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

#include <ctre/phoenix6/StatusSignal.hpp>

Inheritance diagram for ctre::phoenix6::StatusSignal< T >:

Public Member Functions
std::string	ToString () const

T	GetValue () const
	Gets the cached value from this status signal. More...

StatusSignal< T > &	Refresh (bool ReportOnError=true)
	Refreshes the value of this status signal. More...

StatusSignal< T > &	WaitForUpdate (units::time::second_t timeoutSec, bool ReportOnError=true)
	Waits up to timeoutSec to get the up-to-date status signal value. More...

ctre::phoenix::StatusCode	SetUpdateFrequency (units::frequency::hertz_t frequencyHz, units::time::second_t timeoutSeconds=50_ms) override
	Sets the rate at which the device will publish this signal. More...

virtual units::frequency::hertz_t	GetAppliedUpdateFrequency () const override
	Gets the rate at which the device will publish this signal. More...

SignalMeasurement< T >	GetDataCopy () const
	Get a basic data-only container with this information, to be used for things such as data logging. More...

std::function< T()>	AsSupplier ()
	Returns a lambda that calls Refresh and GetValue on this object. More...

Public Member Functions inherited from ctre::phoenix6::BaseStatusSignal
virtual	~BaseStatusSignal ()=0

virtual ctre::phoenix::StatusCode	SetUpdateFrequency (units::frequency::hertz_t frequencyHz, units::time::second_t timeoutSeconds=50_ms)=0
	Sets the rate at which the device will publish this signal. More...

virtual units::frequency::hertz_t	GetAppliedUpdateFrequency () const =0
	Gets the rate at which the device will publish this signal. More...

const std::string &	GetName () const
	Gets the name of this signal. More...

const std::string &	GetUnits () const
	Gets the units for this signal. More...

double	GetValueAsDouble () const
	Gets the value of this signal as a double. More...

const AllTimestamps &	GetAllTimestamps () const
	Get the timestamps of this signals. More...

const Timestamp &	GetTimestamp () const
	Get the best timestamp available to this signal. More...

ctre::phoenix::StatusCode	GetStatus () const
	Get the error code from when we last received this signal. More...

bool	HasUpdated ()
	Check whether the signal has been updated since the last check. More...

Friends
class	hardware::ParentDevice

std::ostream &	operator<< (std::ostream &os, const StatusSignal< T > &data)

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::BaseStatusSignal
template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, Signals &... signals)
	Waits for new data on all provided signals up to timeout. More...

static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, const std::vector< BaseStatusSignal * > &signals)
	Waits for new data on all provided signals up to timeout. More...

template<size_t N>
static ctre::phoenix::StatusCode	WaitForAll (units::time::second_t timeoutSeconds, const std::array< BaseStatusSignal *, N > &signals)
	Waits for new data on all provided signals up to timeout. More...

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static ctre::phoenix::StatusCode	RefreshAll (Signals &... signals)
	Performs a non-blocking refresh on all provided signals. More...

static ctre::phoenix::StatusCode	RefreshAll (const std::vector< BaseStatusSignal * > &signals)
	Performs a non-blocking refresh on all provided signals. More...

template<size_t N>
static ctre::phoenix::StatusCode	RefreshAll (const std::array< BaseStatusSignal *, N > &signals)
	Performs a non-blocking refresh on all provided signals. More...

template<typename U , typename U_PER_SEC >
static U	GetLatencyCompensatedValue (StatusSignal< U > &signal, StatusSignal< U_PER_SEC > &signalSlope, units::time::second_t maxLatencySeconds=0.300_s)
	Performs latency compensation on signal using the signalSlope and signal's latency to determine the magnitude of compensation. More...

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static bool	IsAllGood (Signals &... signals)
	Checks if all signals have an OK error code. More...

static bool	IsAllGood (const std::vector< BaseStatusSignal * > &signals)
	Checks if all signals have an OK error code. More...

template<size_t N>
static bool	IsAllGood (const std::array< BaseStatusSignal *, N > &signals)
	Checks if all signals have an OK error code. More...

template<typename... Signals, typename = std::enable_if_t<is_all_status_signal_v<Signals...>>>
static ctre::phoenix::StatusCode	SetUpdateFrequencyForAll (units::frequency::hertz_t frequencyHz, Signals &... signals)
	Sets the update frequency of all specified status signals to the provided common frequency. More...

static ctre::phoenix::StatusCode	SetUpdateFrequencyForAll (units::frequency::hertz_t frequencyHz, const std::vector< BaseStatusSignal * > &signals)
	Sets the update frequency of all specified status signals to the provided common frequency. More...

template<size_t N>
static ctre::phoenix::StatusCode	SetUpdateFrequencyForAll (units::frequency::hertz_t frequencyHz, const std::array< BaseStatusSignal *, N > &signals)
	Sets the update frequency of all specified status signals to the provided common frequency. More...

Protected Member Functions inherited from ctre::phoenix6::BaseStatusSignal
void	CopyFrom (const BaseStatusSignal &other)

	BaseStatusSignal (hardware::DeviceIdentifier deviceIdentifier, uint16_t spn, std::string signalName, std::function< void()> checkFirmVersFunction)

	BaseStatusSignal (ctre::phoenix::StatusCode error)

Static Protected Member Functions inherited from ctre::phoenix6::BaseStatusSignal
static ctre::phoenix::StatusCode	Status_WaitForAll (BaseStatusSignal const signals, size_t count, const char *network, double timeoutSeconds)
	Wait for multiple signals to arrive. More...

static ctre::phoenix::StatusCode	Status_SetUpdateFrequency (const char *canbus, uint32_t deviceHash, uint16_t spn, double frequencyHz, double timeoutSeconds)

static ctre::phoenix::StatusCode	Status_SetUpdateFrequencyForAll (BaseStatusSignal const signals, size_t count, double frequencyHz, double timeoutSeconds)

static double	Status_GetAppliedUpdateFrequency (const char *canbus, uint32_t deviceHash, uint16_t spn)

static std::string	Status_GetUnits (uint32_t signal)
	Gets signal units. More...

static ctre::phoenix::StatusCode	Status_Get (const char network, int deviceHash, uint32_t signal, bool bWaitForUpdate, double timeoutSeconds, double outValue, double hwtimestamp, double swtimestamp, double *ecutimestamp)
	Get signal update. More...

template<typename Arr >
static ctre::phoenix::StatusCode	WaitForAllImpl (const char *location, units::time::second_t timeoutSeconds, const Arr &signals)
	Implementation of the WaitForAll API. More...

Protected Attributes inherited from ctre::phoenix6::BaseStatusSignal
hardware::DeviceIdentifier	deviceIdentifier

uint16_t	spn

std::string	units

AllTimestamps	timestamps {}

double	baseValue = 0

ctre::phoenix::StatusCode	error = ctre::phoenix::StatusCode::SigNotUpdated

std::string	signalName

std::function< void()>	_checkFirmVersFunction

units::time::second_t	_lastTimestamp {0_s}

Static Protected Attributes inherited from ctre::phoenix6::BaseStatusSignal
template<typename... Signals>
static constexpr bool	is_all_status_signal_v = is_all_status_signal<Signals...>::value
	Whether all types passed in are subclasses of BaseStatusSignal. More...

Detailed Description

template<typename T>
class ctre::phoenix6::StatusSignal< T >

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

Member Function Documentation

◆ AsSupplier()

template<typename T >

std::function< T()> ctre::phoenix6::StatusSignal< T >::AsSupplier ( )

inline

Returns a lambda that calls Refresh and GetValue on this object.

This is useful for command-based programming.

Returns: std::function<T()> that calls Refresh() and returns this value.

◆ GetAppliedUpdateFrequency()

template<typename T >

virtual units::frequency::hertz_t ctre::phoenix6::StatusSignal< T >::GetAppliedUpdateFrequency ( ) const

inlineoverridevirtual

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

This is typically the last value passed into SetUpdateFrequency. The returned value may be higher if another StatusSignal in the same status frame has been set to a higher update frequency.

Returns: Applied update frequency of the signal in Hz

Implements ctre::phoenix6::BaseStatusSignal.

◆ GetDataCopy()

template<typename T >

SignalMeasurement< T > ctre::phoenix6::StatusSignal< T >::GetDataCopy ( ) const

inline

Get a basic data-only container with this information, to be used for things such as data logging.

Note if looking for Phoenix 6 logging features, see the SignalLogger class instead.

Returns: Basic structure with all relevant information

◆ GetValue()

template<typename T >

T ctre::phoenix6::StatusSignal< T >::GetValue ( ) const

inline

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()

Returns: Cached value

◆ Refresh()

template<typename T >

StatusSignal< T > & ctre::phoenix6::StatusSignal< T >::Refresh ( bool ReportOnError = true )

inline

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() instead.

Parameters

ReportOnError Whether to report any errors to the Driver Station/stderr.

Returns: Reference to itself

◆ SetUpdateFrequency()

template<typename T >

ctre::phoenix::StatusCode ctre::phoenix6::StatusSignal< T >::SetUpdateFrequency	(	units::frequency::hertz_t	frequencyHz,
		units::time::second_t	timeoutSeconds = `50_ms`
	)

inlineoverridevirtual

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.

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.

Parameters

frequencyHz	Rate to publish the signal in Hz.
timeoutSeconds	Maximum amount of time to wait when performing the action

Returns: Status code of setting the update frequency

Implements ctre::phoenix6::BaseStatusSignal.

◆ ToString()

template<typename T >

std::string ctre::phoenix6::StatusSignal< T >::ToString ( ) const

inline

◆ WaitForUpdate()

template<typename T >

StatusSignal< T > & ctre::phoenix6::StatusSignal< T >::WaitForUpdate	(	units::time::second_t	timeoutSec,
		bool	ReportOnError = `true`
	)

inline

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
ReportOnError	Whether to report any errors to the Driver Station/stderr.

Returns: Reference to itself

Friends And Related Function Documentation

◆ hardware::ParentDevice

template<typename T >

friend class hardware::ParentDevice

friend

◆ operator<<

template<typename T >

std::ostream & operator<<	(	std::ostream &	os,
		const StatusSignal< T > &	data
	)

friend

The documentation for this class was generated from the following file:

ctre/phoenix6/StatusSignal.hpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AsSupplier()

◆ GetAppliedUpdateFrequency()

◆ GetDataCopy()

◆ GetValue()

◆ Refresh()

◆ SetUpdateFrequency()

◆ ToString()

◆ WaitForUpdate()

Friends And Related Function Documentation

◆ hardware::ParentDevice

◆ operator<<