Table of Contents

Class HootAutoReplay

Namespace
CTRE.Phoenix6
Assembly
Phoenix6.Hardware.dll

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. 
public class HootAutoReplay
Inheritance
HootAutoReplay
Inherited Members

Remarks

"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 double[] cameraPose input would register the input using: 
private readonly HootAutoReplay autoReplay = new HootAutoReplay()
    .WithDoubleArray(
        "Vision/CameraPose", () => cameraPose, 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.

Methods

Update()

Updates the state of the robot program by doing one of 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.

This should be called periodically, typically in the subsystem.

public void Update()

WithBoolean(string, Func<bool>, Action<SignalMeasurement<bool>>)

Registers the boolean as a Hoot-Replayed input.

public HootAutoReplay WithBoolean(string name, Func<bool> getter, Action<SignalMeasurement<bool>> setter)

Parameters

name string

Name of the signal in the log

getter Func<bool>

Function that returns the current value of the input

setter Action<SignalMeasurement<bool>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithBooleanArray(string, Func<bool[]>, Action<SignalMeasurement<bool[]>>)

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

public HootAutoReplay WithBooleanArray(string name, Func<bool[]> getter, Action<SignalMeasurement<bool[]>> setter)

Parameters

name string

Name of the signal in the log

getter Func<bool[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<bool[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithDouble(string, Func<double>, Action<SignalMeasurement<double>>)

Registers the double as a Hoot-Replayed input.

public HootAutoReplay WithDouble(string name, Func<double> getter, Action<SignalMeasurement<double>> setter)

Parameters

name string

Name of the signal in the log

getter Func<double>

Function that returns the current value of the input

setter Action<SignalMeasurement<double>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithDoubleArray(string, Func<double[]>, Action<SignalMeasurement<double[]>>)

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

public HootAutoReplay WithDoubleArray(string name, Func<double[]> getter, Action<SignalMeasurement<double[]>> setter)

Parameters

name string

Name of the signal in the log

getter Func<double[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<double[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithFloat(string, Func<float>, Action<SignalMeasurement<float>>)

Registers the float as a Hoot-Replayed input.

public HootAutoReplay WithFloat(string name, Func<float> getter, Action<SignalMeasurement<float>> setter)

Parameters

name string

Name of the signal in the log

getter Func<float>

Function that returns the current value of the input

setter Action<SignalMeasurement<float>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithFloatArray(string, Func<float[]>, Action<SignalMeasurement<float[]>>)

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

public HootAutoReplay WithFloatArray(string name, Func<float[]> getter, Action<SignalMeasurement<float[]>> setter)

Parameters

name string

Name of the signal in the log

getter Func<float[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<float[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithInteger(string, Func<long>, Action<SignalMeasurement<long>>)

Registers the integer as a Hoot-Replayed input.

public HootAutoReplay WithInteger(string name, Func<long> getter, Action<SignalMeasurement<long>> setter)

Parameters

name string

Name of the signal in the log

getter Func<long>

Function that returns the current value of the input

setter Action<SignalMeasurement<long>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithIntegerArray(string, Func<long[]>, Action<SignalMeasurement<long[]>>)

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

public HootAutoReplay WithIntegerArray(string name, Func<long[]> getter, Action<SignalMeasurement<long[]>> setter)

Parameters

name string

Name of the signal in the log

getter Func<long[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<long[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithRaw(string, Func<byte[]>, Action<SignalMeasurement<byte[]>>)

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

public HootAutoReplay WithRaw(string name, Func<byte[]> getter, Action<SignalMeasurement<byte[]>> setter)

Parameters

name string

Name of the signal in the log

getter Func<byte[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<byte[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithSchemaValue(string, string, HootSchemaType, byte[], Func<byte[]>, Action<SignalMeasurement<byte[]>>)

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

public HootAutoReplay WithSchemaValue(string name, string schemaName, HootSchemaType type, byte[] schema, Func<byte[]> getter, Action<SignalMeasurement<byte[]>> setter)

Parameters

name string

Name of the signal in the log

schemaName string

Name of the schema

type HootSchemaType

Type of the schema, such as struct or protobuf

schema byte[]

Schema bytes to write

getter Func<byte[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<byte[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithSchemaValue(string, string, HootSchemaType, string, Func<byte[]>, Action<SignalMeasurement<byte[]>>)

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

public HootAutoReplay WithSchemaValue(string name, string schemaName, HootSchemaType type, string schema, Func<byte[]> getter, Action<SignalMeasurement<byte[]>> setter)

Parameters

name string

Name of the signal in the log

schemaName string

Name of the schema

type HootSchemaType

Type of the schema, such as struct or protobuf

schema string

Schema string to write

getter Func<byte[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<byte[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithString(string, Func<string>, Action<SignalMeasurement<string>>)

Registers the string as a Hoot-Replayed input.

public HootAutoReplay WithString(string name, Func<string> getter, Action<SignalMeasurement<string>> setter)

Parameters

name string

Name of the signal in the log

getter Func<string>

Function that returns the current value of the input

setter Action<SignalMeasurement<string>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object

WithStringArray(string, Func<string[]>, Action<SignalMeasurement<string[]>>)

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

public HootAutoReplay WithStringArray(string name, Func<string[]> getter, Action<SignalMeasurement<string[]>> setter)

Parameters

name string

Name of the signal in the log

getter Func<string[]>

Function that returns the current value of the input

setter Action<SignalMeasurement<string[]>>

Function that sets the input to a new value

Returns

HootAutoReplay

this object