ctre::phoenix6::CANBus Class Reference

Class for getting information about an available CAN bus. More...

#include <ctre/phoenix6/CANBus.hpp>

Classes
struct	CANBusStatus
	Contains status information about a CAN bus. More...

Public Member Functions
constexpr	CANBus (std::string_view canbus="")
	Creates a new CAN bus with the given name.
	CANBus (std::string_view canbus, char const *hootFilepath)
	Creates a new CAN bus with the given name, and loads an associated hoot file for replay (equivalent to HootReplay::LoadFile).
constexpr std::string_view	GetName () const
	Get the name used to construct this CAN bus.
bool	IsNetworkFD () const
	Gets whether the CAN bus is a CAN FD network.
CANBusStatus	GetStatus () const
	Gets the status of the CAN bus, including the bus utilization and the error counters.

Static Public Member Functions
static constexpr CANBus	RoboRIO ()
	Creates a new CAN bus for the native roboRIO bus.
static CANBus	RoboRIO (char const *hootFilepath)
	Creates a new CAN bus for the native roboRIO bus, and loads an associated hoot file for replay (equivalent to HootReplay::LoadFile).

Friends
std::ostream &	operator<< (std::ostream &os, CANBus const &canbus)

Detailed Description

Class for getting information about an available CAN bus.

Constructor & Destructor Documentation

CANBus() [1/2]

ctre::phoenix6::CANBus::CANBus ( std::string_view canbus = "" )

inlineconstexpr

Creates a new CAN bus with the given name.

For the native roboRIO CAN bus, use RoboRIO instead.

Parameters

canbus

Name of the CAN bus. Possible CAN bus strings are: "rio" for the native roboRIO CAN bus CANivore name or serial number SocketCAN interface (non-FRC Linux only) "*" for any CANivore seen by the program empty string (default) to select the default for the system: "rio" on roboRIO "can0" on Linux "*" on Windows

CANBus() [2/2]

ctre::phoenix6::CANBus::CANBus ( std::string_view canbus, char const * hootFilepath )

inline

Creates a new CAN bus with the given name, and loads an associated hoot file for replay (equivalent to HootReplay::LoadFile).

Only one hoot log may be replayed at a time. As a result, only one CAN bus should be constructed with a hoot file.

When using relative paths, the file path is typically relative to the top-level folder of the robot project.

For the native roboRIO CAN bus, use RoboRIO instead.

Parameters

canbus	Name of the CAN bus. Possible CAN bus strings are: "rio" for the native roboRIO CAN bus CANivore name or serial number SocketCAN interface (non-FRC Linux only) "*" for any CANivore seen by the program empty string (default) to select the default for the system: "rio" on roboRIO "can0" on Linux "*" on Windows
hootFilepath	Path and name of the hoot file to load

Member Function Documentation

GetName()

std::string_view ctre::phoenix6::CANBus::GetName ( ) const

inlineconstexpr

Get the name used to construct this CAN bus.

Returns

Name of the CAN bus

GetStatus()

CANBusStatus ctre::phoenix6::CANBus::GetStatus

(

)

const

Gets the status of the CAN bus, including the bus utilization and the error counters.

This can block for up to 0.001 seconds (1 ms).

Returns

Status of the CAN bus

IsNetworkFD()

bool ctre::phoenix6::CANBus::IsNetworkFD

(

)

const

Gets whether the CAN bus is a CAN FD network.

Returns

True if the CAN bus is CAN FD

RoboRIO() [1/2]

static constexpr CANBus ctre::phoenix6::CANBus::RoboRIO ( )

inlinestaticconstexpr

Creates a new CAN bus for the native roboRIO bus.

Returns

The native roboRIO CAN bus

RoboRIO() [2/2]

static CANBus ctre::phoenix6::CANBus::RoboRIO ( char const * hootFilepath )

inlinestatic

Creates a new CAN bus for the native roboRIO bus, and loads an associated hoot file for replay (equivalent to HootReplay::LoadFile).

Only one hoot log may be replayed at a time. As a result, only one CAN bus should be constructed with a hoot file.

When using relative paths, the file path is typically relative to the top-level folder of the robot project.

Parameters

hootFilepath

Path and name of the hoot file to load

Returns

The native roboRIO CAN bus

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, CANBus const & canbus )

friend

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

• ctre/phoenix6/CANBus.hpp