Represents a status signal with data of type T, and operations available to retrieve information about the signal. More...

#include <ctre/phoenix6/StatusSignal.hpp>

Inheritance diagram for ctre::phoenix6::StatusSignal< T >:

Public Member Functions
T	GetValue () const
	Gets the cached value from this status signal.

StatusSignal< T > &	Refresh (bool ReportOnError=true)
	Refreshes the value of this status signal.

StatusSignal< T > &	WaitForUpdate (units::time::second_t timeoutSec, bool ReportOnError=true)
	Waits up to timeoutSec to get the up-to-date status signal value.

bool	IsNear (T target, T tolerance) const
	Checks whether the signal is near a target value within the given tolerance.

bool	IsNear (T target, T tolerance) const
	Checks whether the signal is near a target value within the given tolerance.

SignalMeasurement< T >	GetDataCopy () const
	Get a basic data-only container with a copy of the current signal data.

std::function< T()>	AsSupplier ()
	Returns a lambda that calls Refresh and GetValue on this object.

std::string	ToString () const

Public Member Functions inherited from ctre::phoenix6::BaseStatusSignal
virtual	~BaseStatusSignal ()=0

std::string const &	GetName () const
	Gets the name of this signal.

std::string const &	GetUnits () const
	Gets the units for this signal.

double	GetValueAsDouble () const
	Gets the value of this signal as a double.

AllTimestamps const &	GetAllTimestamps () const
	Gets the timestamps of this signals.

Timestamp const &	GetTimestamp () const
	Gets the most accurate timestamp available for this signal.

ctre::phoenix::StatusCode	GetStatus () const
	Gets the error code from when we last received this signal.

bool	HasUpdated ()
	Checks whether the signal has been updated since the last check.

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.

Friends
class	hardware::ParentDevice

std::ostream &	operator<< (std::ostream &os, StatusSignal< T > const &data)

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::BaseStatusSignal
template<typename U , typename U_PER_SEC > requires units::traits::is_unit_t_v<U> && units::traits::is_unit_t_v<U_PER_SEC> && units::traits::is_convertible_unit_v< typename units::traits::unit_t_traits<U>::unit_type, units::compound_unit<typename units::traits::unit_t_traits<U_PER_SEC>::unit_type, units::seconds> >
static U	GetLatencyCompensatedValue (StatusSignal< U > const &signal, StatusSignal< U_PER_SEC > const &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<std::derived_from< BaseStatusSignal >... 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, std::span< BaseStatusSignal *const > signals)
	Waits for new data on all provided signals up to timeout.

template<std::derived_from< BaseStatusSignal >... Signals>
static ctre::phoenix::StatusCode	RefreshAll (Signals &... signals)
	Performs a non-blocking refresh on all provided signals.

static ctre::phoenix::StatusCode	RefreshAll (std::span< BaseStatusSignal *const > signals)
	Performs a non-blocking refresh on all provided signals.

template<std::derived_from< BaseStatusSignal >... Signals>
static bool	IsAllGood (Signals const &... signals)
	Checks if all signals have an OK error code.

static bool	IsAllGood (std::span< BaseStatusSignal const *const > signals)
	Checks if all signals have an OK error code.

template<std::derived_from< BaseStatusSignal >... 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, std::span< BaseStatusSignal *const > signals)
	Sets the update frequency of all specified status signals to the provided common frequency.

Protected Member Functions inherited from ctre::phoenix6::BaseStatusSignal
	BaseStatusSignal (hardware::DeviceIdentifier deviceIdentifier, uint16_t spn, std::string signalName, std::function< void()> checkFirmVersFunction)

	BaseStatusSignal (hardware::DeviceIdentifier deviceIdentifier, uint16_t spn, std::string signalName, std::function< void()> checkFirmVersFunction, std::function< std::map< uint16_t, std::string >()> const &unitsGenerator)

	BaseStatusSignal (ctre::phoenix::StatusCode error)

void	RefreshValue (bool waitForUpdate, units::time::second_t timeout, bool ReportOnError)

void	UpdateUnits (uint16_t unitsKey)

Static Protected Member Functions inherited from ctre::phoenix6::BaseStatusSignal
static std::string	Status_GetUnits (uint32_t signal)

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

static ctre::phoenix::StatusCode	Status_WaitForAll (std::span< BaseStatusSignal const > signals, char const network, double timeoutSeconds)

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

static ctre::phoenix::StatusCode	Status_SetUpdateFrequencyForAll (std::span< BaseStatusSignal *const > signals, double frequencyHz, double timeoutSeconds)

static double	Status_GetAppliedUpdateFrequency (char const *canbus, uint32_t deviceHash, uint16_t spn)

static ctre::phoenix::StatusCode	WaitForAllImpl (char const location, units::time::second_t timeoutSeconds, std::span< BaseStatusSignal const > signals)

Protected Attributes inherited from ctre::phoenix6::BaseStatusSignal
std::string	units

double	baseValue = 0

AllTimestamps	timestamps {}

ctre::phoenix::StatusCode	error = ctre::phoenix::StatusCode::SigNotUpdated

Detailed Description

template<typename T>
class ctre::phoenix6::StatusSignal< T >

Represents a status signal with data of type T, and operations available to retrieve information about the signal.

Member Function Documentation

◆ AsSupplier()

template<typename T >

std::function< T()> ctre::phoenix6::StatusSignal< T >::AsSupplier ( )

inline

Returns a lambda that calls Refresh and GetValue on this object.

This is useful for command-based programming.

Returns: std::function<T()> that calls Refresh and returns this signal's value.

◆ GetDataCopy()

template<typename T >

SignalMeasurement< T > ctre::phoenix6::StatusSignal< T >::GetDataCopy ( ) const

inline

Get a basic data-only container with a copy of the current signal data.

If looking for Phoenix 6 logging features, see the SignalLogger class instead.

Returns: Basic structure with all relevant information

◆ GetValue()

template<typename T >

T ctre::phoenix6::StatusSignal< T >::GetValue ( ) const

inline

Gets the cached value from this status signal.

Gets the cached value. To make sure the value is up-to-date call Refresh() or WaitForUpdate()

Returns: Cached value

◆ IsNear() [1/2]

template<typename T >

bool ctre::phoenix6::StatusSignal< T >::IsNear	(	T	target,
		T	tolerance ) const

inline

Checks whether the signal is near a target value within the given tolerance.

Parameters

target	The target value of the signal
tolerance	The error tolerance between the target and measured values

Returns: Whether the signal is near the target value

◆ IsNear() [2/2]

template<typename T >

bool ctre::phoenix6::StatusSignal< T >::IsNear	(	T	target,
		T	tolerance ) const

inline

Checks whether the signal is near a target value within the given tolerance.

Parameters

target	The target value of the signal
tolerance	The error tolerance between the target and measured values

Returns: Whether the signal is near the target value

◆ Refresh()

template<typename T >

StatusSignal< T > & ctre::phoenix6::StatusSignal< T >::Refresh ( bool ReportOnError = true )

inline

Refreshes the value of this status signal.

If the user application caches this StatusSignal object instead of periodically fetching it from the hardware device, this function must be called to fetch fresh data.

This performs a non-blocking refresh operation. If you want to wait until you receive the signal, call WaitForUpdate() instead.

Parameters

ReportOnError Whether to report any errors to the Driver Station/stderr.

Returns: Reference to itself

◆ ToString()

template<typename T >

std::string ctre::phoenix6::StatusSignal< T >::ToString ( ) const

inline

◆ WaitForUpdate()

template<typename T >

StatusSignal< T > & ctre::phoenix6::StatusSignal< T >::WaitForUpdate	(	units::time::second_t	timeoutSec,
		bool	ReportOnError = true )

inline

Waits up to timeoutSec to get the up-to-date status signal value.

This performs a blocking refresh operation. If you want to non-blocking refresh the signal, call Refresh() instead.

Parameters

timeoutSec	Maximum time to wait for the signal to update
ReportOnError	Whether to report any errors to the Driver Station/stderr.

Returns: Reference to itself

Friends And Related Symbol Documentation

◆ hardware::ParentDevice

template<typename T >

friend class hardware::ParentDevice

friend

◆ operator<<

template<typename T >

std::ostream & operator<<	(	std::ostream &	os,
		StatusSignal< T > const &	data )

friend

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

ctre/phoenix6/StatusSignal.hpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AsSupplier()

◆ GetDataCopy()

◆ GetValue()

◆ IsNear() [1/2]

◆ IsNear() [2/2]

◆ Refresh()

◆ ToString()

◆ WaitForUpdate()

Friends And Related Symbol Documentation

◆ hardware::ParentDevice

◆ operator<<