ctre::phoenix6::Timestamp Class Reference

Information about the timestamp of a signal. More...

#include <ctre/phoenix6/Timestamp.hpp>

Public Types
enum class	TimestampSource { System = 0 , CANivore = 1 , Device = 2 }
	Source of the timestamp. More...

Public Member Functions
constexpr	Timestamp ()=default
	Constructs a new invalid Timestamp.
constexpr	Timestamp (wpi::units::second_t time, TimestampSource source, bool valid=true)
	Constructs a new Timestamp for the given source.
constexpr wpi::units::second_t	GetTime () const
	Gets the time of this timestamp.
constexpr TimestampSource	GetSource () const
	Gets the source of this timestamp.
constexpr bool	IsValid () const
	Gets whether this Timestamp is valid.
wpi::units::second_t	GetLatency () const
	Gets the latency of this timestamp compared to now.

Detailed Description

Information about the timestamp of a signal.

Member Enumeration Documentation

TimestampSource

enum class ctre::phoenix6::Timestamp::TimestampSource

strong

Source of the timestamp.

Enumerator
System	Timestamp as reported by the system. This timestamp is captured when the system receives the signal value. This timestamp is present on all systems and is guaranteed to be monotonic. However, this timestamp is the least accurate due to latency from processing delays within the system.
CANivore	Timestamp as reported by the CANivore. This timestamp is captured when the CANivore receives the signal value. The CANivore is synchronized to the system monotonic clock and benefits from reduced latency over the TimestampSource::System timestamp. When used with CANivore, the only inaccuracy in this measurement is latency from CAN bus arbitration.
Device	This timestamp source requires Phoenix Pro. Timestamp as reported by the device. This timestamp is captured when the device transmits the signal value. Because it is timestamped in the device, it is the most accurate timestamp source. This timestamp is synchronized to the CANivore clock, which is itself synchronized to the system monotonic clock. As a result, this timestamp source requires a CANivore. It can be assumed there is no latency between this timestamp and when the data was taken.

Constructor & Destructor Documentation

Timestamp() [1/2]

ctre::phoenix6::Timestamp::Timestamp ( )

constexprdefault

Constructs a new invalid Timestamp.

Timestamp() [2/2]

ctre::phoenix6::Timestamp::Timestamp ( wpi::units::second_t time, TimestampSource source, bool valid = true )

inlineconstexpr

Constructs a new Timestamp for the given source.

Parameters

time	The time in seconds
source	The timestamp source
valid	Whether the timestamp is valid

Member Function Documentation

GetLatency()

wpi::units::second_t ctre::phoenix6::Timestamp::GetLatency ( ) const

inline

Gets the latency of this timestamp compared to now.

Returns

Difference between now and this timestamp

GetSource()

TimestampSource ctre::phoenix6::Timestamp::GetSource ( ) const

inlineconstexpr

Gets the source of this timestamp.

Returns

Source of this timestamp

GetTime()

wpi::units::second_t ctre::phoenix6::Timestamp::GetTime ( ) const

inlineconstexpr

Gets the time of this timestamp.

Returns

Time of this timestamp

IsValid()

bool ctre::phoenix6::Timestamp::IsValid ( ) const

inlineconstexpr

Gets whether this Timestamp is valid.

Returns

true if this timestamp is valid

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

• ctre/phoenix6/Timestamp.hpp