SignalMeasurement.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix/StatusCodes.h"
#include <concepts>
#include <ostream>
#include <sstream>
#include <string>
#include <wpi/units/time.hpp>
 
namespace ctre {
namespace phoenix6 {
 
    /**
     * \brief Information from a single measurement of a status signal.
     *
     * \tparam T Type of the signal
     */
    template <typename T>
    struct SignalMeasurement {
        /**
         * \brief The name of the signal
         */
        std::string_view name;
        /**
         * \brief The value of the signal
         */
        T value;
        /**
         * \brief Timestamp of when the data point was taken
         */
        wpi::units::second_t timestamp;
        /**
         * \brief The units of the signal measurement
         */
        std::string units;
        /**
         * \brief Status code response of getting the data
         */
        ctre::phoenix::StatusCode status;
 
        friend std::ostream &operator<<(std::ostream &os, SignalMeasurement<T> const &data)
        {
            os << "SignalMeasurement: " << data.name << '\n';
            os << "    Value: ";
            if constexpr(wpi::units::traits::is_unit_t_v<T>) {
                os << data.value.value() << ' ' << data.units << '\n';
            } else {
                os << data.value << ' ' << data.units << '\n';
            }
            os << "    Timestamp: " << data.timestamp.value() << " s\n";
            os << "    Status: " << data.status.GetName();
            return os;
        }
        std::string ToString() const
        {
            std::stringstream ss;
            ss << *this;
            return ss.str();
        }
 
        bool operator==(SignalMeasurement const &other) const
            requires std::equality_comparable<T> = default;
    };
 
}
}