Package com.ctre.phoenixpro

Class BaseStatusSignalValue

java.lang.Object

com.ctre.phoenixpro.BaseStatusSignalValue

Direct Known Subclasses:

StatusSignalValue

@Deprecated(forRemoval=true)
public abstract class BaseStatusSignalValue
extends Object

Deprecated, for removal: This API element is subject to removal in a future version.

BaseStatusSignalValue has been renamed to BaseStatusSignal. Additionally, Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.

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

Field Summary

Fields

Modifier and Type	Field	Description
protected double	baseValue	Deprecated, for removal: This API element is subject to removal in a future version.
protected DeviceIdentifier	deviceIdentifier	Deprecated, for removal: This API element is subject to removal in a future version.
protected StatusCode	error	Deprecated, for removal: This API element is subject to removal in a future version.
protected StatusSignalJNI	jni	Deprecated, for removal: This API element is subject to removal in a future version.
protected String	signalName	Deprecated, for removal: This API element is subject to removal in a future version.
protected int	spn	Deprecated, for removal: This API element is subject to removal in a future version.
protected AllTimestamps	timestamps	Deprecated, for removal: This API element is subject to removal in a future version.
protected String	units	Deprecated, for removal: This API element is subject to removal in a future version.

Method Summary

Modifier and Type	Method	Description
protected void	copyFrom(BaseStatusSignalValue other)	Deprecated, for removal: This API element is subject to removal in a future version.
AllTimestamps	getAllTimestamps()	Deprecated, for removal: This API element is subject to removal in a future version. Get all timestamps relevant for this signal
StatusCode	getError()	Deprecated, for removal: This API element is subject to removal in a future version. Get the error code from when we last received this signal
static double	getLatencyCompensatedValue(StatusSignalValue<Double> signal, StatusSignalValue<Double> signalSlope)	Deprecated, for removal: This API element is subject to removal in a future version. Performs latency compensation on signal using the signalSlope and signal's latency to determine the magnitude of compensation.
Timestamp	getTimestamp()	Deprecated, for removal: This API element is subject to removal in a future version. Get the best available timestamp for this signal
String	getUnits()	Deprecated, for removal: This API element is subject to removal in a future version. Gets the units for this signal
static boolean	isAllGood(BaseStatusSignalValue... signals)	Deprecated, for removal: This API element is subject to removal in a future version. Checks if all signals have an OK error code.
StatusCode	setUpdateFrequency(double frequencyHz)	Deprecated, for removal: This API element is subject to removal in a future version. Sets the rate at which the device will publish this signal.
StatusCode	setUpdateFrequency(double frequencyHz, double timeoutSeconds)	Deprecated, for removal: This API element is subject to removal in a future version. Sets the rate at which the device will publish this signal.
static StatusCode	waitForAll(double timeoutSeconds, BaseStatusSignalValue... signals)	Deprecated, for removal: This API element is subject to removal in a future version. Waits for new data on all provided signals up to timeout.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

deviceIdentifier

protected DeviceIdentifier deviceIdentifier

Deprecated, for removal: This API element is subject to removal in a future version.

spn

protected int spn

Deprecated, for removal: This API element is subject to removal in a future version.

units

protected String units

Deprecated, for removal: This API element is subject to removal in a future version.

error

protected StatusCode error

Deprecated, for removal: This API element is subject to removal in a future version.

baseValue

protected double baseValue

Deprecated, for removal: This API element is subject to removal in a future version.

timestamps

protected AllTimestamps timestamps

Deprecated, for removal: This API element is subject to removal in a future version.

signalName

protected final String signalName

Deprecated, for removal: This API element is subject to removal in a future version.

jni

protected StatusSignalJNI jni

Deprecated, for removal: This API element is subject to removal in a future version.

Method Details

copyFrom

protected void copyFrom(BaseStatusSignalValue other)

Deprecated, for removal: This API element is subject to removal in a future version.

waitForAll

public static StatusCode waitForAll(double timeoutSeconds, BaseStatusSignalValue... signals)

Deprecated, for removal: This API element is subject to removal in a future version.

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. 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 new data in seconds. Pass zero to refresh all signals without blocking.

signals - Signals to wait for new data against

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.

getLatencyCompensatedValue

public static double getLatencyCompensatedValue(StatusSignalValue<Double> signal, StatusSignalValue<Double> signalSlope)

Deprecated, for removal: This API element is subject to removal in a future version.

Performs latency compensation on signal using the signalSlope and signal's latency to determine the magnitude of compensation. The caller must refresh these StatusSignalValues beforehand; this function only does the math required for latency compensation.

Important: The signalSlope must be the rate of change of the signal. If it is not the latency compensation may not perform as expected.

Example: double compensatedTurns = getLatencyCompensatedValue(fx.getPosition(), fx.getVelocity());

Parameters:

signal - Signal to be latency compensated. Caller must make sure this signal is up to date either by calling StatusSignalValue.refresh() or StatusSignalValue.waitForUpdate(double).

signalSlope - Derivative of signal that informs compensation magnitude. Caller must make sure this signal is up to date either by calling StatusSignalValue.refresh() or StatusSignalValue.waitForUpdate(double).

Returns:

Latency compensated value from the signal StatusSignalValue.

isAllGood

public static boolean isAllGood(BaseStatusSignalValue... signals)

Deprecated, for removal: This API element is subject to removal in a future version.

Checks if all signals have an OK error code.

Parameters:

signals - Signals to check error code of.

Returns:

True if all are good, false otherwise

setUpdateFrequency

public StatusCode setUpdateFrequency(double frequencyHz)

Deprecated, for removal: This API element is subject to removal in a future version.

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.

This will wait up to 0.050 seconds (50ms) by default.

Parameters:

frequencyHz - Rate to publish the signal in Hz.

Returns:

Status code of setting the update frequency

setUpdateFrequency

public StatusCode setUpdateFrequency(double frequencyHz, double timeoutSeconds)

Deprecated, for removal: This API element is subject to removal in a future version.

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

getUnits

public String getUnits()

Deprecated, for removal: This API element is subject to removal in a future version.

Gets the units for this signal

Returns:

String representation of units for this signal

getAllTimestamps

public AllTimestamps getAllTimestamps()

Deprecated, for removal: This API element is subject to removal in a future version.

Get all timestamps relevant for this signal

Returns:

All timestamps available for this signal

getTimestamp

public Timestamp getTimestamp()

Deprecated, for removal: This API element is subject to removal in a future version.

Get the best available timestamp for this signal

Returns:

Best available timestamp

getError

public StatusCode getError()

Deprecated, for removal: This API element is subject to removal in a future version.

Get the error code from when we last received this signal

Returns:

Last cached Error Code