ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread Class Reference

Performs swerve module updates in a separate thread to minimize latency. More...

#include <ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp>

Public Member Functions
	OdometryThread (SwerveDrivetrainImpl &drivetrain)
	~OdometryThread ()
void	Start ()
	Starts the odometry thread.
void	Stop ()
	Stops the odometry thread.
bool	IsOdometryValid () const
	Check if the odometry is currently valid.
void	SetThreadPriority (int priority)
	Sets the odometry thread priority to a real time priority under the specified priority level.

Protected Member Functions
void	Run ()

Protected Attributes
SwerveDrivetrainImpl *	_drivetrain
std::thread	_thread
std::mutex	_threadMtx
std::atomic< bool >	_isRunning = false
StatusSignalCollection	_allSignals
StatusSignalCollection	_encSignals
units::second_t	_averageLoopTime {}
std::atomic< int32_t >	_successfulDaqs {}
std::atomic< int32_t >	_failedDaqs {}
std::atomic< int >	_threadPriorityToSet = START_THREAD_PRIORITY
int	_lastThreadPriority = START_THREAD_PRIORITY

Static Protected Attributes
static constexpr int	START_THREAD_PRIORITY = 1

Detailed Description

Performs swerve module updates in a separate thread to minimize latency.

Constructor & Destructor Documentation

OdometryThread()

ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::OdometryThread

(

SwerveDrivetrainImpl &

drivetrain

)

~OdometryThread()

ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::~OdometryThread ( )

inline

Member Function Documentation

IsOdometryValid()

bool ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::IsOdometryValid ( ) const

inline

Check if the odometry is currently valid.

Returns

True if odometry is valid

Run()

void ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::Run ( )

protected

SetThreadPriority()

void ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::SetThreadPriority ( int priority )

inline

Sets the odometry thread priority to a real time priority under the specified priority level.

Parameters

priority

Priority level to set the odometry thread to. This is a value between 0 and 99, with 99 indicating higher priority and 0 indicating lower priority.

Start()

void ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::Start ( )

inline

Starts the odometry thread.

Stop()

void ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::Stop ( )

inline

Stops the odometry thread.

Member Data Documentation

_allSignals

StatusSignalCollection ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_allSignals

protected

_averageLoopTime

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_averageLoopTime {}

protected

_drivetrain

SwerveDrivetrainImpl* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_drivetrain

protected

_encSignals

StatusSignalCollection ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_encSignals

protected

_failedDaqs

std::atomic<int32_t> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_failedDaqs {}

protected

_isRunning

std::atomic<bool> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_isRunning = false

protected

_lastThreadPriority

int ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_lastThreadPriority = START_THREAD_PRIORITY

protected

_successfulDaqs

std::atomic<int32_t> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_successfulDaqs {}

protected

_thread

std::thread ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_thread

protected

_threadMtx

std::mutex ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_threadMtx

protected

_threadPriorityToSet

std::atomic<int> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::_threadPriorityToSet = START_THREAD_PRIORITY

protected

START_THREAD_PRIORITY

int ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::OdometryThread::START_THREAD_PRIORITY = 1

staticconstexprprotected

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

• ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp