Represents a status signal with data of type T, and operations available to retrieve information about the signal. More...

#include <ctre/phoenix6/StatusSignal.hpp>

Inheritance diagram for ctre::phoenix6::StatusSignal< T >:

Public Member Functions
std::string	ToString () const

T	GetValue () const
	Gets the cached value from this status signal. More...

StatusSignal< T > &	Refresh (bool ReportOnError=true)
	Refreshes the value of this status signal. More...

StatusSignal< T > &	WaitForUpdate (units::time::second_t timeoutSec, bool ReportOnError=true)
	Waits up to timeoutSec to get the up-to-date status signal value. More...

SignalMeasurement< T >	GetDataCopy () const
	Get a basic data-only container with this information, to be used for things such as data logging. More...

std::function< T()>	AsSupplier ()
	Returns a lambda that calls Refresh and GetValue on this object. More...

Public Member Functions inherited from ctre::phoenix6::BaseStatusSignal
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...

Friends
class	hardware::ParentDevice

std::ostream &	operator<< (std::ostream &os, const StatusSignal< T > &data)

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::BaseStatusSignal
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 inherited from ctre::phoenix6::BaseStatusSignal
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 inherited from ctre::phoenix6::BaseStatusSignal
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 inherited from ctre::phoenix6::BaseStatusSignal
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

Detailed Description

template<typename T>
class ctre::phoenix6::StatusSignal< T >

Represents a status signal with data of type T, and operations available to retrieve information about the signal.

Member Function Documentation

◆ AsSupplier()

template<typename T >

std::function< T()> ctre::phoenix6::StatusSignal< T >::AsSupplier ( )

inline

Returns a lambda that calls Refresh and GetValue on this object.

This is useful for command-based programming.

Returns: std::function<T()> that calls Refresh() and returns this value.

◆ GetDataCopy()

template<typename T >

SignalMeasurement< T > ctre::phoenix6::StatusSignal< T >::GetDataCopy ( ) const

inline

Get a basic data-only container with this information, to be used for things such as data logging.

Returns: Basic structure with all relevant information

◆ GetValue()

template<typename T >

T ctre::phoenix6::StatusSignal< T >::GetValue ( ) const

inline

Gets the cached value from this status signal.

Gets the cached value. To make sure the value is up-to-date call Refresh() or WaitForUpdate()

Returns: Cached value

◆ Refresh()

template<typename T >

StatusSignal< T > & ctre::phoenix6::StatusSignal< T >::Refresh ( bool ReportOnError = true )

inline

Refreshes the value of this status signal.

If the user application caches this StatusSignal object instead of periodically fetching it from the hardware device, this function must be called to fetch fresh data.

This performs a non-blocking refresh operation. If you want to wait until you receive the signal, call WaitForUpdate() instead.

Parameters

ReportOnError Whether to report any errors to the Driver Station/stderr.

Returns: Reference to itself

◆ ToString()

template<typename T >

std::string ctre::phoenix6::StatusSignal< T >::ToString ( ) const

inline

◆ WaitForUpdate()

template<typename T >

StatusSignal< T > & ctre::phoenix6::StatusSignal< T >::WaitForUpdate	(	units::time::second_t	timeoutSec,
		bool	ReportOnError = `true`
	)

inline

Waits up to timeoutSec to get the up-to-date status signal value.

This performs a blocking refresh operation. If you want to non-blocking refresh the signal, call Refresh() instead.

Parameters

timeoutSec	Maximum time to wait for the signal to update
ReportOnError	Whether to report any errors to the Driver Station/stderr.

Returns: Reference to itself

Friends And Related Function Documentation

◆ hardware::ParentDevice

template<typename T >

friend class hardware::ParentDevice

friend

◆ operator<<

template<typename T >

std::ostream & operator<<	(	std::ostream &	os,
		const StatusSignal< T > &	data
	)

friend

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

ctre/phoenix6/StatusSignal.hpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AsSupplier()

◆ GetDataCopy()

◆ GetValue()

◆ Refresh()

◆ ToString()

◆ WaitForUpdate()

Friends And Related Function Documentation

◆ hardware::ParentDevice

◆ operator<<