Class for handling automatic logging and replay of custom signal inputs. More...

#include <ctre/phoenix6/HootAutoReplay.hpp>

Public Member Functions
void	Update () const
	Updates the state of the robot program by doing one of the following:
HootAutoReplay &	WithTimestampReplay ()
	Registers Timer::GetTimestamp() logging and playback with this instance.
HootAutoReplay &	WithDriverStationReplay ()
	Registers Driver Station logging and playback with this instance, excluding joysticks and match info.
HootAutoReplay &	WithJoystickReplay ()
	Registers joystick logging and playback with this instance.
HootAutoReplay &	WithMatchInfoReplay ()
	Registers match info logging and playback with this instance.
HootAutoReplay &	WithSchemaValue (std::string name, std::string schemaName, HootSchemaType type, std::span< uint8_t const > schema, std::function< std::span< uint8_t const >()> getter, std::function< void(SignalMeasurement< std::vector< uint8_t > >)> setter)
	Registers the schema-serialized bytes as a Hoot-Replayed input.
HootAutoReplay &	WithSchemaValue (std::string name, std::string schemaName, HootSchemaType type, std::string_view schema, std::function< std::span< uint8_t const >()> getter, std::function< void(SignalMeasurement< std::vector< uint8_t > >)> setter)
	Registers the schema-serialized bytes as a Hoot-Replayed input.
template<typename T, typename... I> requires wpi::util::StructSerializable<T, I...>
HootAutoReplay &	WithStruct (std::string name, I &&... info, std::function< T const &()> getter, std::function< void(SignalMeasurement< T >)> setter)
	Registers the WPILib Struct as a Hoot-Replayed input.
template<typename T, typename... I> requires wpi::util::StructSerializable<T, I...>
HootAutoReplay &	WithStructArray (std::string name, I &&... info, std::function< std::span< T const >()> getter, std::function< void(SignalMeasurement< std::vector< T > >)> setter)
	Registers the array of WPILib Structs as a Hoot-Replayed input.
template<wpi::util::ProtobufSerializable T>
HootAutoReplay &	WithProtobuf (std::string name, std::function< T const &()> getter, std::function< void(SignalMeasurement< T >)> setter)
	Registers the protobuf as a Hoot-Replayed input.
HootAutoReplay &	WithRaw (std::string name, std::function< std::span< uint8_t const >()> getter, std::function< void(SignalMeasurement< std::vector< uint8_t > >)> setter)
	Registers the raw data bytes as a Hoot-Replayed input.
HootAutoReplay &	WithBoolean (std::string name, std::function< bool()> getter, std::function< void(SignalMeasurement< bool >)> setter)
	Registers the boolean as a Hoot-Replayed input.
HootAutoReplay &	WithInteger (std::string name, std::function< int64_t()> getter, std::function< void(SignalMeasurement< int64_t >)> setter, std::string units="")
	Registers the integer as a Hoot-Replayed input.
HootAutoReplay &	WithFloat (std::string name, std::function< float()> getter, std::function< void(SignalMeasurement< float >)> setter, std::string units="")
	Registers the float as a Hoot-Replayed input.
HootAutoReplay &	WithDouble (std::string name, std::function< double()> getter, std::function< void(SignalMeasurement< double >)> setter, std::string units="")
	Registers the double as a Hoot-Replayed input.
HootAutoReplay &	WithString (std::string name, std::function< std::string_view()> getter, std::function< void(SignalMeasurement< std::string >)> setter)
	Registers the string as a Hoot-Replayed input.
template<typename U> requires wpi::units::traits::is_unit_t_v<U>
HootAutoReplay &	WithValue (std::string name, std::function< U()> getter, std::function< void(SignalMeasurement< U >)> setter)
	Registers the unit value as a Hoot-Replayed input.
HootAutoReplay &	WithBooleanArray (std::string name, std::function< std::span< bool const >()> getter, std::function< void(SignalMeasurement< std::vector< uint8_t > >)> setter)
	Registers the array of booleans as a Hoot-Replayed input.
HootAutoReplay &	WithBooleanArray (std::string name, std::function< std::span< uint8_t const >()> getter, std::function< void(SignalMeasurement< std::vector< uint8_t > >)> setter)
	Registers the array of booleans as a Hoot-Replayed input.
HootAutoReplay &	WithIntegerArray (std::string name, std::function< std::span< int64_t const >()> getter, std::function< void(SignalMeasurement< std::vector< int64_t > >)> setter, std::string units="")
	Registers the array of integers as a Hoot-Replayed input.
HootAutoReplay &	WithFloatArray (std::string name, std::function< std::span< float const >()> getter, std::function< void(SignalMeasurement< std::vector< float > >)> setter, std::string units="")
	Registers the array of floats as a Hoot-Replayed input.
HootAutoReplay &	WithDoubleArray (std::string name, std::function< std::span< double const >()> getter, std::function< void(SignalMeasurement< std::vector< double > >)> setter, std::string units="")
	Registers the array of doubles as a Hoot-Replayed input.
HootAutoReplay &	WithStringArray (std::string name, std::function< std::span< std::string_view const >()> getter, std::function< void(SignalMeasurement< std::vector< std::string > >)> setter)
	Registers the array of strings as a Hoot-Replayed input.
HootAutoReplay &	WithStringArray (std::string name, std::function< std::span< std::string const >()> getter, std::function< void(SignalMeasurement< std::vector< std::string > >)> setter)
	Registers the array of strings as a Hoot-Replayed input.

Detailed Description

Class for handling automatic logging and replay of custom signal inputs.

Each subsystem typically creates a new instance of this class.

Note that all StatusSignals are automatically logged and replayed, so they do not need to be registered with this class. Additionally, the SignalLogger must be separately started at the start of the robot program.

"Inputs" are signals measured directly from devices that should be replayed unmodified. By comparison, a processed signal, such as a signal indicating that a mechanism has reached the target, is considered an "output". This class should only be used with inputs.

Inputs are registered with a getter that returns a value to log and a setter that updates the value in your robot program. For example, a Vision class with a Pose2d cameraPose input would register the input using:

HootAutoReplay autoReplay = HootAutoReplay{}
    .WithStruct<wpi::math::Pose2d>(
        "Vision/CameraPose",
        [this]() -> wpi::math::Pose2d const& { return cameraPose; },
        [this](SignalMeasurement<wpi::math::Pose2d> val) {
            cameraPose = val.value;
        }
    );

After registering all relevant inputs, call Update() periodically to perform the following:

In normal/simulated robot operation, registered inputs will be fetched from your robot code using the provided getter and then logged using the SignalLogger.
During Hoot Replay, registered inputs will be fetched from HootReplay and then updated in your robot code using the provided setter.

Note that for non-primitive types, the getter function must return a reference to or std::span/std::string_view over the original data. As a result, it cannot return a temporary value. If a getter lambda must return a temporary value, capture a shared_ptr in the lambda, then modify and return the value stored in the shared_ptr.

Member Function Documentation

◆ Update()

void ctre::phoenix6::HootAutoReplay::Update ( ) const

inline

Updates the state of the robot program by doing one of the following:

In normal/simulated robot operation, registered signals will be fetched from your robot code using the provided getter and then logged using the SignalLogger.
During Hoot Replay, registered signals will be fetched from HootReplay and then updated in your robot code using the provided setter.

This should be called periodically, typically in the subsystem.

◆ WithBoolean()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithBoolean	(	std::string	name,
		std::function< bool()>	getter,
		std::function< void(SignalMeasurement< bool >)>	setter )

Registers the boolean as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithBooleanArray() [1/2]

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithBooleanArray	(	std::string	name,
		std::function< std::span< bool const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< uint8_t > >)>	setter )

Registers the array of booleans as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithBooleanArray() [2/2]

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithBooleanArray	(	std::string	name,
		std::function< std::span< uint8_t const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< uint8_t > >)>	setter )

Registers the array of booleans as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithDouble()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithDouble	(	std::string	name,
		std::function< double()>	getter,
		std::function< void(SignalMeasurement< double >)>	setter,
		std::string	units = "" )

Registers the double as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value
units	Units of the signal in the log

Returns: this object

◆ WithDoubleArray()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithDoubleArray	(	std::string	name,
		std::function< std::span< double const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< double > >)>	setter,
		std::string	units = "" )

Registers the array of doubles as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value
units	Units of the signal in the log

Returns: this object

◆ WithDriverStationReplay()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithDriverStationReplay ( )

Registers Driver Station logging and playback with this instance, excluding joysticks and match info.

This should only be applied to one instance in the robot program.

The Update() of this HootAutoReplay instance should be scheduled in the Robot constructor using AddPeriodic() with an offset of -1 ms:

AddPeriodic([this] { autoReplay.Update(); }, DEFAULT_PERIOD, -1_ms);

Returns: this object

◆ WithFloat()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithFloat	(	std::string	name,
		std::function< float()>	getter,
		std::function< void(SignalMeasurement< float >)>	setter,
		std::string	units = "" )

Registers the float as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value
units	Units of the signal in the log

Returns: this object

◆ WithFloatArray()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithFloatArray	(	std::string	name,
		std::function< std::span< float const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< float > >)>	setter,
		std::string	units = "" )

Registers the array of floats as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value
units	Units of the signal in the log

Returns: this object

◆ WithInteger()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithInteger	(	std::string	name,
		std::function< int64_t()>	getter,
		std::function< void(SignalMeasurement< int64_t >)>	setter,
		std::string	units = "" )

Registers the integer as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value
units	Units of the signal in the log

Returns: this object

◆ WithIntegerArray()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithIntegerArray	(	std::string	name,
		std::function< std::span< int64_t const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< int64_t > >)>	setter,
		std::string	units = "" )

Registers the array of integers as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value
units	Units of the signal in the log

Returns: this object

◆ WithJoystickReplay()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithJoystickReplay ( )

Registers joystick logging and playback with this instance.

This should only be applied to one instance in the robot program.

To get joysticks to play back during Hoot Replay, "Turn off DS" must be checked in the simulation GUI (under "DS" at the top of the window).

The Update() of this HootAutoReplay instance should be scheduled in the Robot constructor using AddPeriodic() with an offset of -1 ms:

AddPeriodic([this] { autoReplay.Update(); }, DEFAULT_PERIOD, -1_ms);

Returns: this object

◆ WithMatchInfoReplay()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithMatchInfoReplay ( )

Registers match info logging and playback with this instance.

This should only be applied to one instance in the robot program.

The Update() of this HootAutoReplay instance should be scheduled in the Robot constructor using AddPeriodic() with an offset of -1 ms:

AddPeriodic([this] { autoReplay.Update(); }, DEFAULT_PERIOD, -1_ms);

Returns: this object

◆ WithProtobuf()

template<wpi::util::ProtobufSerializable T>

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithProtobuf	(	std::string	name,
		std::function< T const &()>	getter,
		std::function< void(SignalMeasurement< T >)>	setter )

inline

Registers the protobuf as a Hoot-Replayed input.

Template Parameters

T	Protobuf type

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithRaw()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithRaw	(	std::string	name,
		std::function< std::span< uint8_t const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< uint8_t > >)>	setter )

Registers the raw data bytes as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithSchemaValue() [1/2]

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithSchemaValue	(	std::string	name,
		std::string	schemaName,
		HootSchemaType	type,
		std::span< uint8_t const >	schema,
		std::function< std::span< uint8_t const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< uint8_t > >)>	setter )

Registers the schema-serialized bytes as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
schemaName	Name of the schema
type	Type of the schema, such as struct or protobuf
schema	Schema bytes to write
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithSchemaValue() [2/2]

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithSchemaValue	(	std::string	name,
		std::string	schemaName,
		HootSchemaType	type,
		std::string_view	schema,
		std::function< std::span< uint8_t const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< uint8_t > >)>	setter )

Registers the schema-serialized bytes as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
schemaName	Name of the schema
type	Type of the schema, such as struct or protobuf
schema	Schema string to write
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithString()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithString	(	std::string	name,
		std::function< std::string_view()>	getter,
		std::function< void(SignalMeasurement< std::string >)>	setter )

Registers the string as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithStringArray() [1/2]

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithStringArray	(	std::string	name,
		std::function< std::span< std::string const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< std::string > >)>	setter )

Registers the array of strings as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithStringArray() [2/2]

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithStringArray	(	std::string	name,
		std::function< std::span< std::string_view const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< std::string > >)>	setter )

Registers the array of strings as a Hoot-Replayed input.

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithStruct()

template<typename T, typename... I>
requires wpi::util::StructSerializable<T, I...>

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithStruct	(	std::string	name,
		I &&...	info,
		std::function< T const &()>	getter,
		std::function< void(SignalMeasurement< T >)>	setter )

inline

Registers the WPILib Struct as a Hoot-Replayed input.

Template Parameters

T	Struct type
I	Struct info types

Parameters

name	Name of the signal in the log
info	Optional struct type info
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithStructArray()

template<typename T, typename... I>
requires wpi::util::StructSerializable<T, I...>

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithStructArray	(	std::string	name,
		I &&...	info,
		std::function< std::span< T const >()>	getter,
		std::function< void(SignalMeasurement< std::vector< T > >)>	setter )

inline

Registers the array of WPILib Structs as a Hoot-Replayed input.

Template Parameters

T	Struct type
I	Struct info types

Parameters

name	Name of the signal in the log
info	Optional struct type info
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

◆ WithTimestampReplay()

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithTimestampReplay ( )

Registers Timer::GetTimestamp() logging and playback with this instance.

This should only be applied to one instance in the robot program.

Returns: this object

◆ WithValue()

template<typename U>
requires wpi::units::traits::is_unit_t_v<U>

HootAutoReplay & ctre::phoenix6::HootAutoReplay::WithValue	(	std::string	name,
		std::function< U()>	getter,
		std::function< void(SignalMeasurement< U >)>	setter )

inline

Registers the unit value as a Hoot-Replayed input.

Template Parameters

U Unit type

Parameters

name	Name of the signal in the log
getter	Function that returns the current value of the input
setter	Function that sets the input to a new value

Returns: this object

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

ctre/phoenix6/HootAutoReplay.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ Update()

◆ WithBoolean()

◆ WithBooleanArray() [1/2]

◆ WithBooleanArray() [2/2]

◆ WithDouble()

◆ WithDoubleArray()

◆ WithDriverStationReplay()

◆ WithFloat()

◆ WithFloatArray()

◆ WithInteger()

◆ WithIntegerArray()

◆ WithJoystickReplay()

◆ WithMatchInfoReplay()

◆ WithProtobuf()

◆ WithRaw()

◆ WithSchemaValue() [1/2]

◆ WithSchemaValue() [2/2]

◆ WithString()

◆ WithStringArray() [1/2]

◆ WithStringArray() [2/2]

◆ WithStruct()

◆ WithStructArray()

◆ WithTimestampReplay()

◆ WithValue()