Package com.ctre.phoenix6

Class StatusSignalCollection

java.lang.Object
com.ctre.phoenix6.StatusSignalCollection
public class StatusSignalCollection extends Object
Class to manage bulk refreshing device status signals.

  • Field Details

  • Constructor Details

    • StatusSignalCollection

      public StatusSignalCollection(BaseStatusSignal... signals)
      Creates a new collection of status signals, optionally adding the provided signals to the collection.
      Parameters:
      signals - Signals to add

    • StatusSignalCollection

      public StatusSignalCollection(Collection<BaseStatusSignal> signals)
      Creates a new collection of status signals, adding the provided list of signals to the collection.
      Parameters:
      signals - Signals to add

  • Method Details

    • addSignals

      public final void addSignals(BaseStatusSignal... signals)
      Adds the provided signals to the collection.
      Parameters:
      signals - Signals to add

    • addSignals

      public final void addSignals(Collection<BaseStatusSignal> signals)
      Adds the provided signals to the collection.
      Parameters:
      signals - Signals to add

    • waitForAll

      public final StatusCode waitForAll(double timeoutSeconds)
      Waits for new data on all 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() on every signal. This is equivalent to calling refreshAll().

      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 BaseStatusSignal.getStatus() when this happens.

      Parameters:
      timeoutSeconds - Maximum time to wait for new data in seconds. Pass zero to refresh all signals without blocking.
      Returns:
      An InvalidParamValue if this signal collection is empty, InvalidNetwork if signals are on different CAN bus networks, RxTimeout if it took longer than timeoutSeconds to receive all the signals, MultiSignalNotSupported if using the roboRIO bus with more than one signal and a non-zero timeout. An OK status code means that all signals arrived within timeoutSeconds and they are all OK. Any other value represents the StatusCode of the first failed signal. Call getStatus() on each signal to determine which ones failed.

    • refreshAll

      public final StatusCode refreshAll()
      Performs a non-blocking refresh on all signals.

      This provides a performance improvement over separately calling refresh() on each signal.

      Returns:
      An InvalidParamValue if this signal collection is empty, InvalidNetwork if signals are on different CAN bus networks. An OK status code means that all signals are OK. Any other value represents the StatusCode of the first failed signal. Call getStatus() on each signal to determine which ones failed.

    • setUpdateFrequencyForAll

      public final StatusCode setUpdateFrequencyForAll(double frequencyHz)
      Sets the update frequency of all 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.

      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.

      This will wait up to 0.100 seconds (100ms) for each signal.

      Parameters:
      frequencyHz - Rate to publish the signal in Hz
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • setUpdateFrequencyForAll

      public final StatusCode setUpdateFrequencyForAll(Frequency frequency)
      Sets the update frequency of all 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.

      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.

      This will wait up to 0.100 seconds (100ms) for each signal.

      Parameters:
      frequency - Rate to publish the signal
      Returns:
      Status code of the first failed update frequency set call, or OK if all succeeded

    • isAllGood

      public final boolean isAllGood()
      Checks if all signals have an OK error code.
      Returns:
      True if all are good, false otherwise