Package com.ctre.phoenix6

Class SignalLogger

java.lang.Object
com.ctre.phoenix6.SignalLogger
public class SignalLogger extends Object
Static class for controlling the Phoenix 6 signal logger.

This logs all the signals from the CAN buses into .hoot files. Each file name starts with the CANivore serial number or "rio" for the roboRIO CAN bus, followed by the timestamp. In the header of a hoot file, the CANivore name and firmware version are logged in plain text.

During an FRC match, the log file will be renamed to include the event name, match type, and match number at the start of the file name. The match type will be 'P' for practice matches, 'Q' for qualification matches, and 'E' for elimination matches.

During Hoot Replay, the signal logger always runs while replay is running. All custom signals written during replay will be automatically placed under hoot_replay/. Additionally, the log will contain all status signals and custom signals from the original log.

  • Constructor Details

  • Method Details

    • setPath

      public static StatusCode setPath(String path)
      Sets the destination for logging, restarting logger if the path changed.

      If this is not called or the path is left empty, the default path will be used. The default path on the roboRIO is a logs folder on the first USB flash drive found, or /home/lvuser/logs if none is available. The default path on all other platforms is a logs folder in the current working directory.

      Typical use for this routine is to use a removable USB flash drive for logging.

      This is ignored during Hoot Replay, where the hoot log will always be written to a subfolder next to the log being replayed.

      Parameters:
      path - Folder path for the log files; path must exist
      Returns:
      Status of setting the path and restarting the log

    • start

      public static StatusCode start()
      Starts logging status signals. Starts regardless of auto logging status.

      If using a roboRIO 1, we recommend setting the logging path to an external drive using setPath(java.lang.String) to avoid running out of internal storage space.

      This is ignored during Hoot Replay, where logging is automatically started when Hoot Replay starts running or restarts.

      Returns:
      Status of starting the logger

    • stop

      public static StatusCode stop()
      Stops logging status signals. Stops regardless of auto logging status.

      This is ignored during Hoot Replay, where logging is automatically stopped when Hoot Replay is stopped or reaches the end of the file.

      Returns:
      Status of stopping the logger

    • enableAutoLogging

      public static StatusCode enableAutoLogging(boolean enable)
      Enables or disables auto logging.

      Auto logging is only supported on the roboRIO. Additionally, on a roboRIO 1, auto logging will only be active if a USB flash drive is present.

      When auto logging is enabled, logging is started by any of the following (whichever occurs first):

      • The robot is enabled.
      • It has been at least 5 seconds since program startup (allowing for calls to setPath(java.lang.String)), and the Driver Station is connected to the robot.
      After auto logging has started the log once, logging will not be automatically stopped or restarted by auto logging.
      Parameters:
      enable - Whether to enable auto logging
      Returns:
      Status of auto logging enable/disable

    • addSchema

      public static StatusCode addSchema(String name, HootSchemaType type, byte[] schema)
      Adds the schema to the log file.

      Users can call writeStruct(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T), writeStructArray(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T[]), and writeProtobuf(java.lang.String, edu.wpi.first.util.protobuf.Protobuf<T, ?>, T) to directly write schema values instead.

      The schema name should typically exactly match the name of the type (without any extra prefix or suffix).

      For protobuf, first register all relevant file descriptors by file name (such as "geometry2d.proto"). Then, for each top-level type being used, add a separate empty schema with the full name of the type (such as "wpi.proto.ProtobufPose2d").

      Parameters:
      name - Name of the schema
      type - Type of the schema, such as struct or protobuf
      schema - Schema bytes to write
      Returns:
      Status of adding the schema

    • addSchema

      public static StatusCode addSchema(String name, HootSchemaType type, String schema)
      Adds the schema to the log file.

      Users can call writeStruct(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T), writeStructArray(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T[]), and writeProtobuf(java.lang.String, edu.wpi.first.util.protobuf.Protobuf<T, ?>, T) to directly write schema values instead.

      The schema name should typically exactly match the name of the type (without any extra prefix or suffix).

      For protobuf, first register all relevant file descriptors by file name (such as "geometry2d.proto"). Then, for each top-level type being used, add a separate empty schema with the full name of the type (such as "wpi.proto.ProtobufPose2d").

      Parameters:
      name - Name of the schema
      type - Type of the schema, such as struct or protobuf
      schema - Schema string to write
      Returns:
      Status of adding the schema

    • hasSchema

      public static boolean hasSchema(String name, HootSchemaType type)
      Checks if the schema has already been added to the log files.
      Parameters:
      name - Name of the schema
      type - Type of the schema, such as struct or protobuf
      Returns:
      Whether the schema has been added to the log files

    • writeSchemaValue

      public static StatusCode writeSchemaValue(String name, String schema, HootSchemaType type, byte[] data)
      Writes the schema-serialized bytes to the log file.

      Users can call writeStruct(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T), writeStructArray(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T[]), and writeProtobuf(java.lang.String, edu.wpi.first.util.protobuf.Protobuf<T, ?>, T) to directly write schema values instead.

      The name of the associated schema must exactly match the type of the data (such as "Pose2d" or "wpi.proto.ProtobufPose2d"). Additionally, the schema name must be registered with addSchema(java.lang.String, com.ctre.phoenix6.HootSchemaType, byte[]) before calling this API.

      Parameters:
      name - Name of the signal
      schema - Name of the associated schema
      type - Type of the associated schema, such as struct or protobuf
      data - Serialized data bytes
      Returns:
      Status of writing the data

    • writeSchemaValue

      public static StatusCode writeSchemaValue(String name, String schema, HootSchemaType type, byte[] data, double latencySeconds)
      Writes the schema-serialized bytes to the log file.

      Users can call writeStruct(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T), writeStructArray(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T[]), and writeProtobuf(java.lang.String, edu.wpi.first.util.protobuf.Protobuf<T, ?>, T) to directly write schema values instead.

      The name of the associated schema must exactly match the type of the data (such as "Pose2d" or "wpi.proto.ProtobufPose2d"). Additionally, the schema name must be registered with addSchema(java.lang.String, com.ctre.phoenix6.HootSchemaType, byte[]) before calling this API.

      Parameters:
      name - Name of the signal
      schema - Name of the associated schema
      type - Type of the associated schema, such as struct or protobuf
      data - Serialized data bytes
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeSchemaValue

      public static StatusCode writeSchemaValue(String name, String schema, HootSchemaType type, ByteBuffer data)
      Writes the schema-serialized buffer to the log file.

      Users can call writeStruct(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T), writeStructArray(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T[]), and writeProtobuf(java.lang.String, edu.wpi.first.util.protobuf.Protobuf<T, ?>, T) to directly write schema values instead.

      The name of the associated schema must exactly match the type of the data (such as "Pose2d" or "wpi.proto.ProtobufPose2d"). Additionally, the schema name must be registered with addSchema(java.lang.String, com.ctre.phoenix6.HootSchemaType, byte[]) before calling this API.

      Parameters:
      name - Name of the signal
      schema - Name of the associated schema
      type - Type of the associated schema, such as struct or protobuf
      data - Serialized data buffer, where [0, data.position()) will be written
      Returns:
      Status of writing the data

    • writeSchemaValue

      public static StatusCode writeSchemaValue(String name, String schema, HootSchemaType type, ByteBuffer data, double latencySeconds)
      Writes the schema-serialized buffer to the log file.

      Users can call writeStruct(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T), writeStructArray(java.lang.String, edu.wpi.first.util.struct.Struct<T>, T[]), and writeProtobuf(java.lang.String, edu.wpi.first.util.protobuf.Protobuf<T, ?>, T) to directly write schema values instead.

      The name of the associated schema must exactly match the type of the data (such as "Pose2d" or "wpi.proto.ProtobufPose2d"). Additionally, the schema name must be registered with addSchema(java.lang.String, com.ctre.phoenix6.HootSchemaType, byte[]) before calling this API.

      Parameters:
      name - Name of the signal
      schema - Name of the associated schema
      type - Type of the associated schema, such as struct or protobuf
      data - Serialized data buffer, where [0, data.position()) will be written
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeStruct

      public static <T> StatusCode writeStruct(String name, Struct<T> struct, T value)
      Writes the WPILib Struct to the log file.
      Parameters:
      name - Name of the signal
      struct - Struct serialization implementation
      value - Value to write
      Returns:
      Status of writing the data

    • writeStruct

      public static <T> StatusCode writeStruct(String name, Struct<T> struct, T value, double latencySeconds)
      Writes the WPILib Struct to the log file.
      Parameters:
      name - Name of the signal
      struct - Struct serialization implementation
      value - Value to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeStructArray

      public static <T> StatusCode writeStructArray(String name, Struct<T> struct, T[] values)
      Writes the array of WPILib Structs to the log file.
      Parameters:
      name - Name of the signal
      struct - Struct serialization implementation
      values - Values to write
      Returns:
      Status of writing the data

    • writeStructArray

      public static <T> StatusCode writeStructArray(String name, Struct<T> struct, T[] values, double latencySeconds)
      Writes the array of WPILib Structs to the log file.
      Parameters:
      name - Name of the signal
      struct - Struct serialization implementation
      values - Values to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeProtobuf

      public static <T> StatusCode writeProtobuf(String name, Protobuf<T,?> proto, T value)
      Writes the protobuf to the log file.
      Parameters:
      name - Name of the signal
      proto - Protobuf serialization implementation
      value - Value to write
      Returns:
      Status of writing the data

    • writeProtobuf

      public static <T> StatusCode writeProtobuf(String name, Protobuf<T,?> proto, T value, double latencySeconds)
      Writes the protobuf to the log file.
      Parameters:
      name - Name of the signal
      proto - Protobuf serialization implementation
      value - Value to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeRaw

      public static StatusCode writeRaw(String name, byte[] data)
      Writes the raw data bytes to the log file.
      Parameters:
      name - Name of the signal
      data - Raw data bytes
      Returns:
      Status of writing the data

    • writeRaw

      public static StatusCode writeRaw(String name, byte[] data, double latencySeconds)
      Writes the raw data bytes to the log file.
      Parameters:
      name - Name of the signal
      data - Raw data bytes
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeBoolean

      public static StatusCode writeBoolean(String name, boolean value)
      Writes the boolean to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      Returns:
      Status of writing the data

    • writeBoolean

      public static StatusCode writeBoolean(String name, boolean value, double latencySeconds)
      Writes the boolean to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeInteger

      public static StatusCode writeInteger(String name, long value)
      Writes the integer to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      Returns:
      Status of writing the data

    • writeInteger

      public static StatusCode writeInteger(String name, long value, String units)
      Writes the integer to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units of the signal
      Returns:
      Status of writing the data

    • writeInteger

      public static StatusCode writeInteger(String name, long value, String units, double latencySeconds)
      Writes the integer to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units of the signal
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeFloat

      public static StatusCode writeFloat(String name, float value)
      Writes the float to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      Returns:
      Status of writing the data

    • writeFloat

      public static StatusCode writeFloat(String name, float value, String units)
      Writes the float to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units of the signal
      Returns:
      Status of writing the data

    • writeFloat

      public static StatusCode writeFloat(String name, float value, String units, double latencySeconds)
      Writes the float to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units of the signal
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeDouble

      public static StatusCode writeDouble(String name, double value)
      Writes the double to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      Returns:
      Status of writing the data

    • writeDouble

      public static StatusCode writeDouble(String name, double value, String units)
      Writes the double to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units of the signal
      Returns:
      Status of writing the data

    • writeDouble

      public static StatusCode writeDouble(String name, double value, String units, double latencySeconds)
      Writes the double to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units of the signal
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeString

      public static StatusCode writeString(String name, String value)
      Writes the string to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      Returns:
      Status of writing the data

    • writeString

      public static StatusCode writeString(String name, String value, double latencySeconds)
      Writes the string to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeValue

      public static StatusCode writeValue(String name, Measure<?> value)
      Writes the unit value to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      Returns:
      Status of writing the data

    • writeValue

      public static StatusCode writeValue(String name, Measure<?> value, double latencySeconds)
      Writes the unit value to the log file.
      Parameters:
      name - Name of the signal
      value - Value to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeValue

      public static <U extends Unit> StatusCode writeValue(String name, Measure<U> value, U units)
      Writes the unit value to the log file in the given units.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units to use for logging the measure
      Returns:
      Status of writing the data

    • writeValue

      public static <U extends Unit> StatusCode writeValue(String name, Measure<U> value, U units, double latencySeconds)
      Writes the unit value to the log file in the given units.
      Parameters:
      name - Name of the signal
      value - Value to write
      units - Units to use for logging the measure
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeBooleanArray

      public static StatusCode writeBooleanArray(String name, boolean[] values)
      Writes the array of booleans to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      Returns:
      Status of writing the data

    • writeBooleanArray

      public static StatusCode writeBooleanArray(String name, boolean[] values, double latencySeconds)
      Writes the array of booleans to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeIntegerArray

      public static StatusCode writeIntegerArray(String name, long[] values)
      Writes the array of integers to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      Returns:
      Status of writing the data

    • writeIntegerArray

      public static StatusCode writeIntegerArray(String name, long[] values, String units)
      Writes the array of integers to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      units - Units of the signals
      Returns:
      Status of writing the data

    • writeIntegerArray

      public static StatusCode writeIntegerArray(String name, long[] values, String units, double latencySeconds)
      Writes the array of integers to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      units - Units of the signals
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeFloatArray

      public static StatusCode writeFloatArray(String name, float[] values)
      Writes the array of floats to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      Returns:
      Status of writing the data

    • writeFloatArray

      public static StatusCode writeFloatArray(String name, float[] values, String units)
      Writes the array of floats to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      units - Units of the signals
      Returns:
      Status of writing the data

    • writeFloatArray

      public static StatusCode writeFloatArray(String name, float[] values, String units, double latencySeconds)
      Writes the array of floats to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      units - Units of the signals
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeDoubleArray

      public static StatusCode writeDoubleArray(String name, double[] values)
      Writes the array of doubles to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      Returns:
      Status of writing the data

    • writeDoubleArray

      public static StatusCode writeDoubleArray(String name, double[] values, String units)
      Writes the array of doubles to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      units - Units of the signals
      Returns:
      Status of writing the data

    • writeDoubleArray

      public static StatusCode writeDoubleArray(String name, double[] values, String units, double latencySeconds)
      Writes the array of doubles to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      units - Units of the signals
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data

    • writeStringArray

      public static StatusCode writeStringArray(String name, String[] values)
      Writes the array of strings to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      Returns:
      Status of writing the data

    • writeStringArray

      public static StatusCode writeStringArray(String name, String[] values, double latencySeconds)
      Writes the array of strings to the log file.
      Parameters:
      name - Name of the signal
      values - Array of values to write
      latencySeconds - Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log
      Returns:
      Status of writing the data