Class that provides operations to retrieve information about a status signal. More...

#include <ctre/phoenix6/StatusSignal.hpp>

Inheritance diagram for ctre::phoenix6::BaseStatusSignal:

Public Member Functions
virtual	~BaseStatusSignal ()=0

ctre::phoenix::StatusCode	SetUpdateFrequency (units::frequency::hertz_t frequencyHz, units::time::second_t timeoutSeconds=50_ms)
	Sets the rate at which the device will publish this signal. More...

const std::string &	GetUnits () const
	Gets the units for this signal. More...

const AllTimestamps &	GetAllTimestamps () const
	Get the timestamps of this signals. More...

const Timestamp &	GetTimestamp () const
	Get the best timestamp available to this signal. More...

ctre::phoenix::StatusCode	GetError () const
	Get the error code from when we last received this signal. More...

Static Public Member Functions
static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, std::initializer_list< BaseStatusSignal * > signals)
	Waits for new data on all provided signals up to timeout. More...

static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, const std::vector< BaseStatusSignal * > &signals)
	Waits for new data on all provided signals up to timeout. More...

template<typename U , typename U_PER_SEC >
static U	GetLatencyCompensatedValue (StatusSignal< U > &signal, StatusSignal< U_PER_SEC > &signalSlope)

static ctre::phoenix::StatusCode	IsAllGood (std::initializer_list< BaseStatusSignal * > signals)
	Checks if all signals have an OK error code. More...

Protected Member Functions
void	CopyFrom (const BaseStatusSignal &other)

	BaseStatusSignal (hardware::DeviceIdentifier deviceIdentifier, uint16_t spn, std::string signalName)

	BaseStatusSignal (ctre::phoenix::StatusCode error)

ctre::phoenix::StatusCode	SetUpdateFrequency (const char *canbus, uint32_t deviceHash, uint16_t spn, units::frequency::hertz_t frequencyHz, units::time::second_t timeoutSeconds)

Static Protected Member Functions
static ctre::phoenix::StatusCode	Status_WaitForAll (std::initializer_list< BaseStatusSignal * > signals, const char *network, units::time::second_t timeoutSeconds)
	Wait for multiple signals to arrive. More...

static ctre::phoenix::StatusCode	Status_WaitForAll (const std::vector< BaseStatusSignal * > &signals, const char *network, units::time::second_t timeoutSeconds)
	Wait for multiple signals to arrive. More...

static std::string	Status_GetUnits (uint32_t signal)
	Gets signal units. More...

static ctre::phoenix::StatusCode	Status_Get (const char network, int deviceHash, uint32_t signal, bool bWaitForUpdate, units::time::second_t timeoutSeconds, double outValue, double hwtimestamp, double swtimestamp, double ecutimestamp, int32_t timestampType)
	Get signal update. More...

Protected Attributes
hardware::DeviceIdentifier	deviceIdentifier

uint16_t	spn

std::string	units

AllTimestamps	timestamps {}

int	timestampType

double	baseValue = 0

ctre::phoenix::StatusCode	error = ctre::phoenix::StatusCode::SigNotUpdated

std::string	signalName

Friends
template<typename T >
class	StatusSignal

Detailed Description

Class that provides operations to retrieve information about a status signal.

Constructor & Destructor Documentation

◆ BaseStatusSignal() [1/2]

ctre::phoenix6::BaseStatusSignal::BaseStatusSignal	(	hardware::DeviceIdentifier	deviceIdentifier,
		uint16_t	spn,
		std::string	signalName
	)

inlineprotected

◆ BaseStatusSignal() [2/2]

ctre::phoenix6::BaseStatusSignal::BaseStatusSignal ( ctre::phoenix::StatusCode error )

inlineprotected

◆ ~BaseStatusSignal()

virtual ctre::phoenix6::BaseStatusSignal::~BaseStatusSignal ( )

pure virtual

Member Function Documentation

◆ CopyFrom()

void ctre::phoenix6::BaseStatusSignal::CopyFrom ( const BaseStatusSignal & other )

inlineprotected

◆ GetAllTimestamps()

const AllTimestamps & ctre::phoenix6::BaseStatusSignal::GetAllTimestamps ( ) const

inline

Get the timestamps of this signals.

Returns: All timestamps for this signal

◆ GetError()

ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::GetError ( ) const

inline

Get the error code from when we last received this signal.

Returns: Last cached Error Code

◆ GetLatencyCompensatedValue()

template<typename U , typename U_PER_SEC >

static U ctre::phoenix6::BaseStatusSignal::GetLatencyCompensatedValue	(	StatusSignal< U > &	signal,
		StatusSignal< U_PER_SEC > &	signalSlope
	)

inlinestatic

◆ GetTimestamp()

const Timestamp & ctre::phoenix6::BaseStatusSignal::GetTimestamp ( ) const

inline

Get the best timestamp available to this signal.

Returns: Best available timestamp for this signal

◆ GetUnits()

const std::string & ctre::phoenix6::BaseStatusSignal::GetUnits ( ) const

inline

Gets the units for this signal.

Returns: String representation of units for this signal

◆ IsAllGood()

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::IsAllGood ( std::initializer_list< BaseStatusSignal * > signals )

inlinestatic

Checks if all signals have an OK error code.

Parameters

signals Signals to check error code of.

Returns: True if all signals are OK, false otherwise

◆ SetUpdateFrequency() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::SetUpdateFrequency	(	const char *	canbus,
		uint32_t	deviceHash,
		uint16_t	spn,
		units::frequency::hertz_t	frequencyHz,
		units::time::second_t	timeoutSeconds
	)

protected

◆ SetUpdateFrequency() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::SetUpdateFrequency	(	units::frequency::hertz_t	frequencyHz,
		units::time::second_t	timeoutSeconds = `50_ms`
	)

inline

Sets the rate at which the device will publish this signal.

The minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

Parameters

frequencyHz	Rate to publish the signal in Hz.
timeoutSeconds	Maximum amount of time to wait when performing the action

Returns: Status code of setting the update frequency

◆ Status_Get()

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_Get	(	const char *	network,
		int	deviceHash,
		uint32_t	signal,
		bool	bWaitForUpdate,
		units::time::second_t	timeoutSeconds,
		double *	outValue,
		double *	hwtimestamp,
		double *	swtimestamp,
		double *	ecutimestamp,
		int32_t *	timestampType
	)

staticprotected

Get signal update.

Caller either get last received, or wait for an update.

Parameters

network	Name of bus (can, canfd, canivore-name, future protocols)
deviceHash	Hash id of the device (based on device id and model)
signal	Signal to get
bWaitForUpdate	If true, API will wait up to timeoutSeconds for an update. If false, routine will poll last received and use timeoutSeconds to return error code if too old.
timeoutSeconds	How long to wait or how old the signal can be before error'ing
outValue	Value of the signal
hwtimestamp	Timestamp of the signal
swtimestamp	Timestamp of the signal
ecutimestamp	Timestamp of the signal
timestampType	Which type of timestamp was gotten

Returns: Status of the get

◆ Status_GetUnits()

static std::string ctre::phoenix6::BaseStatusSignal::Status_GetUnits ( uint32_t signal )

staticprotected

Gets signal units.

Parameters

signal Signal to get

Returns: Units of the signal

◆ Status_WaitForAll() [1/2]

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_WaitForAll	(	const std::vector< BaseStatusSignal * > &	signals,
		const char *	network,
		units::time::second_t	timeoutSeconds
	)

staticprotected

Wait for multiple signals to arrive.

Parameters

signals	Signals to wait for
network	Network to wait for the signals on
timeoutSeconds	Maximum time to wait for all these signals

Returns: Status of the wait

◆ Status_WaitForAll() [2/2]

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_WaitForAll	(	std::initializer_list< BaseStatusSignal * >	signals,
		const char *	network,
		units::time::second_t	timeoutSeconds
	)

staticprotected

Wait for multiple signals to arrive.

Parameters

signals	Signals to wait for
network	Network to wait for the signals on
timeoutSeconds	Maximum time to wait for all these signals

Returns: Status of the wait

◆ WaitForAll() [1/2]

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::WaitForAll	(	units::time::second_t	timeoutSeconds,
		const std::vector< BaseStatusSignal * > &	signals
	)

inlinestatic

Waits for new data on all provided signals up to timeout.

This API is typically used with CANivore Bus signals as they will be synced using the CANivore Timesync feature and arrive simultaneously. Signals on a roboRIO bus cannot be synced and may require a significantly longer blocking call to receive all signals.

Note that CANivore Timesync requires Phoenix Pro.

This can also be used with a timeout of zero to refresh many signals at once, which is faster than calling Refresh() on every signal.

Parameters

timeoutSeconds	Maximum time to wait for all the signals to arrive. Pass zero to refresh all signals without blocking.
signals	Signals to wait on, passed as vector of signal addresses.

Returns: An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks, RxTimeout if it took longer than timeoutSeconds to receive all the signals, MultiSignalNotSupported if using the roboRIO bus with more than one signal and a non-zero timeout. An OK status code means that all signals arrived within timeoutSeconds and they are all OK.

Any other value represents the StatusCode of the first failed signal. Call GetError() on each signal to determine which ones failed.

◆ WaitForAll() [2/2]

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::WaitForAll	(	units::time::second_t	timeoutSeconds,
		std::initializer_list< BaseStatusSignal * >	signals
	)

inlinestatic

Waits for new data on all provided signals up to timeout.

This API is typically used with CANivore Bus signals as they will be synced using the CANivore Timesync feature and arrive simultaneously. Signals on a roboRIO bus cannot be synced and may require a significantly longer blocking call to receive all signals.

Note that CANivore Timesync requires Phoenix Pro.

This can also be used with a timeout of zero to refresh many signals at once, which is faster than calling Refresh() on every signal.

Parameters

timeoutSeconds	Maximum time to wait for all the signals to arrive. Pass zero to refresh all signals without blocking.
signals	Signals to wait on, passed as initializer list of signal addresses.

Returns: An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks, RxTimeout if it took longer than timeoutSeconds to receive all the signals, MultiSignalNotSupported if using the roboRIO bus with more than one signal and a non-zero timeout. An OK status code means that all signals arrived within timeoutSeconds and they are all OK.

Any other value represents the StatusCode of the first failed signal. Call GetError() on each signal to determine which ones failed.

Friends And Related Function Documentation

◆ StatusSignal

template<typename T >

friend class StatusSignal

friend

Member Data Documentation

◆ baseValue

double ctre::phoenix6::BaseStatusSignal::baseValue = 0

protected

◆ deviceIdentifier

hardware::DeviceIdentifier ctre::phoenix6::BaseStatusSignal::deviceIdentifier

protected

◆ error

ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::error = ctre::phoenix::StatusCode::SigNotUpdated

protected

◆ signalName

std::string ctre::phoenix6::BaseStatusSignal::signalName

protected

◆ spn

uint16_t ctre::phoenix6::BaseStatusSignal::spn

protected

◆ timestamps

AllTimestamps ctre::phoenix6::BaseStatusSignal::timestamps {}

protected

◆ timestampType

int ctre::phoenix6::BaseStatusSignal::timestampType

protected

◆ units

std::string ctre::phoenix6::BaseStatusSignal::units

protected

The documentation for this class was generated from the following file:

ctre/phoenix6/StatusSignal.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ BaseStatusSignal() [1/2]

◆ BaseStatusSignal() [2/2]

◆ ~BaseStatusSignal()

Member Function Documentation

◆ CopyFrom()

◆ GetAllTimestamps()

◆ GetError()

◆ GetLatencyCompensatedValue()

◆ GetTimestamp()

◆ GetUnits()

◆ IsAllGood()

◆ SetUpdateFrequency() [1/2]

◆ SetUpdateFrequency() [2/2]

◆ Status_Get()

◆ Status_GetUnits()

◆ Status_WaitForAll() [1/2]

◆ Status_WaitForAll() [2/2]

◆ WaitForAll() [1/2]

◆ WaitForAll() [2/2]

Friends And Related Function Documentation

◆ StatusSignal

Member Data Documentation

◆ baseValue

◆ deviceIdentifier

◆ error

◆ signalName

◆ spn

◆ timestamps

◆ timestampType

◆ units