Parent class for all devices. More...

#include <ctre/phoenix6/hardware/ParentDevice.hpp>

Inheritance diagram for ctre::phoenix6::hardware::ParentDevice:

Classes
struct	is_all_device
	Type trait to verify that all types passed in are subclasses of ParentDevice. More...

Public Member Functions
	ParentDevice (int deviceID, std::string model, std::string canbus)

virtual	~ParentDevice ()=default

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const

const std::string &	GetNetwork () const

uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control.

bool	HasResetOccurred ()

std::function< bool()>	GetResetOccurredChecker () const

bool	IsConnected (units::second_t maxLatencySeconds=500_ms)
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)
	Resets the update frequencies of all the device's status signals to the defaults.

Static Public Member Functions
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::vector< ParentDevice * > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

template<size_t N>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::array< ParentDevice *, N > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Protected Member Functions
virtual ctre::phoenix::StatusCode	SetControlPrivate (const controls::ControlRequest &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::function< std::map< uint16_t, std::string >()> mapFiller, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh)
	Returns a unitless version of the StatusSignal by value.

Protected Attributes
DeviceIdentifier	deviceIdentifier

Static Protected Attributes
static controls::EmptyControl	_emptyControl {}

template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are subclasses of ParentDevice.

Detailed Description

Parent class for all devices.

Constructor & Destructor Documentation

◆ ParentDevice() [1/2]

ctre::phoenix6::hardware::ParentDevice::ParentDevice	(	int	deviceID,
		std::string	model,
		std::string	canbus )

inline

◆ ~ParentDevice()

virtual ctre::phoenix6::hardware::ParentDevice::~ParentDevice ( )

virtualdefault

◆ ParentDevice() [2/2]

ctre::phoenix6::hardware::ParentDevice::ParentDevice ( ParentDevice const & )

delete

Member Function Documentation

◆ GetAppliedControl() [1/2]

std::shared_ptr< controls::ControlRequest > ctre::phoenix6::hardware::ParentDevice::GetAppliedControl ( )

inline

Get the latest applied control.

Caller can cast this to the derived class if they know its type. Otherwise, use controls::ControlRequest::GetControlInfo to get info out of it.

This returns a shared pointer to avoid becoming a dangling pointer due to parallel operations changing the underlying data. Make sure to save the shared_ptr to a variable before chaining function calls, otherwise the data may be freed early.

Returns: Latest applied control

◆ GetAppliedControl() [2/2]

std::shared_ptr< const controls::ControlRequest > ctre::phoenix6::hardware::ParentDevice::GetAppliedControl ( ) const

inline

Get the latest applied control.

Caller can cast this to the derived class if they know its type. Otherwise, use controls::ControlRequest::GetControlInfo to get info out of it.

This returns a shared pointer to avoid becoming a dangling pointer due to parallel operations changing the underlying data. Make sure to save the shared_ptr to a variable before chaining function calls, otherwise the data may be freed early.

Returns: Latest applied control

◆ GetDeviceHash()

uint64_t ctre::phoenix6::hardware::ParentDevice::GetDeviceHash ( ) const

inline

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.

◆ GetDeviceID()

int ctre::phoenix6::hardware::ParentDevice::GetDeviceID ( ) const

inline

Returns: The device ID of this device [0,62].

◆ GetGenericSignal()

StatusSignal< double > & ctre::phoenix6::hardware::ParentDevice::GetGenericSignal	(	uint32_t	signal,
		bool	refresh = true )

inline

This is a reserved routine for internal testing.

Use the other get routines to retrieve signal values.

Parameters

signal	Signal to get.
refresh	Whether to refresh

Returns: StatusSignalValue holding value

◆ GetNetwork()

const std::string & ctre::phoenix6::hardware::ParentDevice::GetNetwork ( ) const

inline

Returns: Name of the network this device is on.

◆ GetResetOccurredChecker()

std::function< bool()> ctre::phoenix6::hardware::ParentDevice::GetResetOccurredChecker ( ) const

inline

Returns: a function that checks for device resets.

◆ HasResetOccurred()

bool ctre::phoenix6::hardware::ParentDevice::HasResetOccurred ( )

inline

Returns: true if device has reset since the previous call of this routine.

◆ IsConnected()

bool ctre::phoenix6::hardware::ParentDevice::IsConnected ( units::second_t maxLatencySeconds = 500_ms )

inline

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

maxLatencySeconds The maximum latency of the Version status signal before the device is reported as disconnected

Returns: true if the device is connected

◆ LookupDimensionlessStatusSignal()

template<typename T , typename U >

StatusSignal< T > ctre::phoenix6::hardware::ParentDevice::LookupDimensionlessStatusSignal	(	uint16_t	spn,
		std::string	signalName,
		bool	refresh )

inlineprotected

Returns a unitless version of the StatusSignal by value.

Do not store the result in a reference.

◆ LookupStatusSignal() [1/2]

template<typename T >

StatusSignal< T > & ctre::phoenix6::hardware::ParentDevice::LookupStatusSignal	(	uint16_t	spn,
		std::function< std::map< uint16_t, std::string >()>	mapFiller,
		std::string	signalName,
		bool	reportOnConstruction,
		bool	refresh )

inlineprotected

◆ LookupStatusSignal() [2/2]

template<typename T >

StatusSignal< T > & ctre::phoenix6::hardware::ParentDevice::LookupStatusSignal	(	uint16_t	spn,
		std::string	signalName,
		bool	reportOnConstruction,
		bool	refresh )

inlineprotected

◆ operator=()

ParentDevice & ctre::phoenix6::hardware::ParentDevice::operator= ( ParentDevice const & )

delete

◆ OptimizeBusUtilization()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilization	(	units::frequency::hertz_t	optimizedFreqHz = 0_Hz,
		units::time::second_t	timeoutSeconds = 100_ms )

Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 ResetSignalFrequencies. 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::SetUpdateFrequency.

Parameters

optimizedFreqHz	The update frequency to apply to the optimized status signals. A frequency of 0 Hz (default) will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz.
timeoutSeconds	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

◆ OptimizeBusUtilizationForAll() [1/6]

template<size_t N>

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilizationForAll ( const std::array< ParentDevice *, N > & devices )

inlinestatic

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 in the robot program for the provided devices. 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 ResetSignalFrequenciesForAll. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal::SetUpdateFrequency.

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

Parameters

devices Devices for which to optimize bus utilization, passed as an array of device addresses.

Returns: Status code of the first failed optimize call, or OK if all succeeded

◆ OptimizeBusUtilizationForAll() [2/6]

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilizationForAll ( const std::vector< ParentDevice * > & devices )

inlinestatic

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 in the robot program for the provided devices. 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 ResetSignalFrequenciesForAll. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal::SetUpdateFrequency.

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

Parameters

devices Devices for which to optimize bus utilization, passed as a vector or initializer list of device addresses.

Returns: Status code of the first failed optimize call, or OK if all succeeded

◆ OptimizeBusUtilizationForAll() [3/6]

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilizationForAll ( Devices &... devices )

inlinestatic

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 in the robot program for the provided devices. 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 ResetSignalFrequenciesForAll. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal::SetUpdateFrequency.

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

Parameters

devices Devices for which to optimize bus utilization, passed as a comma-separated list of device references.

Returns: Status code of the first failed optimize call, or OK if all succeeded

◆ OptimizeBusUtilizationForAll() [4/6]

template<size_t N>

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilizationForAll	(	units::frequency::hertz_t	optimizedFreqHz,
		const std::array< ParentDevice *, N > &	devices )

inlinestatic

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 in the robot program for the provided devices. 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 ResetSignalFrequenciesForAll. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal::SetUpdateFrequency.

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

Parameters

optimizedFreqHz	The update frequency to apply to the optimized status signals. A frequency of 0 Hz (default) will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz.
devices	Devices for which to optimize bus utilization, passed as an array of device addresses.

Returns: Status code of the first failed optimize call, or OK if all succeeded

◆ OptimizeBusUtilizationForAll() [5/6]

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilizationForAll	(	units::frequency::hertz_t	optimizedFreqHz,
		const std::vector< ParentDevice * > &	devices )

inlinestatic

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 in the robot program for the provided devices. 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 ResetSignalFrequenciesForAll. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal::SetUpdateFrequency.

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

Parameters

optimizedFreqHz	The update frequency to apply to the optimized status signals. A frequency of 0 Hz (default) will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz.
devices	Devices for which to optimize bus utilization, passed as a vector or initializer list of device addresses.

Returns: Status code of the first failed optimize call, or OK if all succeeded

◆ OptimizeBusUtilizationForAll() [6/6]

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::OptimizeBusUtilizationForAll	(	units::frequency::hertz_t	optimizedFreqHz,
		Devices &...	devices )

inlinestatic

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal::SetUpdateFrequency will be disabled. Note that if other status signals in the same status 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 in the robot program for the provided devices. 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 ResetSignalFrequenciesForAll. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal::SetUpdateFrequency.

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

Parameters

optimizedFreqHz	The update frequency to apply to the optimized status signals. A frequency of 0 Hz (default) will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz.
devices	Devices for which to optimize bus utilization, passed as a comma-separated list of device references.

Returns: Status code of the first failed optimize call, or OK if all succeeded

◆ ResetSignalFrequencies()

ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::ResetSignalFrequencies ( units::time::second_t timeoutSeconds = 100_ms )

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::SetUpdateFrequency and status signals optimized out using OptimizeBusUtilization.

Parameters

timeoutSeconds 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

◆ ResetSignalFrequenciesForAll() [1/3]

template<size_t N>

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::ResetSignalFrequenciesForAll ( const std::array< ParentDevice *, N > & devices )

inlinestatic

Resets the update frequencies of all the devices' 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::SetUpdateFrequency and status signals optimized out using OptimizeBusUtilizationForAll.

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

Parameters

devices Devices for which to restore default update frequencies, passed as an array of device addresses.

Returns: Status code of the first failed restore call, or OK if all succeeded

◆ ResetSignalFrequenciesForAll() [2/3]

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::ResetSignalFrequenciesForAll ( const std::vector< ParentDevice * > & devices )

inlinestatic

Resets the update frequencies of all the devices' 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::SetUpdateFrequency and status signals optimized out using OptimizeBusUtilizationForAll.

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

Parameters

devices Devices for which to restore default update frequencies, passed as a vector or initializer list of device addresses.

Returns: Status code of the first failed restore call, or OK if all succeeded

◆ ResetSignalFrequenciesForAll() [3/3]

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>

static ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::ResetSignalFrequenciesForAll ( Devices &... devices )

inlinestatic

Resets the update frequencies of all the devices' 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::SetUpdateFrequency and status signals optimized out using OptimizeBusUtilizationForAll.

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

Parameters

devices Devices for which to restore default update frequencies, passed as a comma-separated list of device references.

Returns: Status code of the first failed restore call, or OK if all succeeded

◆ SetControlPrivate()

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::ParentDevice::SetControlPrivate ( const controls::ControlRequest & request )

protectedvirtual

Reimplemented in ctre::phoenix6::hardware::TalonFX, and ctre::phoenix6::hardware::TalonFXS.

Member Data Documentation

◆ _emptyControl

controls::EmptyControl ctre::phoenix6::hardware::ParentDevice::_emptyControl {}

inlinestaticprotected

◆ deviceIdentifier

DeviceIdentifier ctre::phoenix6::hardware::ParentDevice::deviceIdentifier

protected

◆ is_all_device_v

template<typename... Devices>

bool ctre::phoenix6::hardware::ParentDevice::is_all_device_v = is_all_device<Devices...>::value

staticconstexprprotected

Whether all types passed in are subclasses of ParentDevice.

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

ctre/phoenix6/hardware/ParentDevice.hpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ParentDevice() [1/2]

◆ ~ParentDevice()

◆ ParentDevice() [2/2]

Member Function Documentation

◆ GetAppliedControl() [1/2]

◆ GetAppliedControl() [2/2]

◆ GetDeviceHash()

◆ GetDeviceID()

◆ GetGenericSignal()

◆ GetNetwork()

◆ GetResetOccurredChecker()

◆ HasResetOccurred()

◆ IsConnected()

◆ LookupDimensionlessStatusSignal()

◆ LookupStatusSignal() [1/2]

◆ LookupStatusSignal() [2/2]

◆ operator=()

◆ OptimizeBusUtilization()

◆ OptimizeBusUtilizationForAll() [1/6]

◆ OptimizeBusUtilizationForAll() [2/6]

◆ OptimizeBusUtilizationForAll() [3/6]

◆ OptimizeBusUtilizationForAll() [4/6]

◆ OptimizeBusUtilizationForAll() [5/6]

◆ OptimizeBusUtilizationForAll() [6/6]

◆ ResetSignalFrequencies()

◆ ResetSignalFrequenciesForAll() [1/3]

◆ ResetSignalFrequenciesForAll() [2/3]

◆ ResetSignalFrequenciesForAll() [3/3]

◆ SetControlPrivate()

Member Data Documentation

◆ _emptyControl

◆ deviceIdentifier

◆ is_all_device_v