ctre::phoenix6::BaseStatusSignal Class Reference

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

#include <ctre/phoenix6/StatusSignal.hpp>

Inheritance diagram for ctre::phoenix6::BaseStatusSignal:

Classes
struct	is_all_status_signal
	Type trait to verify that all types passed in are subclasses of BaseStatusSignal. More...

Public Member Functions
virtual	~BaseStatusSignal ()=0
ctre::phoenix::StatusCode	SetUpdateFrequency (units::frequency::hertz_t frequencyHz, units::time::second_t timeoutSeconds=100_ms)
	Sets the rate at which the device will publish this signal.
units::frequency::hertz_t	GetAppliedUpdateFrequency () const
	Gets the rate at which the device will publish this signal.
const std::string &	GetName () const
	Gets the name of this signal.
const std::string &	GetUnits () const
	Gets the units for this signal.
double	GetValueAsDouble () const
	Gets the value of this signal as a double.
const AllTimestamps &	GetAllTimestamps () const
	Get the timestamps of this signals.
const Timestamp &	GetTimestamp () const
	Get the most accurate timestamp available for this signal.
ctre::phoenix::StatusCode	GetStatus () const
	Get the error code from when we last received this signal.
bool	HasUpdated ()
	Check whether the signal has been updated since the last check.

Static Public Member Functions
template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, Signals &... signals)
	Waits for new data on all provided signals up to timeout.
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.
template<size_t N>
static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, const std::array< BaseStatusSignal *, N > &signals)
	Waits for new data on all provided signals up to timeout.
template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static ctre::phoenix::StatusCode	RefreshAll (Signals &... signals)
	Performs a non-blocking refresh on all provided signals.
static ctre::phoenix::StatusCode	RefreshAll (const std::vector< BaseStatusSignal * > &signals)
	Performs a non-blocking refresh on all provided signals.
template<size_t N>
static ctre::phoenix::StatusCode	RefreshAll (const std::array< BaseStatusSignal *, N > &signals)
	Performs a non-blocking refresh on all provided signals.
template<typename U , typename U_PER_SEC >
static U	GetLatencyCompensatedValue (StatusSignal< U > &signal, StatusSignal< U_PER_SEC > &signalSlope, units::time::second_t maxLatencySeconds=0.300_s)
	Performs latency compensation on signal using the signalSlope and signal's latency to determine the magnitude of compensation.
template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static bool	IsAllGood (Signals &... signals)
	Checks if all signals have an OK error code.
static bool	IsAllGood (const std::vector< BaseStatusSignal * > &signals)
	Checks if all signals have an OK error code.
template<size_t N>
static bool	IsAllGood (const std::array< BaseStatusSignal *, N > &signals)
	Checks if all signals have an OK error code.
template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static ctre::phoenix::StatusCode	SetUpdateFrequencyForAll (units::frequency::hertz_t frequencyHz, Signals &... signals)
	Sets the update frequency of all specified status signals to the provided common frequency.
static ctre::phoenix::StatusCode	SetUpdateFrequencyForAll (units::frequency::hertz_t frequencyHz, const std::vector< BaseStatusSignal * > &signals)
	Sets the update frequency of all specified status signals to the provided common frequency.
template<size_t N>
static ctre::phoenix::StatusCode	SetUpdateFrequencyForAll (units::frequency::hertz_t frequencyHz, const std::array< BaseStatusSignal *, N > &signals)
	Sets the update frequency of all specified status signals to the provided common frequency.

Protected Member Functions
	BaseStatusSignal (hardware::DeviceIdentifier deviceIdentifier, uint16_t spn, std::string signalName, std::function< void()> checkFirmVersFunction)
	BaseStatusSignal (ctre::phoenix::StatusCode error)
virtual void	UpdateUnits (uint16_t spn)=0

Static Protected Member Functions
static ctre::phoenix::StatusCode	Status_WaitForAll (BaseStatusSignal *const *signals, size_t count, const char *network, double timeoutSeconds)
	Wait for multiple signals to arrive.
static ctre::phoenix::StatusCode	Status_SetUpdateFrequency (const char *canbus, uint32_t deviceHash, uint16_t spn, double frequencyHz, double timeoutSeconds)
static ctre::phoenix::StatusCode	Status_SetUpdateFrequencyForAll (BaseStatusSignal *const *signals, size_t count, double frequencyHz, double timeoutSeconds)
static double	Status_GetAppliedUpdateFrequency (const char *canbus, uint32_t deviceHash, uint16_t spn)
static std::string	Status_GetUnits (uint32_t signal)
	Gets signal units.
static ctre::phoenix::StatusCode	Status_Get (BaseStatusSignal &signal, const char *network, bool bWaitForUpdate, double timeoutSeconds)
	Get signal update.
template<typename Arr >
static ctre::phoenix::StatusCode	WaitForAllImpl (const char *location, units::time::second_t timeoutSeconds, const Arr &signals)
	Implementation of the WaitForAll API.

Protected Attributes
hardware::DeviceIdentifier	deviceIdentifier
uint16_t	spn
std::string	units
AllTimestamps	timestamps {}
double	baseValue = 0
ctre::phoenix::StatusCode	error = ctre::phoenix::StatusCode::SigNotUpdated
std::string	signalName
std::function< void()>	_checkFirmVersFunction
units::time::second_t	_lastTimestamp {0_s}

Static Protected Attributes
template<typename... Signals>
static constexpr bool	is_all_status_signal_v = is_all_status_signal<Signals...>::value
	Whether all types passed in are subclasses of BaseStatusSignal.

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, std::function< void()> checkFirmVersFunction )

inlineprotected

BaseStatusSignal() [2/2]

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

inlineprotected

~BaseStatusSignal()

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

pure virtual

Member Function Documentation

GetAllTimestamps()

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

inline

Get the timestamps of this signals.

Returns

All timestamps for this signal

GetAppliedUpdateFrequency()

units::frequency::hertz_t ctre::phoenix6::BaseStatusSignal::GetAppliedUpdateFrequency ( ) const

inline

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

This is typically the last value passed into SetUpdateFrequency. The returned value may be higher if another StatusSignal in the same status frame has been set to a higher update frequency.

Returns

Applied update frequency of the signal in Hz

GetLatencyCompensatedValue()

template<typename U , typename U_PER_SEC >

static U ctre::phoenix6::BaseStatusSignal::GetLatencyCompensatedValue ( StatusSignal< U > & signal, StatusSignal< U_PER_SEC > & signalSlope, units::time::second_t maxLatencySeconds = 0.300_s )

inlinestatic

Performs latency compensation on signal using the signalSlope and signal's latency to determine the magnitude of compensation.

The caller must refresh these StatusSignals beforehand; this function only does the math required for latency compensation.

Example usage:

units::turn_t compensatedTurns = BaseStatusSignal::GetLatencyCompensatedValue(fx.GetPosition(), fx.GetVelocity());

Template Parameters

U	Type of signal's underlying type. This is the type that the function will return.
U_PER_SEC	Type of signalSlope's underlying type. This must be the derivative of U.

Parameters

signal	Signal to be latency compensated. Caller must make sure this signal is up to date either by calling Refresh() or WaitForUpdate().
signalSlope	Derivative of signal that informs compensation magnitude. Caller must make sure this signal is up to date either by calling Refresh() or WaitForUpdate().
maxLatencySeconds	The maximum amount of latency to compensate for in seconds. A negative or zero value disables the max latency cap. This is used to cap the contribution of latency compensation for stale signals, such as after the device has been disconnected from the CAN bus.

Returns

Latency compensated value from the signal StatusSignal.

GetName()

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

inline

Gets the name of this signal.

Returns

Name of this signal

GetStatus()

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

inline

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

Returns

Last cached Error Code

GetTimestamp()

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

inline

Get the most accurate timestamp available for this signal.

The timestamp sources from most to least accurate are:

• Timestamp::TimestampSource::Device
• Timestamp::TimestampSource::CANivore
• Timestamp::TimestampSource::System

Note that some of these sources may not be available.

Returns

The most accurate timestamp available 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

GetValueAsDouble()

double ctre::phoenix6::BaseStatusSignal::GetValueAsDouble ( ) const

inline

Gets the value of this signal as a double.

Returns

Value of this signal as a double instead of the generic type

HasUpdated()

bool ctre::phoenix6::BaseStatusSignal::HasUpdated ( )

inline

Check whether the signal has been updated since the last check.

Note that the signal must be refreshed before calling this routine.

Returns

true if the signal has updated since the previous call of this routine

IsAllGood() [1/3]

template<size_t N>

static bool ctre::phoenix6::BaseStatusSignal::IsAllGood ( const std::array< BaseStatusSignal *, N > & signals )

inlinestatic

Checks if all signals have an OK error code.

Parameters

signals

Signals to check error code of, passed as an array of signal addresses.

Returns

True if all signals are OK, false otherwise

IsAllGood() [2/3]

static bool ctre::phoenix6::BaseStatusSignal::IsAllGood ( const std::vector< BaseStatusSignal * > & signals )

inlinestatic

Checks if all signals have an OK error code.

Parameters

signals

Signals to check error code of, passed as a vector or initializer list of signal addresses.

Returns

True if all signals are OK, false otherwise

IsAllGood() [3/3]

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>

static bool ctre::phoenix6::BaseStatusSignal::IsAllGood ( Signals &... signals )

inlinestatic

Checks if all signals have an OK error code.

Parameters

signals

Signals to check error code of, passed as a comma-separated list of signal references.

Returns

True if all signals are OK, false otherwise

RefreshAll() [1/3]

template<size_t N>

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::RefreshAll ( const std::array< BaseStatusSignal *, N > & signals )

inlinestatic

Performs a non-blocking refresh on all provided signals.

This provides a performance improvement over separately calling Refresh() on each signal.

Parameters

signals

Signals to refresh, passed as an array of signal addresses.

Returns

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks. An OK status code means that all signals are OK.

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

RefreshAll() [2/3]

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::RefreshAll ( const std::vector< BaseStatusSignal * > & signals )

inlinestatic

Performs a non-blocking refresh on all provided signals.

This provides a performance improvement over separately calling Refresh() on each signal.

Parameters

signals

Signals to refresh, passed as a vector or initializer list of signal addresses.

Returns

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks. An OK status code means that all signals are OK.

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

RefreshAll() [3/3]

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::RefreshAll ( Signals &... signals )

inlinestatic

Performs a non-blocking refresh on all provided signals.

This provides a performance improvement over separately calling Refresh() on each signal.

Parameters

signals

Signals to refresh, passed as a comma-separated list of signal references.

Returns

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks. An OK status code means that all signals are OK.

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

SetUpdateFrequency()

ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::SetUpdateFrequency ( units::frequency::hertz_t frequencyHz, units::time::second_t timeoutSeconds = 100_ms )

inline

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

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

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

SetUpdateFrequencyForAll() [1/3]

template<size_t N>

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::SetUpdateFrequencyForAll ( units::frequency::hertz_t frequencyHz, const std::array< BaseStatusSignal *, N > & signals )

inlinestatic

Sets the update frequency of all specified status signals to the provided common frequency.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

This will wait up to 0.100 seconds (100ms) for each signal.

Parameters

frequencyHz	Rate to publish the signal in Hz.
signals	Signals to apply the update frequency to, passed as an array of signal addresses.

Returns

Status code of the first failed update frequency set call, or OK if all succeeded

SetUpdateFrequencyForAll() [2/3]

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::SetUpdateFrequencyForAll ( units::frequency::hertz_t frequencyHz, const std::vector< BaseStatusSignal * > & signals )

inlinestatic

Sets the update frequency of all specified status signals to the provided common frequency.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

This will wait up to 0.100 seconds (100ms) for each signal.

Parameters

frequencyHz	Rate to publish the signal in Hz.
signals	Signals to apply the update frequency to, passed as a vector or initializer list of signal addresses.

Returns

Status code of the first failed update frequency set call, or OK if all succeeded

SetUpdateFrequencyForAll() [3/3]

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::SetUpdateFrequencyForAll ( units::frequency::hertz_t frequencyHz, Signals &... signals )

inlinestatic

Sets the update frequency of all specified status signals to the provided common frequency.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

This will wait up to 0.100 seconds (100ms) for each signal.

Parameters

frequencyHz	Rate to publish the signal in Hz.
signals	Signals to apply the update frequency to, passed as a comma-separated list of signal references.

Returns

Status code of the first failed update frequency set call, or OK if all succeeded

Status_Get()

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_Get ( BaseStatusSignal & signal, const char * network, bool bWaitForUpdate, double timeoutSeconds )

staticprotected

Get signal update.

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

Parameters

signal	Signal to update
network	Name of bus (can, canfd, canivore-name, future protocols)
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

Returns

Status of the get

Status_GetAppliedUpdateFrequency()

static double ctre::phoenix6::BaseStatusSignal::Status_GetAppliedUpdateFrequency ( const char * canbus, uint32_t deviceHash, uint16_t spn )

staticprotected

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_SetUpdateFrequency()

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_SetUpdateFrequency ( const char * canbus, uint32_t deviceHash, uint16_t spn, double frequencyHz, double timeoutSeconds )

staticprotected

Status_SetUpdateFrequencyForAll()

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_SetUpdateFrequencyForAll ( BaseStatusSignal *const * signals, size_t count, double frequencyHz, double timeoutSeconds )

staticprotected

Status_WaitForAll()

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::Status_WaitForAll ( BaseStatusSignal *const * signals, size_t count, const char * network, double timeoutSeconds )

staticprotected

Wait for multiple signals to arrive.

Parameters

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

Returns

Status of the wait

UpdateUnits()

virtual void ctre::phoenix6::BaseStatusSignal::UpdateUnits ( uint16_t spn )

protectedpure virtual

Implemented in ctre::phoenix6::StatusSignal< T >, ctre::phoenix6::StatusSignal< bool >, ctre::phoenix6::StatusSignal< ctre::unit::newton_meters_per_ampere_t >, ctre::phoenix6::StatusSignal< int >, ctre::phoenix6::StatusSignal< units::ampere_t >, ctre::phoenix6::StatusSignal< units::angle::degree_t >, ctre::phoenix6::StatusSignal< units::angle::turn_t >, ctre::phoenix6::StatusSignal< units::angular_velocity::degrees_per_second_t >, ctre::phoenix6::StatusSignal< units::degree_t >, ctre::phoenix6::StatusSignal< units::degrees_per_second_t >, ctre::phoenix6::StatusSignal< units::dimensionless::scalar_t >, ctre::phoenix6::StatusSignal< units::length::meter_t >, ctre::phoenix6::StatusSignal< units::turn_t >, and ctre::phoenix6::StatusSignal< units::turns_per_second_t >.

WaitForAll() [1/3]

template<size_t N>

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::WaitForAll ( units::time::second_t timeoutSeconds, const std::array< BaseStatusSignal *, N > & 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. This is equivalent to calling RefreshAll.

If a signal arrives multiple times while waiting, such as when not using CANivore Timesync, the newest signal data is fetched. Additionally, if this function times out, the newest signal data is fetched for all signals (when possible). We recommend checking the individual status codes using GetStatus() when this happens.

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 an array 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 GetStatus() on each signal to determine which ones failed.

WaitForAll() [2/3]

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. This is equivalent to calling RefreshAll.

If a signal arrives multiple times while waiting, such as when not using CANivore Timesync, the newest signal data is fetched. Additionally, if this function times out, the newest signal data is fetched for all signals (when possible). We recommend checking the individual status codes using GetStatus() when this happens.

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 a vector or 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 GetStatus() on each signal to determine which ones failed.

WaitForAll() [3/3]

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::WaitForAll ( units::time::second_t timeoutSeconds, Signals &... 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. This is equivalent to calling RefreshAll.

If a signal arrives multiple times while waiting, such as when not using CANivore Timesync, the newest signal data is fetched. Additionally, if this function times out, the newest signal data is fetched for all signals (when possible). We recommend checking the individual status codes using GetStatus() when this happens.

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 a comma-separated list of signal references.

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 GetStatus() on each signal to determine which ones failed.

WaitForAllImpl()

template<typename Arr >

static ctre::phoenix::StatusCode ctre::phoenix6::BaseStatusSignal::WaitForAllImpl ( const char * location, units::time::second_t timeoutSeconds, const Arr & signals )

inlinestaticprotected

Implementation of the WaitForAll API.

Template Parameters

Arr	std::array or std::vector of BaseStatusSignal*

Parameters

location	Location of the calling function
timeoutSeconds	Maximum time to wait for all the signals
signals	Signals to wait on

Returns

Status of the wait

Friends And Related Symbol Documentation

StatusSignal

template<typename T >

friend class StatusSignal

friend

Member Data Documentation

_checkFirmVersFunction

std::function<void()> ctre::phoenix6::BaseStatusSignal::_checkFirmVersFunction

protected

_lastTimestamp

units::time::second_t ctre::phoenix6::BaseStatusSignal::_lastTimestamp {0_s}

protected

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

is_all_status_signal_v

template<typename... Signals>

constexpr bool ctre::phoenix6::BaseStatusSignal::is_all_status_signal_v = is_all_status_signal<Signals...>::value

staticconstexprprotected

Whether all types passed in are subclasses of BaseStatusSignal.

signalName

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

protected

spn

uint16_t ctre::phoenix6::BaseStatusSignal::spn

protected

timestamps

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

protected

units

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

protected

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

• ctre/phoenix6/StatusSignal.hpp