Serial Link

Introduction

The serial_link class allows for a stream of raw bytes to be sent between robots. It’s designed for robot-to-robot communication where the transmitting and receiving robot both understand the contents of the data stream.

Every usage of send adds data to the linked V5 Brain’s queue, and the queue is read first-in, first-out (FIFO). If multiple messages are sent before the other V5 Brain uses receive, they will be stored and returned one at a time in the order they were sent. Because messages can queue, repeatedly sending the same status every loop may create backlog; for time-critical logic, send only when values change.

Important: Both robots must be running projects that use serial_link at the same time, or no data will be sent/received.

Class Constructors

serial_link(
 int32_t index,
 const char *name,
 linkType type,
 bool isWired = false );

Class Destructor

Destroys the serial_link object and releases associated resources.

~serial_link();

参数

范围	Type	描述
index	int32_t	The Smart Port that the message link is connected to, written as PORTx, where x is the port number (for example, PORT1).
name	const char*	The name of this link. It is recommended that this unique string is long enough that when hashed by vexos it will create a unique ID. A bad link name would be something generic such as “vexlink” as it may be used by another team.
type	linkType	The type of link, either linkType::manager or linkType::worker. This information is used to correctly configure the radio and also determines available bandwidth for transmission and reception. A manager robot has double the available bandwidth (1040 bytes/second) to send information to the worker robot (520 bytes/second). linkType::manager — The serial_link object is a manager linkType::worker — The serial_link object is a worker
isWired	bool	Whether the serial_link object is wired (defaults to false): true — The serial_link object is wired false — The serial_link object is wireless

Notes

• VEXlink supports both wireless and wired communication, with wired connections recommending a modified smart cable to prevent power routing issues.

• For wireless communication, each robot needs a V5 Robot Radio connected to a Smart Port.

• The VEXlink Radio can be used alongside a V5 Controller’s VEXnet radio, which should be connected to the highest numbered Smart Port to avoid conflicts.

• 要创建 VEXlink，两个 V5 主控模块都必须连接到 V5 机器人无线电模块。

Example

Code for Robot 1

// Create a wireless link in Port 1
serial_link link = serial_link(
  PORT1, // index
  "VEXRoboticsLink123456789", // name
  linkType::manager, // type
  true); // isWired

Code for Robot 2

// Create a wireless link in Port 1
serial_link link = serial_link(
  PORT1, // index
  "VEXRoboticsLink123456789", // name
  linkType::worker, // type
  true); // isWired

Member Functions

The serial_link class includes the following member functions:

• isLinked — Checks if the V5 Brains are paired and communicating on this link.

• send — Sends a message to the paired Brain.

• receive — Waits for and returns the next incoming message.

• received — Registers a function to be called whenever a new message is received.

Before calling any serial_link member functions, a serial_link instance must be created, as shown below:

Code for Robot 1

// Create a wireless link in Port 1
serial_link link = serial_link(
  PORT1, // index
  "VEXRoboticsLink123456789", // name
  linkType::manager, // type
  true); // isWired

Code for Robot 2

// Create a wireless link in Port 1
serial_link link = serial_link(
  PORT1, // index
  "VEXRoboticsLink123456789", // name
  linkType::worker, // type
  true); // isWired

isLinked

Returns whether the V5 Brains on a serial link are paired with one another.

Available Functions

bool isLinked();

Parameters

This function does not have any parameters.

Return Values

Returns a Boolean indicating whether the V5 Brains are linked:

• true — The two V5 Brains are paired and communicating on this link.
• false — The two V5 Brains are not paired on this link.

Notes

• It is good practice to always check to ensure the V5 Brains are linked at the start of a project before running any further code.

Examples

Code for Robot 1

// Create the link
  serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::manager, true);

  // Do not run code UNTIL the Brains are linked
  while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  Brain.Screen.print("Robot 1 - Manager");
  Brain.Screen.newLine();
  Brain.Screen.print("Sending message...");

  // Message to send
  const char* message = "Hello Robot 2";

  // Send the message
  link.send((uint8_t*)message, strlen(message));

Code for Robot 2

// Create the link
  serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::worker, true);

  // Do not run code UNTIL the Brains are linked
  while (!link.isLinked()) {
    wait(0.1, seconds);
  }
  
  Brain.Screen.print("Robot 2 - Worker");
  Brain.Screen.newLine();
  Brain.Screen.print("Waiting...");

  // Buffer to store incoming bytes
  uint8_t buffer[32] = {0};

  int32_t n = link.receive(buffer, sizeof(buffer) - 1);

  // Null-terminate
  if (n > 0) {
    buffer[n] = 0;

    // Display the message that was sent
    Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.print("Robot 2 - Worker");
    Brain.Screen.newLine();
    Brain.Screen.print((char*)buffer);
  }
  else {
    Brain.Screen.newLine();
    Brain.Screen.print("No message received");
  }

send

Sends a message to the paired Brain.

Available Functions

1 — Sends a message using a byte buffer.

int32_t send( 
  uint8_t *buffer, 
  int32_t  length );

2 — Sends a message using a character buffer.

int32_t send( 
  const char *buffer, 
  int32_t     length );

Parameters

范围	Type	描述
buffer	uint8_t* or const char*	The buffer to send to the other linked V5 Brain.
length	int32_t	The length of the buffer to send.

Return Values

Returns an int32_t representing the number of bytes sent.

Examples

Code for Robot 1

// Create the link
  serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::manager, true);

  // Do not run code UNTIL the Brains are linked
  while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.print("Robot 1 - Manager");

  // Track last sent state
  uint8_t lastState = 255;  // impossible initial value

 // Tell Robot 2 when the screen is being pressed
  while (true) {
    uint8_t state = Brain.Screen.pressing() ? 1 : 0;

    // Only send if state changed
    if (state != lastState) {
      link.send(&state, 1);
      lastState = state;
    }

    wait(0.02, seconds);
  }

Code for Robot 2

// Create the link
  serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::worker, true);

  // Do not run code UNTIL the Brains are linked
   while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.print("Robot 2 - Worker");
  Brain.Screen.newLine();
  Brain.Screen.print("Waiting...");

  // Track the last state
  uint8_t lastShown = 255;

  while (true) {
    // Variable stores 1 - pressed, 0 - not pressed 
    uint8_t state = 0;
    int32_t n = link.receive(&state, 1, 200);

    // Only update screen if state changes
    if (n == 1 && state != lastShown) {
      Brain.Screen.clearScreen();
      Brain.Screen.setCursor(1, 1);
      Brain.Screen.print("Robot 2 - Worker");
      Brain.Screen.newLine();

      // Display text if Robot 1's screen is being pressed
      if (state == 1) {
        Brain.Screen.print("Manager IS being pressed!");
      } else {
        Brain.Screen.print("Manager is NOT being pressed");
      }

      lastShown = state;
    }
    wait(0.02, seconds);
  }

receive

Waits for and returns the next incoming message.

Available Functions

1 — Receives a message into a character buffer with optional timeout.

int32_t receive( 
  char    *buffer, 
  int32_t  length, 
  int32_t  timeoutMs = 500);

Parameters

范围	Type	描述
buffer	char*	The buffer to store the received message.
length	int32_t	The length of the buffer.
timeoutMs	int32_t	How long in milliseconds receive will wait for a new message only if the queue is empty (defaults to 500ms).

Return Values

Returns an int32_t representing the number of bytes received.

Notes

• receive returns the next queued message from the other linked V5 Brain.

• Messages are read in FIFO order (oldest unread first).

• If the queue is empty when receive is called, it waits up to the specified timeoutMs for a new message.

• If no message arrives in that window, receive returns 0, and any message sent afterward remains in the queue to be read the next time receive is used.

Examples

Code for Robot 1

// Create the link
  serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::manager, true);

  // Do not run code UNTIL the Brains are linked
  while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.print("Robot 1 - Manager");

  // Track last sent state
  uint8_t lastState = 255;  // impossible initial value

 // Tell Robot 2 when the screen is being pressed
  while (true) {
    uint8_t state = Brain.Screen.pressing() ? 1 : 0;

    // Only send if state changed
    if (state != lastState) {
      link.send(&state, 1);
      lastState = state;
    }

    wait(0.02, seconds);
  }

Code for Robot 2

// Create the link
  serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::worker, true);

  // Do not run code UNTIL the Brains are linked
   while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
  Brain.Screen.print("Robot 2 - Worker");
  Brain.Screen.newLine();
  Brain.Screen.print("Waiting...");

  // Track the last state
  uint8_t lastShown = 255;

  while (true) {
    // Variable stores 1 - pressed, 0 - not pressed 
    uint8_t state = 0;
    int32_t n = link.receive(&state, 1, 200);

    // Only update screen if state changes
    if (n == 1 && state != lastShown) {
      Brain.Screen.clearScreen();
      Brain.Screen.setCursor(1, 1);
      Brain.Screen.print("Robot 2 - Worker");
      Brain.Screen.newLine();

      // Display text if Robot 1's screen is being pressed
      if (state == 1) {
        Brain.Screen.print("Manager IS being pressed!");
      } else {
        Brain.Screen.print("Manager is NOT being pressed");
      }

      lastShown = state;
    }
    wait(0.02, seconds);
  }

received

Registers a function to be called whenever the V5 Brain receives a sent message.

Available Functions

1 — Registers a callback function for every received messages.

void received( 
  void (* callback)(const char *, const char *, double) );

2 — Registers a callback invoked for every received message that includes an additional int32_t field.

void received( 
  void (* callback)(const char *, const char *, int32_t, double) );

3 — Registers a callback invoked only for received messages whose name matches message.

void received( 
  const char *message, void (* callback)(const char *, const char *, double) );

4 — Registers a callback invoked only for received messages whose name matches message, where the message payload includes an additional int32_t field.

void received( 
  const char *message, void (* callback)(const char *, const char *, int32_t, double) );

Parameters

范围	Type	描述
message	const char	The message name (string) to match. When a received message’s name matches this value, the callback function is called.
callback	function	A previously defined function that runs when the V5 Brain receives a message matching message.

Return Values

This function does not return a value.

Notes

• received callbacks are called with four arguments:

Callback Signature

callback(message, linkname, index, value)

Argument	描述
message	The message name that was received (for example, “add”).
linkname	The link name the message was received from.
index	The integer value sent with the message (if provided).
value	The float value sent with the message (if provided).

Examples

Code for Robot 1

// Send left or right when pressed
void screen_pressed() {
  if (Brain.Screen.xPosition() < 240) {
    link.send((uint8_t*)"left", 4);
  } else {
    link.send((uint8_t*)"right", 5);
  }
}

int main() {
  /* vexcodeInit() is only required when using VEXcode.
  Remove vexcodeInit() if compiling in VS Code. */
  vexcodeInit();

// Create the link
serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::manager, true);

// Do not run code UNTIL the Brains are linked
  while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  Brain.Screen.print("Robot 1 - Manager");


  Brain.Screen.pressed(screen_pressed);
}

Code for Robot 2

// Called when message received
void received_callback(uint8_t *buffer, int32_t length) {
  char msg[32];

  // Copy safely and null terminate
  int n = (length < 31) ? length : 31;
  memcpy(msg, buffer, n);
  msg[n] = '\0';

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1,1);
  Brain.Screen.print("Robot 2 - Worker");
  Brain.Screen.newLine();

  // Display if Robot 1's screen is pressed on left or right
  if (strcmp(msg, "left") == 0) {
    Brain.Screen.print("Manager pressed LEFT");
  }
  else if (strcmp(msg, "right") == 0) {
    Brain.Screen.print("Manager pressed RIGHT");
  }
}

int main() {
  /* vexcodeInit() is only required when using VEXcode.
  Remove vexcodeInit() if compiling in VS Code. */
  vexcodeInit();

// Create the link
serial_link link(PORT1, "VEXRoboticsLink123456789", linkType::worker, true);

// Do not run code UNTIL the Brains are linked
  while (!link.isLinked()) {
    wait(0.1, seconds);
  }

  link.received(received_callback);

  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1,1);
  Brain.Screen.print("Robot 2 - Worker");
  Brain.Screen.newLine();
  Brain.Screen.print("Waiting...");
}