phoenix6.hardware.traits.common_device¶
Module Contents¶
- class phoenix6.hardware.traits.common_device.CommonDevice¶
Contains everything common between Phoenix 6 devices.
- property device_id: int¶
Gets the ID of this device.
- Returns:
ID of this device
- Return type:
int
- property network: phoenix6.canbus.CANBus¶
Gets the network this device is on.
- Returns:
The network this device is on
- Return type:
- property device_hash: int¶
Gets a number unique for this device’s hardware type and ID. This number is not unique across networks.
This can be used to easily reference hardware devices on the same network in collections such as maps.
- Returns:
Hash of this device
- Return type:
int
- property control_request: phoenix6.hardware.parent_device.SupportsSendRequest¶
Get the latest applied control.
- Returns:
Latest applied control
- Return type:
- property has_reset_occurred: bool¶
Check if the device has reset since the previous call to this routine
- Returns:
True if device has reset
- Return type:
bool
- property is_connected: bool¶
Returns whether the device is still connected to the robot. This is equivalent to refreshing and checking the latency of the Version status signal.
- Parameters:
max_latency_seconds (float) – The maximum latency of the Version status signal before the device is reported as disconnected
- Returns:
True if the device is connected
- Return type:
bool
- Configuration: type¶
The configuration class for this device.
- get_reset_occurred_checker() Callable[[], bool]¶
Get a lambda that checks for device resets.
- Returns:
A lambda that checks for device resets
- Return type:
Callable[[], bool]
- optimize_bus_utilization(optimized_freq_hz: phoenix6.units.hertz = 4.0, timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_code.StatusCode¶
Optimizes the device’s bus utilization by reducing the update frequencies of its status signals.
All status signals that have not been explicitly gven an update frequency using BaseStatusSignal.set_update_frequency will be slowed down. Note that if other status signals in the same frame have been given an update frequency, the update frequency will be honored for the entire frame.
This function only needs to be called once on this device in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.
To restore the default status update frequencies, call reset_signal_frequencies. Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.set_update_frequency.
- Parameters:
optimized_freq_hz (hertz, optional) – The update frequency to apply to the optimized status signals. A frequency of 0 Hz will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz (default).
timeout_seconds (second, optional) – Maximum amount of time to wait for each status frame when performing the action
- Returns:
Status code of the first failed update frequency set call, or OK if all succeeded.
- Return type:
- reset_signal_frequencies(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_code.StatusCode¶
Resets the update frequencies of all the device’s status signals to the defaults.
This restores the default update frequency of all status signals, including status signals explicitly given an update frequency using BaseStatusSignal.set_update_frequency and status signals optimized out using optimize_bus_utilization.
- Parameters:
timeout_seconds (second, optional) – Maximum amount of time to wait for each status frame when performing the action
- Returns:
Status code of the first failed update frequency set call, or OK if all succeeded.
- Return type: