Stripped C++ Latency Server

This is a minimal server-side sender + visualizer for hardware latency testing.

What it does

• Sends only robot velocity commands over UDP to the hardware format used by RobotFramework.
• Drives a robot in a clean circle (vx, vy, w=0) at a fixed high send rate.
• Shows a lightweight Win32 GUI for visual comparison.
  • Green marker: commanded circular position.
  • Orange marker: optional vision/observed position from UDP.

Protocol compatibility

This sends exactly the same command shape expected by the robot receiver:

id vx vy w kick dribble timestamp

UDP destination defaults:

• command send to robot: robot_ip:50514
• telemetry receive from robot: 0.0.0.0:50513
• optional vision pose receive: 0.0.0.0:50515

Build and run

Open testcpp.slnx in Visual Studio, then run testcpp (x64 recommended).

CLI arguments:

testcpp.exe [robot_ip] [robot_id] [send_hz] [radius_m] [omega_rad_s]

Example:

testcpp.exe 172.20.10.2 1 200 0.6 1.0

Linux build

Linux uses a stripped terminal visual/status app (testcpp/main_linux.cpp) and the provided build script.

cd testcpp
chmod +x build_linux.sh
./build_linux.sh
./build/testcpp_latency 172.20.10.2 1 200 0.6 1.0

Press Ctrl+C to stop.

Optional vision feed input

To compare a measured robot location against command, send UDP packets to port 50515:

x y [timestamp]

Example payload:

0.21 -0.37 1714283000123

Where x and y are in meters (same world frame you want to compare against).