(listener *net.UDPConn) {
-	var data [50]byte
-	for {
-		listener.Read(data[:])
-		dsStatus := decodeStatusPacket(data)
-
-		// Update the status and last packet times for this alliance/team in the global struct.
-		dsConn := mainArena.AllianceStations[dsStatus.AllianceStation].DsConn
-		if dsConn != nil && dsConn.TeamId == dsStatus.TeamId {
-			dsConn.DriverStationStatus = dsStatus
-			dsConn.LastPacketTime = time.Now()
-			if dsStatus.RobotLinked {
-				dsConn.LastRobotLinkedTime = time.Now()
-			}
-			dsConn.SecondsSinceLastRobotLink = time.Since(dsConn.LastRobotLinkedTime).Seconds()
-			dsConn.DriverStationStatus.MissedPacketCount -= dsConn.missedPacketOffset
-
-			// Log the packet if the match is in progress.
-			matchTimeSec := mainArena.MatchTimeSec()
-			if matchTimeSec > 0 && dsConn.log != nil {
-				dsConn.log.LogDsStatus(matchTimeSec, dsStatus)
-			}
-		}
+	if dsConn.tcpConn != nil {
+		dsConn.tcpConn.Close()
 	}
 }

 // Called at the start of the match to allow for driver station initialization.
 func (dsConn *DriverStationConnection) signalMatchStart(match *Match) error {
 	// Zero out missed packet count and begin logging.
-	dsConn.missedPacketOffset = dsConn.DriverStationStatus.MissedPacketCount
+	dsConn.missedPacketOffset = dsConn.MissedPacketCount
 	var err error
 	dsConn.log, err = NewTeamMatchLog(dsConn.TeamId, match)
 	return err
 }

 // Serializes the control information into a packet.
-func (dsConn *DriverStationConnection) encodeControlPacket() [74]byte {
-	var packet [74]byte
+func (dsConn *DriverStationConnection) encodeControlPacket() [22]byte {
+	var packet [22]byte

 	// Packet number, stored big-endian in two bytes.
 	packet[0] = byte((dsConn.packetCount >> 8) & 0xff)
 	packet[1] = byte(dsConn.packetCount & 0xff)

-	// Robot status byte. 0x01=competition mode, 0x02=link, 0x04=check version, 0x08=request DS ID,
-	// 0x10=autonomous, 0x20=enable, 0x40=e-stop not on
-	packet[2] = 0x03
+	// Protocol version.
+	packet[2] = 0
+
+	// Robot status byte.
+	packet[3] = 0
 	if dsConn.Auto {
-		packet[2] |= 0x10
+		packet[3] |= 0x02
 	}
 	if dsConn.Enabled {
-		packet[2] |= 0x20
+		packet[3] |= 0x04
 	}
-	if !dsConn.EmergencyStop {
-		packet[2] |= 0x40
+	if dsConn.EmergencyStop {
+		packet[3] |= 0x80
 	}

-	// Alliance station, stored as ASCII characters 'R/B' and '1/2/3'.
-	packet[3] = dsConn.AllianceStation[0]
-	packet[4] = dsConn.AllianceStation[1]
+	// Unknown or unused.
+	packet[4] = 0

-	// Static protocol version repeated twice.
-	for i := 0; i < 8; i++ {
-		packet[10+i] = driverStationProtocolVersion[i]
-	}
-	for i := 0; i < 8; i++ {
-		packet[18+i] = driverStationProtocolVersion[i]
-	}
+	// Alliance station.
+	packet[5] = allianceStationPositionMap[dsConn.AllianceStation]

-	// Calculate and store the 4-byte CRC32 checksum.
-	checksum := crc32.ChecksumIEEE(packet[:])
-	packet[70] = byte((checksum >> 24) & 0xff)
-	packet[71] = byte((checksum >> 16) & 0xff)
-	packet[72] = byte((checksum >> 8) & 0xff)
-	packet[73] = byte((checksum) & 0xff)
+	// Match information.
+	match := mainArena.currentMatch
+	if match.Type == "practice" {
+		packet[6] = 1
+	} else if match.Type == "qualification" {
+		packet[6] = 2
+	} else if match.Type == "elimination" {
+		packet[6] = 3
+	} else {
+		packet[6] = 0
+	}
+	// TODO(patrick): Implement if it ever becomes necessary; the official FMS has a different concept of
+	// match numbers so it's hard to translate.
+	packet[7] = 0 // Match number
+	packet[8] = 1 // Match number
+	packet[9] = 1 // Match repeat number
+
+	// Current time.
+	currentTime := time.Now()
+	packet[10] = byte(((currentTime.Nanosecond() / 1000) >> 24) & 0xff)
+	packet[11] = byte(((currentTime.Nanosecond() / 1000) >> 16) & 0xff)
+	packet[12] = byte(((currentTime.Nanosecond() / 1000) >> 8) & 0xff)
+	packet[13] = byte((currentTime.Nanosecond() / 1000) & 0xff)
+	packet[14] = byte(currentTime.Second())
+	packet[15] = byte(currentTime.Minute())
+	packet[16] = byte(currentTime.Hour())
+	packet[17] = byte(currentTime.Day())
+	packet[18] = byte(currentTime.Month())
+	packet[19] = byte(currentTime.Year() - 1900)
+
+	// Remaining number of seconds in match.
+	var matchSecondsRemaining int
+	switch mainArena.MatchState {
+	case PRE_MATCH:
+		fallthrough
+	case START_MATCH:
+		fallthrough
+	case AUTO_PERIOD:
+		matchSecondsRemaining = mainArena.matchTiming.AutoDurationSec + mainArena.matchTiming.TeleopDurationSec -
+			int(mainArena.MatchTimeSec())
+	case PAUSE_PERIOD:
+		matchSecondsRemaining = mainArena.matchTiming.TeleopDurationSec
+	case TELEOP_PERIOD:
+		fallthrough
+	case ENDGAME_PERIOD:
+		matchSecondsRemaining = mainArena.matchTiming.AutoDurationSec + mainArena.matchTiming.TeleopDurationSec +
+			mainArena.matchTiming.PauseDurationSec - int(mainArena.MatchTimeSec())
+	default:
+		matchSecondsRemaining = 0
+	}
+	packet[20] = byte(matchSecondsRemaining >> 8 & 0xff)
+	packet[21] = byte(matchSecondsRemaining & 0xff)

 	// Increment the packet count for next time.
 	dsConn.packetCount++
@@ -185,45 +192,136 @@ func (dsConn *DriverStationConnection) encodeControlPacket() [74]byte {
 // Builds and sends the next control packet to the Driver Station.
 func (dsConn *DriverStationConnection) sendControlPacket() error {
 	packet := dsConn.encodeControlPacket()
-	_, err := dsConn.conn.Write(packet[:])
-	if err != nil {
-		return err
+	if dsConn.udpConn != nil {
+		_, err := dsConn.udpConn.Write(packet[:])
+		if err != nil {
+			return err
+		}
 	}

 	return nil
 }

 // Deserializes a packet from the DS into a structure representing the DS/robot status.
-func decodeStatusPacket(data [50]byte) *DriverStationStatus {
-	dsStatus := new(DriverStationStatus)
-	dsStatus.DsLinked = true
+func (dsConn *DriverStationConnection) decodeStatusPacket(data [36]byte) {
+	if data[6]&0x01 != 0 && data[6]&0x08 == 0 {
+		// Robot is not connected.
+		dsConn.RobotLinked = false
+		return
+	}

-	// Robot status byte.
-	dsStatus.RobotLinked = (data[2] & 0x02) != 0
-	dsStatus.Auto = (data[2] & 0x10) != 0
-	dsStatus.Enabled = (data[2] & 0x20) != 0
-	dsStatus.EmergencyStop = (data[2] & 0x40) == 0
+	dsConn.RobotLinked = true

-	// Team number, stored in two bytes as hundreds and then ones (like the IP address).
-	dsStatus.TeamId = int(data[4])*100 + int(data[5])
+	// Average DS-robot trip time in milliseconds.
+	dsConn.DsRobotTripTimeMs = int(data[1]) / 2

-	// Alliance station, stored as ASCII characters 'R/B' and '1/2/3'.
-	dsStatus.AllianceStation = string(data[10:12])
+	// Number of missed packets sent from the DS to the robot.
+	dsConn.MissedPacketCount = int(data[2]) - dsConn.missedPacketOffset

-	// Driver Station software version, stored as 8-byte string.
-	dsStatus.DsVersion = string(data[18:26])
+	// Robot battery voltage, stored as volts * 256.
+	dsConn.BatteryVoltage = float64(data[3]) + float64(data[4])/256

-	// Number of missed packets sent from the DS to the robot, stored in two big-endian bytes.
-	dsStatus.MissedPacketCount = int(data[26])*256 + int(data[27])
-
-	// Total number of packets sent from the DS to the robot, stored in two big-endian bytes.
-	dsStatus.PacketCount = int(data[28])*256 + int(data[29])
-
-	// Average DS-robot trip time in milliseconds, stored in two big-endian bytes.
-	dsStatus.DsRobotTripTimeMs = int(data[30])*256 + int(data[31])
-
-	// Robot battery voltage, stored (bizarrely) what it looks like in decimal but as two hexadecimal numbers.
-	dsStatus.BatteryVoltage, _ = strconv.ParseFloat(fmt.Sprintf("%x.%x", data[40], data[41]), 32)
-
-	return dsStatus
+	dsConn.lastRobotLinkedTime = time.Now()
+}
+
+// Listens for TCP connection requests to Cheesy Arena from driver stations.
+func ListenForDriverStations() {
+	l, err := net.Listen("tcp", fmt.Sprintf("%s:%d", driverStationTcpListenAddress, driverStationTcpListenPort))
+	if err != nil {
+		log.Printf("Error opening driver station socket: %v", err.Error())
+		log.Printf("Change IP address to %s and restart Cheesy Arena to fix.", driverStationTcpListenAddress)
+		return
+	}
+	defer l.Close()
+
+	log.Printf("Listening for driver stations on port %d\n", driverStationTcpListenPort)
+	for {
+		tcpConn, err := l.Accept()
+		if err != nil {
+			log.Println("Error accepting driver station connection: ", err.Error())
+			continue
+		}
+
+		// Read the team number back and start tracking the driver station.
+		var packet [5]byte
+		_, err = tcpConn.Read(packet[:])
+		if err != nil {
+			log.Println("Error reading initial packet: ", err.Error())
+			continue
+		}
+		if !(packet[0] == 0 && packet[1] == 3 && packet[2] == 24) {
+			log.Printf("Invalid initial packet received: %v", packet)
+			tcpConn.Close()
+			continue
+		}
+		teamId := int(packet[3])<<8 + int(packet[4])
+
+		// Check to see if the team is supposed to be on the field, and notify the DS accordingly.
+		var assignmentPacket [5]byte
+		assignmentPacket[0] = 0  // Packet size
+		assignmentPacket[1] = 3  // Packet size
+		assignmentPacket[2] = 25 // Packet type
+		assignedStation := mainArena.getAssignedAllianceStation(teamId)
+		if assignedStation == "" {
+			log.Printf("Rejecting connection from Team %d, who is not in the current match.", teamId)
+			assignmentPacket[3] = 0
+			assignmentPacket[4] = 2
+			tcpConn.Write(assignmentPacket[:])
+			tcpConn.Close()
+			continue
+		}
+		log.Printf("Accepting connection from Team %d in station %s.", teamId, assignedStation)
+		assignmentPacket[3] = allianceStationPositionMap[assignedStation]
+		assignmentPacket[4] = 0
+		_, err = tcpConn.Write(assignmentPacket[:])
+		if err != nil {
+			log.Println("Error sending driver station assignment packet: %v", err)
+			tcpConn.Close()
+			continue
+		}
+
+		dsConn, err := NewDriverStationConnection(teamId, assignedStation, tcpConn)
+		if err != nil {
+			log.Println("Error registering driver station connection: %v", err)
+			tcpConn.Close()
+			continue
+		}
+		mainArena.AllianceStations[assignedStation].DsConn = dsConn
+
+		// Spin up a goroutine to handle further TCP communication with this driver station.
+		go dsConn.handleTcpConnection()
+	}
+}
+
+func (dsConn *DriverStationConnection) handleTcpConnection() {
+	buffer := make([]byte, maxTcpPacketBytes)
+	for {
+		dsConn.tcpConn.SetReadDeadline(time.Now().Add(time.Second * driverStationLinkTimeoutSec))
+		_, err := dsConn.tcpConn.Read(buffer)
+		if err != nil {
+			fmt.Printf("Error reading from connection for Team %d: %v\n", dsConn.TeamId, err.Error())
+			dsConn.Close()
+			break
+		}
+
+		dsConn.DsLinked = true
+		dsConn.lastPacketTime = time.Now()
+
+		packetType := int(buffer[2])
+		switch packetType {
+		case 28:
+			// DS keepalive packet; do nothing.
+		case 22:
+			// Robot status packet.
+			var statusPacket [36]byte
+			copy(statusPacket[:], buffer[2:38])
+			dsConn.decodeStatusPacket(statusPacket)
+		}
+
+		// Log the packet if the match is in progress.
+		matchTimeSec := mainArena.MatchTimeSec()
+		if matchTimeSec > 0 && dsConn.log != nil {
+			dsConn.log.LogDsPacket(matchTimeSec, packetType, dsConn)
+		}
+	}
 }
--- a/driver_station_connection_test.go
+++ b/driver_station_connection_test.go
@@ -4,50 +4,50 @@
 package main

 import (
-	"fmt"
 	"github.com/stretchr/testify/assert"
-	"io/ioutil"
 	"net"
 	"testing"
 	"time"
 )

 func TestEncodeControlPacket(t *testing.T) {
-	dsConn, err := NewDriverStationConnection(254, "R1")
+	clearDb()
+	defer clearDb()
+	var err error
+	db, err = OpenDatabase(testDbPath)
+	assert.Nil(t, err)
+	defer db.Close()
+	eventSettings, _ = db.GetEventSettings()
+	mainArena.Setup()
+
+	tcpConn := setupFakeTcpConnection(t)
+	defer tcpConn.Close()
+	dsConn, err := NewDriverStationConnection(254, "R1", tcpConn)
 	assert.Nil(t, err)
 	defer dsConn.Close()

 	data := dsConn.encodeControlPacket()
-	assert.Equal(t, [74]byte{0, 0, 67, 82, 49, 0, 0, 0, 0, 0, 49, 49, 49, 57, 49, 49, 48, 48, 49, 49, 49, 57,
-		49, 49, 48, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 110, 235, 5, 29}, data)
+	assert.Equal(t, byte(0), data[5])
+	assert.Equal(t, byte(0), data[6])
+	assert.Equal(t, byte(0), data[20])
+	assert.Equal(t, byte(150), data[21])

-	// Check the different alliance station values as well as the checksums.
+	// Check the different alliance station values.
 	dsConn.AllianceStation = "R2"
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, [74]byte{0, 1, 67, 82, 50, 0, 0, 0, 0, 0, 49, 49, 49, 57, 49, 49, 48, 48, 49, 49, 49, 57,
-		49, 49, 48, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 114, 141, 17, 174}, data)
+	assert.Equal(t, byte(1), data[5])
 	dsConn.AllianceStation = "R3"
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, [74]byte{0, 2, 67, 82, 51, 0, 0, 0, 0, 0, 49, 49, 49, 57, 49, 49, 48, 48, 49, 49, 49, 57,
-		49, 49, 48, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 232, 206, 203, 150}, data)
+	assert.Equal(t, byte(2), data[5])
 	dsConn.AllianceStation = "B1"
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, [74]byte{0, 3, 67, 66, 49, 0, 0, 0, 0, 0, 49, 49, 49, 57, 49, 49, 48, 48, 49, 49, 49, 57,
-		49, 49, 48, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 57, 55, 68}, data)
+	assert.Equal(t, byte(3), data[5])
 	dsConn.AllianceStation = "B2"
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, [74]byte{0, 4, 67, 66, 50, 0, 0, 0, 0, 0, 49, 49, 49, 57, 49, 49, 48, 48, 49, 49, 49, 57,
-		49, 49, 48, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 34, 101, 225, 16}, data)
+	assert.Equal(t, byte(4), data[5])
 	dsConn.AllianceStation = "B3"
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, [74]byte{0, 5, 67, 66, 51, 0, 0, 0, 0, 0, 49, 49, 49, 57, 49, 49, 48, 48, 49, 49, 49, 57,
-		49, 49, 48, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 140, 207, 133, 117}, data)
+	assert.Equal(t, byte(5), data[5])

 	// Check packet count rollover.
 	dsConn.packetCount = 255
@@ -71,23 +71,58 @@ func TestEncodeControlPacket(t *testing.T) {
 	// Check different robot statuses.
 	dsConn.Auto = true
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, byte(83), data[2])
+	assert.Equal(t, byte(2), data[3])

 	dsConn.Enabled = true
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, byte(115), data[2])
+	assert.Equal(t, byte(6), data[3])

 	dsConn.Auto = false
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, byte(99), data[2])
+	assert.Equal(t, byte(4), data[3])

 	dsConn.EmergencyStop = true
 	data = dsConn.encodeControlPacket()
-	assert.Equal(t, byte(35), data[2])
+	assert.Equal(t, byte(132), data[3])
+
+	// Check different match types.
+	mainArena.currentMatch.Type = "practice"
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(1), data[6])
+	mainArena.currentMatch.Type = "qualification"
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(2), data[6])
+	mainArena.currentMatch.Type = "elimination"
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(3), data[6])
+
+	// Check the countdown at different points during the match.
+	mainArena.MatchState = AUTO_PERIOD
+	mainArena.matchStartTime = time.Now().Add(-time.Duration(4 * time.Second))
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(146), data[21])
+	mainArena.MatchState = PAUSE_PERIOD
+	mainArena.matchStartTime = time.Now().Add(-time.Duration(16 * time.Second))
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(135), data[21])
+	mainArena.MatchState = TELEOP_PERIOD
+	mainArena.matchStartTime = time.Now().Add(-time.Duration(33 * time.Second))
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(119), data[21])
+	mainArena.MatchState = ENDGAME_PERIOD
+	mainArena.matchStartTime = time.Now().Add(-time.Duration(150 * time.Second))
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(2), data[21])
+	mainArena.MatchState = POST_MATCH
+	mainArena.matchStartTime = time.Now().Add(-time.Duration(180 * time.Second))
+	data = dsConn.encodeControlPacket()
+	assert.Equal(t, byte(0), data[21])
 }

 func TestSendControlPacket(t *testing.T) {
-	dsConn, err := NewDriverStationConnection(254, "R1")
+	tcpConn := setupFakeTcpConnection(t)
+	defer tcpConn.Close()
+	dsConn, err := NewDriverStationConnection(254, "R1", tcpConn)
 	assert.Nil(t, err)
 	defer dsConn.Close()

@@ -97,64 +132,32 @@ func TestSendControlPacket(t *testing.T) {
 }

 func TestDecodeStatusPacket(t *testing.T) {
+	tcpConn := setupFakeTcpConnection(t)
+	defer tcpConn.Close()
+	dsConn, err := NewDriverStationConnection(254, "R1", tcpConn)
+	assert.Nil(t, err)
+	defer dsConn.Close()
+
 	// Check with no linked robot.
-	data := [50]byte{0, 0, 64, 1, 2, 54, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		98, 200, 63, 43, 0, 11, 0, 240, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus := decodeStatusPacket(data)
-	assert.Equal(t, 254, dsStatus.TeamId)
-	assert.Equal(t, "R1", dsStatus.AllianceStation)
-	assert.Equal(t, false, dsStatus.RobotLinked)
-	assert.Equal(t, false, dsStatus.Auto)
-	assert.Equal(t, false, dsStatus.Enabled)
-	assert.Equal(t, false, dsStatus.EmergencyStop)
-	assert.Equal(t, 0.0, dsStatus.BatteryVoltage)
-	assert.Equal(t, "02121300", dsStatus.DsVersion)
-	assert.Equal(t, 16171, dsStatus.PacketCount)
-	assert.Equal(t, 25288, dsStatus.MissedPacketCount)
-	assert.Equal(t, 11, dsStatus.DsRobotTripTimeMs)
+	data := [36]byte{22, 28, 103, 19, 192, 0, 247, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+		0, 0, 0, 0, 0, 0, 0, 0, 0}
+	dsConn.decodeStatusPacket(data)
+	assert.Equal(t, false, dsConn.RobotLinked)
+	assert.Equal(t, 0.0, dsConn.BatteryVoltage)
+	assert.Equal(t, 0, dsConn.MissedPacketCount)
+	assert.Equal(t, 0, dsConn.DsRobotTripTimeMs)

-	// Check different team numbers.
-	data = [50]byte{0, 0, 64, 1, 7, 66, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, 766, dsStatus.TeamId)
-	data = [50]byte{0, 0, 64, 1, 51, 36, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, 5136, dsStatus.TeamId)
-
-	// Check different alliance stations.
-	data = [50]byte{0, 0, 64, 1, 51, 36, 0, 0, 0, 0, 66, 51, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, "B3", dsStatus.AllianceStation)
-
-	// Check different robot statuses.
-	data = [50]byte{0, 0, 66, 1, 7, 66, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, true, dsStatus.RobotLinked)
-	data = [50]byte{0, 0, 98, 1, 7, 66, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, true, dsStatus.Enabled)
-	data = [50]byte{0, 0, 114, 1, 7, 66, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, true, dsStatus.Auto)
-	data = [50]byte{0, 0, 50, 1, 7, 66, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, true, dsStatus.EmergencyStop)
-
-	// Check different battery voltages.
-	data = [50]byte{0, 0, 64, 1, 7, 66, 0, 0, 0, 0, 82, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 255, 255, 255, 255, 82, 0, 0, 0, 0, 0, 25, 117, 0, 0, 0, 0, 42, 7, 189, 111}
-	dsStatus = decodeStatusPacket(data)
-	assert.Equal(t, 19.75, dsStatus.BatteryVoltage)
+	// Check with linked robot.
+	data = [36]byte{22, 28, 103, 19, 192, 0, 246, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+		0, 0, 0, 0, 0, 0, 0, 0, 0}
+	dsConn.decodeStatusPacket(data)
+	assert.Equal(t, true, dsConn.RobotLinked)
+	assert.Equal(t, 19.75, dsConn.BatteryVoltage)
+	assert.Equal(t, 103, dsConn.MissedPacketCount)
+	assert.Equal(t, 14, dsConn.DsRobotTripTimeMs)
 }

-func TestListenForDsPackets(t *testing.T) {
+func TestListenForDriverStations(t *testing.T) {
 	clearDb()
 	defer clearDb()
 	var err error
@@ -163,105 +166,74 @@ func TestListenForDsPackets(t *testing.T) {
 	defer db.Close()
 	eventSettings, _ = db.GetEventSettings()

-	listener, err := DsPacketListener()
-	if assert.Nil(t, err) {
-		go ListenForDsPackets(listener)
-	}
+	driverStationTcpListenAddress = "127.0.0.1"
+	go ListenForDriverStations()
 	mainArena.Setup()
+	time.Sleep(time.Millisecond * 10)

-	dsConn, err := NewDriverStationConnection(254, "B1")
-	defer dsConn.Close()
-	assert.Nil(t, err)
-	mainArena.AllianceStations["B1"].DsConn = dsConn
-	dsConn, err = NewDriverStationConnection(1114, "R3")
-	defer dsConn.Close()
-	assert.Nil(t, err)
-	mainArena.AllianceStations["R3"].DsConn = dsConn
-
-	// Create a socket to send fake DS packets to localhost.
-	conn, err := net.Dial("udp4", fmt.Sprintf("127.0.0.1:%d", driverStationReceivePort))
-	assert.Nil(t, err)
-
-	// Check receiving a packet from an expected team.
-	packet := [50]byte{0, 0, 48, 1, 2, 54, 0, 0, 0, 0, 66, 49, 0, 0, 0, 0, 0, 0, 48, 50, 49, 50, 49, 51, 48, 48,
-		152, 160, 152, 160, 1, 0, 255, 255, 82, 0, 0, 0, 0, 0, 25, 117, 0, 0, 0, 0, 42, 7, 189, 111}
-	_, err = conn.Write(packet[:])
-	assert.Nil(t, err)
-	time.Sleep(time.Millisecond * 10) // Allow some time for the goroutine to process the incoming packet.
-	dsStatus := mainArena.AllianceStations["B1"].DsConn.DriverStationStatus
-	if assert.NotNil(t, dsStatus) {
-		assert.Equal(t, 254, dsStatus.TeamId)
-		assert.Equal(t, "B1", dsStatus.AllianceStation)
-		assert.Equal(t, true, dsStatus.DsLinked)
-		assert.Equal(t, false, dsStatus.RobotLinked)
-		assert.Equal(t, true, dsStatus.Auto)
-		assert.Equal(t, true, dsStatus.Enabled)
-		assert.Equal(t, true, dsStatus.EmergencyStop)
-		assert.Equal(t, 19.75, dsStatus.BatteryVoltage)
-		assert.Equal(t, "02121300", dsStatus.DsVersion)
-		assert.Equal(t, 39072, dsStatus.PacketCount)
-		assert.Equal(t, 39072, dsStatus.MissedPacketCount)
-		assert.Equal(t, 256, dsStatus.DsRobotTripTimeMs)
+	// Connect with an invalid initial packet.
+	tcpConn, err := net.Dial("tcp", "127.0.0.1:1750")
+	if assert.Nil(t, err) {
+		dataSend := [5]byte{0, 3, 29, 0, 0}
+		tcpConn.Write(dataSend[:])
+		var dataReceived [100]byte
+		_, err = tcpConn.Read(dataReceived[:])
+		assert.NotNil(t, err)
+		tcpConn.Close()
 	}
-	assert.True(t, time.Since(mainArena.AllianceStations["B1"].DsConn.LastPacketTime).Seconds() < 0.1)
-	assert.True(t, time.Since(mainArena.AllianceStations["B1"].DsConn.LastRobotLinkedTime).Seconds() > 100)
-	packet[2] = byte(98)
-	_, err = conn.Write(packet[:])
-	assert.Nil(t, err)
-	time.Sleep(time.Millisecond * 10)
-	dsStatus2 := mainArena.AllianceStations["B1"].DsConn.DriverStationStatus
-	if assert.NotNil(t, dsStatus2) {
-		assert.Equal(t, true, dsStatus2.RobotLinked)
-		assert.Equal(t, false, dsStatus2.Auto)
-		assert.Equal(t, true, dsStatus2.Enabled)
-		assert.Equal(t, false, dsStatus2.EmergencyStop)
+
+	// Connect as a team not in the current match.
+	tcpConn, err = net.Dial("tcp", "127.0.0.1:1750")
+	if assert.Nil(t, err) {
+		dataSend := [5]byte{0, 3, 24, 5, 223}
+		tcpConn.Write(dataSend[:])
+		var dataReceived [5]byte
+		_, err = tcpConn.Read(dataReceived[:])
+		assert.Nil(t, err)
+		assert.Equal(t, [5]byte{0, 3, 25, 0, 2}, dataReceived)
+		tcpConn.Close()
 	}
-	assert.True(t, time.Since(mainArena.AllianceStations["B1"].DsConn.LastPacketTime).Seconds() < 0.1)
-	assert.True(t, time.Since(mainArena.AllianceStations["B1"].DsConn.LastRobotLinkedTime).Seconds() < 0.1)

-	// Should log the packet to file if received during a match.
-	dsConn = mainArena.AllianceStations["B1"].DsConn
-	dsConn.signalMatchStart(&Match{Type: "Qualification", DisplayName: "1"})
-	mainArena.matchStartTime = time.Now().Add(-1 * time.Second)
-	mainArena.MatchState = AUTO_PERIOD
-	_, err = conn.Write(packet[:])
-	assert.Nil(t, err)
-	time.Sleep(time.Millisecond * 10)
-	logContents, err := ioutil.ReadFile(dsConn.log.logFile.Name())
-	assert.Nil(t, err)
-	assert.Contains(t, string(logContents), "254,B1,true,false,true,false,19.750000,02121300,39072,0,256")
+	// Connect as a team in the current match.
+	mainArena.AssignTeam(1503, "B2")
+	tcpConn, err = net.Dial("tcp", "127.0.0.1:1750")
+	if assert.Nil(t, err) {
+		defer tcpConn.Close()
+		dataSend := [5]byte{0, 3, 24, 5, 223}
+		tcpConn.Write(dataSend[:])
+		var dataReceived [5]byte
+		_, err = tcpConn.Read(dataReceived[:])
+		assert.Nil(t, err)
+		assert.Equal(t, [5]byte{0, 3, 25, 4, 0}, dataReceived)

-	// Should ignore a packet coming from an expected team in the wrong position.
-	statusBefore := mainArena.AllianceStations["R3"].DsConn.DriverStationStatus
-	packet[10] = 'R'
-	packet[11] = '3'
-	packet[2] = 48
-	_, err = conn.Write(packet[:])
-	assert.Nil(t, err)
-	time.Sleep(time.Millisecond * 10)
-	assert.Equal(t, statusBefore, mainArena.AllianceStations["R3"].DsConn.DriverStationStatus)
-	assert.Equal(t, true, mainArena.AllianceStations["B1"].DsConn.DriverStationStatus.RobotLinked)
+		time.Sleep(time.Millisecond * 10)
+		dsConn := mainArena.AllianceStations["B2"].DsConn
+		if assert.NotNil(t, dsConn) {
+			assert.Equal(t, 1503, dsConn.TeamId)
+			assert.Equal(t, "B2", dsConn.AllianceStation)

-	// Should ignore a packet coming from an unexpected team.
-	packet[4] = byte(15)
-	packet[5] = byte(3)
-	packet[10] = 'B'
-	packet[11] = '1'
-	packet[2] = 48
-	_, err = conn.Write(packet[:])
-	assert.Nil(t, err)
-	time.Sleep(time.Millisecond * 10)
-	assert.Equal(t, true, mainArena.AllianceStations["B1"].DsConn.DriverStationStatus.RobotLinked)
-
-	// Should indicate that the connection has dropped if a response isn't received before the timeout.
-	dsConn = mainArena.AllianceStations["B1"].DsConn
-	dsConn.Update()
-	assert.Equal(t, true, dsConn.DriverStationStatus.DsLinked)
-	assert.Equal(t, true, dsConn.DriverStationStatus.RobotLinked)
-	assert.NotEqual(t, 0, dsConn.DriverStationStatus.BatteryVoltage)
-	dsConn.LastPacketTime = dsConn.LastPacketTime.Add(-1 * time.Second)
-	dsConn.Update()
-	assert.Equal(t, false, dsConn.DriverStationStatus.DsLinked)
-	assert.Equal(t, false, dsConn.DriverStationStatus.RobotLinked)
-	assert.Equal(t, 0.0, dsConn.DriverStationStatus.BatteryVoltage)
+			// Check that an unknown packet type gets ignored and a status packet gets decoded.
+			dataSend = [5]byte{0, 3, 37, 0, 0}
+			tcpConn.Write(dataSend[:])
+			time.Sleep(time.Millisecond * 10)
+			dataSend2 := [38]byte{0, 36, 22, 28, 103, 19, 192, 0, 246, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+				0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+			tcpConn.Write(dataSend2[:])
+			time.Sleep(time.Millisecond * 10)
+			assert.Equal(t, true, dsConn.RobotLinked)
+			assert.Equal(t, 19.75, dsConn.BatteryVoltage)
+			assert.Equal(t, 103, dsConn.MissedPacketCount)
+			assert.Equal(t, 14, dsConn.DsRobotTripTimeMs)
+		}
+	}
+}
+
+func setupFakeTcpConnection(t *testing.T) net.Conn {
+	// Set up a fake TCP endpoint and connection to it.
+	l, err := net.Listen("tcp", ":9999")
+	assert.Nil(t, err)
+	defer l.Close()
+	tcpConn, err := net.Dial("tcp", "127.0.0.1:9999")
+	assert.Nil(t, err)
+	return tcpConn
 }
--- a/main.go
+++ b/main.go
@@ -21,9 +21,7 @@ func main() {

 	// Run the webserver and DS packet listener in goroutines and use the main one for the arena state machine.
 	go ServeWebInterface()
-	listener, err := DsPacketListener()
-	checkErr(err)
-	go ListenForDsPackets(listener)
+	go ListenForDriverStations()
 	go MonitorBandwidth()
 	mainArena.Setup()
 	mainArena.Run()
--- a/static/js/alliance_station_display.js
+++ b/static/js/alliance_station_display.js
@@ -70,9 +70,9 @@ var handleStatus = function(data) {
  if (stationStatus && stationStatus.Bypass) {
    $("#match").attr("data-status", "bypass");
  } else if (stationStatus && stationStatus.DsConn) {
-    if (!stationStatus.DsConn.DriverStationStatus.DsLinked) {
+    if (!stationStatus.DsConn.DsLinked) {
      $("#match").attr("data-status", allianceStation[0]);
-    } else if (!stationStatus.DsConn.DriverStationStatus.RobotLinked) {
+    } else if (!stationStatus.DsConn.RobotLinked) {
      blink = true;
      if (!blinkInterval) {
        blinkInterval = setInterval(function() {
--- a/static/js/fta_display.js
+++ b/static/js/fta_display.js
@@ -11,11 +11,11 @@ var handleStatus = function(data) {
  // Update the team status view.
  $.each(data.AllianceStations, function(station, stationStatus) {
    if (stationStatus.DsConn) {
+      var dsConn = stationStatus.DsConn;
      $("#status" + station + " .team").text(stationStatus.DsConn.TeamId);
-      var dsStatus = stationStatus.DsConn.DriverStationStatus;
-      $("#status" + station + " .ds-status").attr("data-status-ok", dsStatus.DsLinked);
-      $("#status" + station + " .ds-status").text(dsStatus.MBpsToRobot.toFixed(1) + "/" + dsStatus.MBpsFromRobot.toFixed(1));
-      $("#status" + station + " .robot-status").attr("data-status-ok", dsStatus.RobotLinked);
+      $("#status" + station + " .ds-status").attr("data-status-ok", dsConn.DsLinked);
+      $("#status" + station + " .ds-status").text(dsConn.MBpsToRobot.toFixed(1) + "/" + dsConn.MBpsFromRobot.toFixed(1));
+      $("#status" + station + " .robot-status").attr("data-status-ok", dsConn.RobotLinked);
      if (stationStatus.DsConn.SecondsSinceLastRobotLink > 1 && stationStatus.DsConn.SecondsSinceLastRobotLink < 1000) {
        $("#status" + station + " .robot-status").text(stationStatus.DsConn.SecondsSinceLastRobotLink.toFixed());
      } else {
@@ -26,12 +26,12 @@ var handleStatus = function(data) {
        lowBatteryThreshold = 12;
      }
      $("#status" + station + " .battery-status").attr("data-status-ok",
-          dsStatus.BatteryVoltage > lowBatteryThreshold && dsStatus.RobotLinked);
-      $("#status" + station + " .battery-status").text(dsStatus.BatteryVoltage.toFixed(1) + "V");
+          dsConn.BatteryVoltage > lowBatteryThreshold && dsConn.RobotLinked);
+      $("#status" + station + " .battery-status").text(dsConn.BatteryVoltage.toFixed(1) + "V");
      $("#status" + station + " .trip-time").attr("data-status-ok", true);
-      $("#status" + station + " .trip-time").text(dsStatus.DsRobotTripTimeMs.toFixed(1) + "ms");
+      $("#status" + station + " .trip-time").text(dsConn.DsRobotTripTimeMs.toFixed(1) + "ms");
      $("#status" + station + " .packet-loss").attr("data-status-ok", true);
-      $("#status" + station + " .packet-loss").text(dsStatus.MissedPacketCount);
+      $("#status" + station + " .packet-loss").text(dsConn.MissedPacketCount);
    } else {
      $("#status" + station + " .ds-status").attr("data-status-ok", "");
      $("#status" + station + " .ds-status").text("");
--- a/static/js/match_play.js
+++ b/static/js/match_play.js
@@ -62,10 +62,10 @@ var handleStatus = function(data) {
  // Update the team status view.
  $.each(data.AllianceStations, function(station, stationStatus) {
    if (stationStatus.DsConn) {
-      var dsStatus = stationStatus.DsConn.DriverStationStatus;
-      $("#status" + station + " .ds-status").attr("data-status-ok", dsStatus.DsLinked);
-      $("#status" + station + " .ds-status").text(dsStatus.MBpsToRobot.toFixed(1) + "/" + dsStatus.MBpsFromRobot.toFixed(1));
-      $("#status" + station + " .robot-status").attr("data-status-ok", dsStatus.RobotLinked);
+      var dsConn = stationStatus.DsConn;
+      $("#status" + station + " .ds-status").attr("data-status-ok", dsConn.DsLinked);
+      $("#status" + station + " .ds-status").text(dsConn.MBpsToRobot.toFixed(1) + "/" + dsConn.MBpsFromRobot.toFixed(1));
+      $("#status" + station + " .robot-status").attr("data-status-ok", dsConn.RobotLinked);
      if (stationStatus.DsConn.SecondsSinceLastRobotLink > 1 && stationStatus.DsConn.SecondsSinceLastRobotLink < 1000) {
        $("#status" + station + " .robot-status").text(stationStatus.DsConn.SecondsSinceLastRobotLink.toFixed());
      } else {
@@ -76,8 +76,8 @@ var handleStatus = function(data) {
        lowBatteryThreshold = 12;
      }
      $("#status" + station + " .battery-status").attr("data-status-ok",
-          dsStatus.BatteryVoltage > lowBatteryThreshold && dsStatus.RobotLinked);
-      $("#status" + station + " .battery-status").text(dsStatus.BatteryVoltage.toFixed(1) + "V");
+          dsConn.BatteryVoltage > lowBatteryThreshold && dsConn.RobotLinked);
+      $("#status" + station + " .battery-status").text(dsConn.BatteryVoltage.toFixed(1) + "V");
    } else {
      $("#status" + station + " .ds-status").attr("data-status-ok", "");
      $("#status" + station + " .ds-status").text("");
--- a/switch_config.txt
+++ b/switch_config.txt
@@ -166,12 +166,12 @@ interface Vlan16
 ip classless
 ip http server
 !
-access-list 111 permit ip 10.0.1.0 0.0.0.255 host 10.0.100.50
-access-list 112 permit ip 10.0.2.0 0.0.0.255 host 10.0.100.50
-access-list 113 permit ip 10.0.3.0 0.0.0.255 host 10.0.100.50
-access-list 114 permit ip 10.0.4.0 0.0.0.255 host 10.0.100.50
-access-list 115 permit ip 10.0.5.0 0.0.0.255 host 10.0.100.50
-access-list 116 permit ip 10.0.6.0 0.0.0.255 host 10.0.100.50
+access-list 111 permit ip 10.0.1.0 0.0.0.255 host 10.0.100.5
+access-list 112 permit ip 10.0.2.0 0.0.0.255 host 10.0.100.5
+access-list 113 permit ip 10.0.3.0 0.0.0.255 host 10.0.100.5
+access-list 114 permit ip 10.0.4.0 0.0.0.255 host 10.0.100.5
+access-list 115 permit ip 10.0.5.0 0.0.0.255 host 10.0.100.5
+access-list 116 permit ip 10.0.6.0 0.0.0.255 host 10.0.100.5
 !
 snmp-server community 1234Five RO
 !
--- a/team_match_log.go
+++ b/team_match_log.go
@@ -34,18 +34,17 @@ func NewTeamMatchLog(teamId int, match *Match) (*TeamMatchLog, error) {
 	}

 	log := TeamMatchLog{log.New(logFile, "", 0), logFile}
-	log.logger.Println("matchTimeSec,teamId,allianceStation,robotLinked,auto,enabled,emergencyStop," +
-		"batteryVoltage,dsVersion,packetCount,missedPacketCount,dsRobotTripTimeMs")
+	log.logger.Println("matchTimeSec,packetType,teamId,allianceStation,robotLinked,auto,enabled," +
+		"emergencyStop,batteryVoltage,missedPacketCount,dsRobotTripTimeMs")

 	return &log, nil
 }

 // Adds a line to the log when a packet is received.
-func (log *TeamMatchLog) LogDsStatus(matchTimeSec float64, dsStatus *DriverStationStatus) {
-	log.logger.Printf("%f,%d,%s,%v,%v,%v,%v,%f,%s,%d,%d,%d", matchTimeSec, dsStatus.TeamId,
-		dsStatus.AllianceStation, dsStatus.RobotLinked, dsStatus.Auto, dsStatus.Enabled,
-		dsStatus.EmergencyStop, dsStatus.BatteryVoltage, dsStatus.DsVersion, dsStatus.PacketCount,
-		dsStatus.MissedPacketCount, dsStatus.DsRobotTripTimeMs)
+func (log *TeamMatchLog) LogDsPacket(matchTimeSec float64, packetType int, dsConn *DriverStationConnection) {
+	log.logger.Printf("%f,%d,%d,%s,%v,%v,%v,%v,%f,%d,%d", matchTimeSec, packetType, dsConn.TeamId,
+		dsConn.AllianceStation, dsConn.RobotLinked, dsConn.Auto, dsConn.Enabled, dsConn.EmergencyStop,
+		dsConn.BatteryVoltage, dsConn.MissedPacketCount, dsConn.DsRobotTripTimeMs)
 }

 func (log *TeamMatchLog) Close() {