Static class for controlling the Phoenix 6 signal logger. More...

#include <ctre/phoenix6/SignalLogger.hpp>

Static Public Member Functions
static ctre::phoenix::StatusCode	SetPath (const char *path)
	Sets the destination for logging, restarting logger if the path changed.

static ctre::phoenix::StatusCode	Start ()
	Starts logging status signals.

static ctre::phoenix::StatusCode	Stop ()
	Stops logging status signals.

static ctre::phoenix::StatusCode	EnableAutoLogging (bool enable)
	Enables or disables auto logging.

static ctre::phoenix::StatusCode	AddSchema (std::string_view name, HootSchemaType type, std::span< uint8_t const > schema)
	Adds the schema to the log file.

static ctre::phoenix::StatusCode	AddSchema (std::string_view name, HootSchemaType type, std::string_view schema)
	Adds the schema to the log file.

static bool	HasSchema (std::string_view name, HootSchemaType type)
	Checks if the schema has already been added to the log files.

static ctre::phoenix::StatusCode	WriteSchemaValue (std::string_view name, std::string_view schema, HootSchemaType type, std::span< uint8_t const > data, units::time::second_t latencySeconds=0_s)
	Writes the schema-serialized bytes to the log file.

template<typename T , typename... I> requires wpi::StructSerializable<T, I...>
static ctre::phoenix::StatusCode	WriteStruct (std::string_view name, T const &value, I const &... info, units::time::second_t latencySeconds=0_s)
	Writes the WPILib Struct to the log file.

template<typename T , typename... I> requires wpi::StructSerializable<T, I...>
static ctre::phoenix::StatusCode	WriteStructArray (std::string_view name, std::span< T const > values, I const &... info, units::time::second_t latencySeconds=0_s)
	Writes the array of WPILib Structs to the log file.

template<wpi::ProtobufSerializable T>
static ctre::phoenix::StatusCode	WriteProtobuf (std::string_view name, T const &value, units::time::second_t latencySeconds=0_s)
	Writes the protobuf to the log file.

static ctre::phoenix::StatusCode	WriteRaw (std::string_view name, std::span< uint8_t const > data, units::time::second_t latencySeconds=0_s)
	Writes the raw data bytes to the log file.

static ctre::phoenix::StatusCode	WriteBoolean (std::string_view name, bool value, units::time::second_t latencySeconds=0_s)
	Writes the boolean to the log file.

static ctre::phoenix::StatusCode	WriteInteger (std::string_view name, int64_t value, std::string_view units="", units::time::second_t latencySeconds=0_s)
	Writes the integer to the log file.

static ctre::phoenix::StatusCode	WriteFloat (std::string_view name, float value, std::string_view units="", units::time::second_t latencySeconds=0_s)
	Writes the float to the log file.

static ctre::phoenix::StatusCode	WriteDouble (std::string_view name, double value, std::string_view units="", units::time::second_t latencySeconds=0_s)
	Writes the double to the log file.

static ctre::phoenix::StatusCode	WriteString (std::string_view name, std::string_view value, units::time::second_t latencySeconds=0_s)
	Writes the string to the log file.

template<typename U > requires units::traits::is_unit_t_v<U>
static ctre::phoenix::StatusCode	WriteValue (std::string_view name, U value, units::time::second_t latencySeconds=0_s)
	Writes the unit value to the log file.

static ctre::phoenix::StatusCode	WriteBooleanArray (std::string_view name, std::span< bool const > values, units::time::second_t latencySeconds=0_s)
	Writes the array of booleans to the log file.

static ctre::phoenix::StatusCode	WriteBooleanArray (std::string_view name, std::span< uint8_t const > values, units::time::second_t latencySeconds=0_s)
	Writes the array of booleans to the log file.

static ctre::phoenix::StatusCode	WriteIntegerArray (std::string_view name, std::span< int64_t const > values, std::string_view units="", units::time::second_t latencySeconds=0_s)
	Writes the array of integers to the log file.

static ctre::phoenix::StatusCode	WriteFloatArray (std::string_view name, std::span< float const > values, std::string_view units="", units::time::second_t latencySeconds=0_s)
	Writes the array of floats to the log file.

static ctre::phoenix::StatusCode	WriteDoubleArray (std::string_view name, std::span< double const > values, std::string_view units="", units::time::second_t latencySeconds=0_s)
	Writes the array of doubles to the log file.

static ctre::phoenix::StatusCode	WriteStringArray (std::string_view name, std::span< std::string_view const > values, units::time::second_t latencySeconds=0_s)
	Writes the array of strings to the log file.

static ctre::phoenix::StatusCode	WriteStringArray (std::string_view name, std::span< std::string const > values, units::time::second_t latencySeconds=0_s)
	Writes the array of strings to the log file.

Detailed Description

Static class for controlling the Phoenix 6 signal logger.

This logs all the signals from the CAN buses into .hoot files. Each file name starts with the CANivore serial number or "rio" for the roboRIO CAN bus, followed by the timestamp. In the header of a hoot file, the CANivore name and firmware version are logged in plain text.

During an FRC match, the log file will be renamed to include the event name, match type, and match number at the start of the file name. The match type will be 'P' for practice matches, 'Q' for qualification matches, and 'E' for elimination matches.

During Hoot Replay, the signal logger always runs while replay is running. All custom signals written during replay will be automatically placed under hoot_replay/. Additionally, the log will contain all status signals and custom signals from the original log.

Member Function Documentation

◆ AddSchema() [1/2]

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::AddSchema	(	std::string_view	name,
		HootSchemaType	type,
		std::span< uint8_t const >	schema )

static

Adds the schema to the log file.

In an FRC robot program, users can call WriteStruct and WriteProtobuf to directly write schema values instead.

The schema name should typically exactly match the name of the type (without any extra prefix or suffix).

For protobuf, first register all relevant file descriptors by file name (such as "geometry2d.proto"). Then, for each top-level type being used, add a separate empty schema with the full name of the type (such as "wpi.proto.ProtobufPose2d").

Parameters

name	Name of the schema
type	Type of the schema, such as struct or protobuf
schema	Schema bytes to write

Returns: Status of adding the schema

◆ AddSchema() [2/2]

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::AddSchema	(	std::string_view	name,
		HootSchemaType	type,
		std::string_view	schema )

inlinestatic

Adds the schema to the log file.

In an FRC robot program, users can call WriteStruct and WriteProtobuf to directly write schema values instead.

The schema name should typically exactly match the name of the type (without any extra prefix or suffix).

For protobuf, first register all relevant file descriptors by file name (such as "geometry2d.proto"). Then, for each top-level type being used, add a separate empty schema with the full name of the type (such as "wpi.proto.ProtobufPose2d").

Parameters

name	Name of the schema
type	Type of the schema, such as struct or protobuf
schema	Schema string to write

Returns: Status of adding the schema

◆ EnableAutoLogging()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::EnableAutoLogging ( bool enable )

static

Enables or disables auto logging.

Auto logging is only supported on the roboRIO. Additionally, on a roboRIO 1, auto logging will only be active if a USB flash drive is present.

When auto logging is enabled, logging is started by any of the following (whichever occurs first):

The robot is enabled.
It has been at least 5 seconds since program startup (allowing for calls to SetPath), and the Driver Station is connected to the robot.

After auto logging has started the log once, logging will not be automatically stopped or restarted by auto logging.

Parameters

enable Whether to enable auto logging

Returns: Status of auto logging enable/disable

◆ HasSchema()

static bool ctre::phoenix6::SignalLogger::HasSchema	(	std::string_view	name,
		HootSchemaType	type )

static

Checks if the schema has already been added to the log files.

Parameters

name	Name of the schema
type	Type of the schema, such as struct or protobuf

Returns: Whether the schema has been added to the log files

◆ SetPath()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::SetPath ( const char * path )

static

Sets the destination for logging, restarting logger if the path changed.

If this is not called or the path is left empty, the default path will be used. The default path on the roboRIO is a logs folder on the first USB flash drive found, or /home/lvuser/logs if none is available. The default path on all other platforms is a logs folder in the current working directory.

Typical use for this routine is to use a removable USB flash drive for logging.

This is ignored during Hoot Replay, where the hoot log will always be written to a subfolder next to the log being replayed.

Parameters

path	Folder path for the log files; path must exist

Returns: Status of setting the path and restarting the log

◆ Start()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::Start ( )

static

Starts logging status signals.

Starts regardless of auto logging status.

If using a roboRIO 1, we recommend setting the logging path to an external drive using SetPath to avoid running out of internal storage space.

This is ignored during Hoot Replay, where logging is automatically started when Hoot Replay starts running or restarts.

Returns: Status of starting the logger

◆ Stop()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::Stop ( )

static

Stops logging status signals.

Stops regardless of auto logging status.

This is ignored during Hoot Replay, where logging is automatically stopped when Hoot Replay is stopped or reaches the end of the file.

Returns: Status of stopping the logger

◆ WriteBoolean()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteBoolean	(	std::string_view	name,
		bool	value,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the boolean to the log file.

Parameters

name	Name of the signal
value	Value to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteBooleanArray() [1/2]

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteBooleanArray	(	std::string_view	name,
		std::span< bool const >	values,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of booleans to the log file.

Parameters

name	Name of the signal
values	Span of values to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteBooleanArray() [2/2]

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteBooleanArray	(	std::string_view	name,
		std::span< uint8_t const >	values,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of booleans to the log file.

Parameters

name	Name of the signal
values	Span of values to write, passed as a span of bytes
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteDouble()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteDouble	(	std::string_view	name,
		double	value,
		std::string_view	units = "",
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the double to the log file.

Parameters

name	Name of the signal
value	Value to write
units	Units of the signal
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteDoubleArray()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteDoubleArray	(	std::string_view	name,
		std::span< double const >	values,
		std::string_view	units = "",
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of doubles to the log file.

Parameters

name	Name of the signal
values	Span of values to write
units	Units of the signals
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteFloat()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteFloat	(	std::string_view	name,
		float	value,
		std::string_view	units = "",
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the float to the log file.

Parameters

name	Name of the signal
value	Value to write
units	Units of the signal
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteFloatArray()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteFloatArray	(	std::string_view	name,
		std::span< float const >	values,
		std::string_view	units = "",
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of floats to the log file.

Parameters

name	Name of the signal
values	Span of values to write
units	Units of the signals
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteInteger()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteInteger	(	std::string_view	name,
		int64_t	value,
		std::string_view	units = "",
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the integer to the log file.

Parameters

name	Name of the signal
value	Value to write
units	Units of the signal
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteIntegerArray()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteIntegerArray	(	std::string_view	name,
		std::span< int64_t const >	values,
		std::string_view	units = "",
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of integers to the log file.

Parameters

name	Name of the signal
values	Span of values to write
units	Units of the signals
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteProtobuf()

template<wpi::ProtobufSerializable T>

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteProtobuf	(	std::string_view	name,
		T const &	value,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the protobuf to the log file.

Parameters

name	Name of the signal
value	Value to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteRaw()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteRaw	(	std::string_view	name,
		std::span< uint8_t const >	data,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the raw data bytes to the log file.

Parameters

name	Name of the signal
data	Span of raw data bytes
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteSchemaValue()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteSchemaValue	(	std::string_view	name,
		std::string_view	schema,
		HootSchemaType	type,
		std::span< uint8_t const >	data,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the schema-serialized bytes to the log file.

In an FRC robot program, users can call WriteStruct, WriteStructArray, and WriteProtobuf to directly write schema values instead.

The name of the associated schema must exactly match the type of the data (such as "Pose2d" or "wpi.proto.ProtobufPose2d"). Additionally, the schema name must be registered with AddSchema before calling this API.

Parameters

name	Name of the signal
schema	Name of the associated schema
type	Type of the associated schema, such as struct or protobuf
data	Span of serialized data bytes
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteString()

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteString	(	std::string_view	name,
		std::string_view	value,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the string to the log file.

Parameters

name	Name of the signal
value	Value to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteStringArray() [1/2]

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteStringArray	(	std::string_view	name,
		std::span< std::string const >	values,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of strings to the log file.

Parameters

name	Name of the signal
values	Span of values to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteStringArray() [2/2]

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteStringArray	(	std::string_view	name,
		std::span< std::string_view const >	values,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of strings to the log file.

Parameters

name	Name of the signal
values	Span of values to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteStruct()

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

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteStruct	(	std::string_view	name,
		T const &	value,
		I const &...	info,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the WPILib Struct to the log file.

Parameters

name	Name of the signal
value	Value to write
info	Optional struct type info
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteStructArray()

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

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteStructArray	(	std::string_view	name,
		std::span< T const >	values,
		I const &...	info,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the array of WPILib Structs to the log file.

Parameters

name	Name of the signal
values	Values to write
info	Optional struct type info
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

◆ WriteValue()

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

static ctre::phoenix::StatusCode ctre::phoenix6::SignalLogger::WriteValue	(	std::string_view	name,
		U	value,
		units::time::second_t	latencySeconds = 0_s )

inlinestatic

Writes the unit value to the log file.

Parameters

name	Name of the signal
value	Value to write
latencySeconds	Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns: Status of writing the data

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

ctre/phoenix6/SignalLogger.hpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ AddSchema() [1/2]

◆ AddSchema() [2/2]

◆ EnableAutoLogging()

◆ HasSchema()

◆ SetPath()

◆ Start()

◆ Stop()

◆ WriteBoolean()

◆ WriteBooleanArray() [1/2]

◆ WriteBooleanArray() [2/2]

◆ WriteDouble()

◆ WriteDoubleArray()

◆ WriteFloat()

◆ WriteFloatArray()

◆ WriteInteger()

◆ WriteIntegerArray()

◆ WriteProtobuf()

◆ WriteRaw()

◆ WriteSchemaValue()

◆ WriteString()

◆ WriteStringArray() [1/2]

◆ WriteStringArray() [2/2]

◆ WriteStruct()

◆ WriteStructArray()

◆ WriteValue()