Package com.ctre.phoenix6

Class StatusSignal<T>

java.lang.Object

com.ctre.phoenix6.BaseStatusSignal

com.ctre.phoenix6.StatusSignal<T>

All Implemented Interfaces:

Cloneable

public class StatusSignal<T>
extends BaseStatusSignal
implements Cloneable

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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	StatusSignal.SignalMeasurement<V>	Information from a single measurement of a status signal.

Field Summary

Fields inherited from class com.ctre.phoenix6.BaseStatusSignal

baseValue, error, jni, timestamps, units

Constructor Summary

Constructors

Constructor	Description
StatusSignal(DeviceIdentifier deviceIdentifier, int spn, String signalName, Runnable reportIfOldFunc, ParentDevice.MapGenerator unitsGenerator, Class<T> classOfSignal, DoubleFunction<T> toValue)
StatusSignal(DeviceIdentifier deviceIdentifier, int spn, String signalName, Runnable reportIfOldFunc, Class<T> classOfSignal, DoubleFunction<T> toValue)
StatusSignal(StatusCode error, Class<T> classOfSignal, DoubleFunction<T> toValue)

Method Summary

Modifier and Type	Method	Description
final Supplier<T>	asSupplier()	Returns a lambda that calls refresh(boolean) and getValue() on this object.
StatusSignal<T>	clone()
final StatusSignal.SignalMeasurement<T>	getDataCopy()	Get a basic data-only container with a copy of the current signal data.
final Class<T>	getTypeClass()
final T	getValue()	Gets the cached value from this status signal.
final boolean	isNear(double target, double tolerance)	Checks whether the signal is near a target value within the given tolerance.
final boolean	isNear(T target, T tolerance)	Checks whether the signal is near a target value within the given tolerance.
final StatusSignal<T>	refresh()	Refreshes the value of this status signal.
final StatusSignal<T>	refresh(boolean reportError)	Refreshes the value of this status signal.
String	toString()
final StatusSignal<T>	waitForUpdate(double timeoutSec)	Waits up to timeoutSec to get the up-to-date status signal value.
final StatusSignal<T>	waitForUpdate(double timeoutSec, boolean reportError)	Waits up to timeoutSec to get the up-to-date status signal value.

Methods inherited from class com.ctre.phoenix6.BaseStatusSignal

getAllTimestamps, getAppliedUpdateFrequency, getAppliedUpdateFrequencyMeasure, getLatencyCompensatedValue, getLatencyCompensatedValue, getLatencyCompensatedValueAsDouble, getLatencyCompensatedValueAsDouble, getName, getStatus, getTimestamp, getUnits, getValueAsDouble, hasUpdated, isAllGood, isAllGood, refreshAll, refreshAll, refreshValue, setUpdateFrequency, setUpdateFrequency, setUpdateFrequency, setUpdateFrequency, setUpdateFrequencyForAll, setUpdateFrequencyForAll, setUpdateFrequencyForAll, setUpdateFrequencyForAll, updateUnits, waitForAll, waitForAll

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

StatusSignal

public StatusSignal(DeviceIdentifier deviceIdentifier,
 int spn,
 String signalName,
 Runnable reportIfOldFunc,
 Class<T> classOfSignal,
 DoubleFunction<T> toValue)

StatusSignal

public StatusSignal(DeviceIdentifier deviceIdentifier,
 int spn,
 String signalName,
 Runnable reportIfOldFunc,
 ParentDevice.MapGenerator unitsGenerator,
 Class<T> classOfSignal,
 DoubleFunction<T> toValue)

StatusSignal

public StatusSignal(StatusCode error,
 Class<T> classOfSignal,
 DoubleFunction<T> toValue)

Method Details

getTypeClass

public final Class<T> getTypeClass()

clone

public StatusSignal<T> clone()

Overrides:

clone in class Object

getValue

public final T getValue()

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(double)

Returns:

Cached value

refresh

public final StatusSignal<T> refresh(boolean reportError)

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(double) instead.

Parameters:

reportError - Whether to report any errors to the Driver Station/stderr. Defaults true

Returns:

Reference to itself

refresh

public final StatusSignal<T> refresh()

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(double) instead.

Returns:

Reference to itself

waitForUpdate

public final StatusSignal<T> waitForUpdate(double timeoutSec,
 boolean reportError)

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

reportError - Whether to report any errors to the Driver Station/stderr. Defaults true

Returns:

Reference to itself

waitForUpdate

public final StatusSignal<T> waitForUpdate(double timeoutSec)

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

Returns:

Reference to itself

isNear

public final boolean isNear(double target,
 double tolerance)

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

public final boolean isNear(T target,
 T tolerance)

Checks whether the signal is near a target value within the given tolerance. This signal must be a numeric or unit type.

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

asSupplier

public final Supplier<T> asSupplier()

Returns a lambda that calls refresh(boolean) and getValue() on this object. This is useful for command-based programming.

Returns:

Supplier that refreshes this signal and returns it

toString

public String toString()

Overrides:

toString in class Object

getDataCopy

public final StatusSignal.SignalMeasurement<T> getDataCopy()

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.

This function returns a new object every call. As a result, we recommend that this is not called inside a tight loop.

Returns:

Basic structure with all relevant information