Table of Contents

Class BaseStatusSignal

Namespace
CTRE.Phoenix6
Assembly
Phoenix6.Hardware.dll

Common parent type for the StatusSignal<T> object.

This can be used for a collection of StatusSignal<T> objects, but we recommend using the derived class instead when possible. 
public abstract class BaseStatusSignal
Inheritance
BaseStatusSignal
Derived
Inherited Members

Fields

localRef

Local reference to a StatusSignalNative.StatusSignalInfo object for use with the native interface.

protected StatusSignalNative.StatusSignalInfo localRef

Field Value

StatusSignalNative.StatusSignalInfo

Properties

AllTimestamps

All the timestamps associated with this signal.

public AllTimestamps AllTimestamps { get; protected set; }

Property Value

AllTimestamps

HasUpdated

Whether the signal has been updated since the last check.

Note that the signal must be refreshed before calling this routine. 
public bool HasUpdated { get; }

Property Value

bool

Name

The name of this signal.

public string Name { get; }

Property Value

string

Status

The status of the last time this signal was updated.

public StatusCode Status { get; protected set; }

Property Value

StatusCode

Timestamp

The most accurate timestamp associated with this signal.

public Timestamp Timestamp { get; }

Property Value

Timestamp

Units

The units associated with this signal. These units are encoded as UTF-8, so some applications may not render them properly.

public string Units { get; protected set; }

Property Value

string

ValueAsDouble

The value as a double instead of the generic type. This may be helpful when working with the base class.

public double ValueAsDouble { get; protected set; }

Property Value

double

Methods

GetAppliedUpdateFrequency()

Gets the rate at which the device will publish this signal.

This is typically the last value passed into SetUpdateFrequency(double, double). The returned value may be higher if another StatusSignal<T> in the same status frame has been set to a higher update frequency. 
public double GetAppliedUpdateFrequency()

Returns

double

Applied update frequency of the signal in Hz

GetLatencyCompensatedValue(StatusSignal<double>, StatusSignal<double>, double)

Performs latency compensation on signal using the signalSlope and signal's latency to determine the magnitude of compensation.The caller must refresh these StatusSignals beforehand; this function only does the math required for latency compensation.

Important: The signalSlope must be the rate of change of the signal. If it is not, the latency compensation may not perform as expected.

For example: 
double compensatedTurns = BaseStatusSignal.GetLatencyCompensatedValue(fx.GetPosition(), fx.GetVelocity());
 
public static double GetLatencyCompensatedValue(StatusSignal<double> signal, StatusSignal<double> signalSlope, double maxLatencySeconds = 0.3)

Parameters

signal StatusSignal<double>

Signal to be latency compensated. Caller must make sure this signal is up to date either by calling Refresh(bool) or WaitForUpdate(double, bool)

signalSlope StatusSignal<double>

Derivative of the signal that informs compensation magnitude. Caller must make sure this signal is up to date either by calling Refresh(bool) or WaitForUpdate(double, bool)

maxLatencySeconds double

The maximum amount of latency to compensate for in seconds. A negative or zero value disables the max latency cap. This is used to cap the contribution of latency compensation for stale signals, such as after the device has been disconnected from the CAN bus.

Returns

double

Latency compensated value from the signal StatusSignal

IsAllGood(params IReadOnlyList<BaseStatusSignal>)

Checks if all signals have an OK error code.

public static bool IsAllGood(params IReadOnlyList<BaseStatusSignal> signals)

Parameters

signals IReadOnlyList<BaseStatusSignal>

Signals to check error code of

Returns

bool

true if all signals are good, false otherwise

RefreshAll(params IReadOnlyList<BaseStatusSignal>)

Performs a non-blocking refresh on all provided signals.

This provides a performance improvement over separately calling Refresh(bool) on each signal. 
public static StatusCode RefreshAll(params IReadOnlyList<BaseStatusSignal> signals)

Parameters

signals IReadOnlyList<BaseStatusSignal>

Signals to refresh

Returns

StatusCode

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks, OK if all signals are OK,

Any other signal represents the StatusCode of the first failed signal. Call Status on each signal to determine which ones failed.

RefreshValue(bool, double, bool) 

protected void RefreshValue(bool waitForSignal, double timeout, bool reportError)

Parameters

waitForSignal bool
timeout double
reportError bool

SetUpdateFrequency(double, double)

Sets the rate at which the device will publish this signal.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz. Additionally, some update frequencies are not supported and will be promoted up to the next highest supported frequency.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame. 
public StatusCode SetUpdateFrequency(double frequencyHz, double timeoutSeconds = 0.1)

Parameters

frequencyHz double

Rate to publish the signal in Hz

timeoutSeconds double

Maximum amount of time to wait when performing the action

Returns

StatusCode

Status code of setting the update frequency

SetUpdateFrequencyForAll(double, params IReadOnlyList<BaseStatusSignal>)

Sets the update frequency of all specified status signals to the provided common frequency.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz. Additionally, some update frequencies are not supported and will be promoted up to the next highest supported frequency.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to each frame.

This will wait up to 0.100 seconds (100ms) for each signal. 
public static StatusCode SetUpdateFrequencyForAll(double frequencyHz, params IReadOnlyList<BaseStatusSignal> signals)

Parameters

frequencyHz double

Rate to publish the signal in Hz

signals IReadOnlyList<BaseStatusSignal>

Signals to apply the update frequency to

Returns

StatusCode

Status code of the first failed update frequency call, or OK if all succeeded

UpdateUnits(ushort) 

protected void UpdateUnits(ushort unitsKey)

Parameters

unitsKey ushort

WaitForAll(double, params IReadOnlyList<BaseStatusSignal>)

Waits for new data on all provided signals up to timeout. This API is typically used with CANivore Bus signals as they will be synced using the CANivore Timesync feature and arrive simultaneously.Signals on a roboRIO bus cannot be synced and may require a significantly longer blocking call to receive all signals.

Note that CANivore Timesync requires Phoenix Pro.

This can also be used with a timeout of zero to refresh many signals at once, which is faster than calling Refresh(bool) on every signal. This is equivalent to calling RefreshAll(params IReadOnlyList<BaseStatusSignal>).

If a signal arrives multiple times while waiting, such as when *not* using CANivore Timesync, the newest signal data is fetched. Additionally, if this function times out, the newest signal data is fetched for all signals (when possible). We recommend checking the individual status codes using Status when this happens. 
public static StatusCode WaitForAll(double timeoutSeconds, params IReadOnlyList<BaseStatusSignal> signals)

Parameters

timeoutSeconds double

Maximum time to wait for new data in seconds. Pass Zero to refresh all signals without blocking.

signals IReadOnlyList<BaseStatusSignal>

Signals to wait for new data against.

Returns

StatusCode

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks, RxTimeout if it took longer than timeoutSeconds to receive all signals, MultiSignalNotSupported if using a network that does not support more than one signal, OK if all signals arrived within timeoutSeconds and they are all OK,

Any other signal represents the StatusCode of the first failed signal. Call Status on each signal to determine which ones failed.