phoenix6.signal_logger

Module Contents

Attributes

USE_WPILIB
T

phoenix6.signal_logger.USE_WPILIB = 'True'

phoenix6.signal_logger.T

class phoenix6.signal_logger.SignalLogger

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.

static set_path(path: str) → phoenix6.status_code.StatusCode

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 (str) – Folder path for the log files; path must exist

Returns:

Status of setting the path and restarting the log

Return type:

StatusCode

static start() → phoenix6.status_code.StatusCode

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 self.set_path 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

Return type:

StatusCode

static stop() → phoenix6.status_code.StatusCode

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

Return type:

StatusCode

static enable_auto_logging(enable: bool) → phoenix6.status_code.StatusCode

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 self.set_path), 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 (bool) – Whether to enable auto logging

Returns:

Status of auto logging enable/disable

Return type:

StatusCode

static add_schema(name: str, schema_type: phoenix6.hoot_schema_type.HootSchemaType, schema: bytes | str) → phoenix6.status_code.StatusCode

Adds the schema to the log file.

In an FRC robot program, users can call self.write_struct and self.write_struct_array to directly write WPILib Struct 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 (str) – Name of the schema

• schema_type (HootSchemaType) – Type of the schema, such as struct or protobuf

• schema – Schema bytes or string to write

Returns:

Status of adding the schema

Return type:

StatusCode

static has_schema(name: str, schema_type: phoenix6.hoot_schema_type.HootSchemaType) → bool

Checks if the schema has already been added to the log files.

Parameters:

• name (str) – Name of the schema

• schema_type (HootSchemaType) – Type of the schema, such as struct or protobuf

Returns:

Whether the schema has been added to the log files

Return type:

bool

static write_schema_value(name: str, schema: str, schema_type: phoenix6.hoot_schema_type.HootSchemaType, data: bytes, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the schema-serialized bytes to the log file.

In an FRC robot program, users can call self.write_struct and self.write_struct_array to directly write WPILib Struct 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 self.add_schema before calling this API.

Parameters:

• name (str) – Name of the signal

• schema (str) – Name of the associated schema

• schema_type (HootSchemaType) – Type of the associated schema, such as struct or protobuf

• data (bytes) – Serialized data bytes

• latency_seconds (second) – 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

Return type:

StatusCode

classmethod write_struct(name: str, struct: type[T], value: T, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the WPILib Struct to the log file.

Parameters:

• name (str) – Name of the signal

• struct (type[T]) – Type of struct to serialize

• value (T) – Value to write

• latency_seconds (second) – 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

Return type:

StatusCode

classmethod write_struct_array(name: str, struct: type[T], values: list[T], latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the array of WPILib Structs to the log file.

Parameters:

• name (str) – Name of the signal

• struct (type[T]) – Type of struct to serialize

• values (list[T]) – Values to write

• latency_seconds (second) – 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

Return type:

StatusCode

static write_raw(name: str, data: bytes, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the raw data bytes to the log file.

Parameters:

• name (str) – Name of the signal

• data (bytes) – Raw data bytes

• latency_seconds (second) – 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

Return type:

StatusCode

static write_boolean(name: str, value: bool, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the boolean to the log file.

Parameters:

• name (str) – Name of the signal

• value – Value to write

• latency_seconds (second) – 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

Return type:

StatusCode

static write_integer(name: str, value: int, units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the integer to the log file.

Parameters:

• name (str) – Name of the signal

• value – Value to write

• units (str) – Units of the signal

• latency_seconds (second) – 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

Return type:

StatusCode

static write_float(name: str, value: float, units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the float to the log file.

Parameters:

• name (str) – Name of the signal

• value – Value to write

• units (str) – Units of the signal

• latency_seconds (second) – 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

Return type:

StatusCode

static write_double(name: str, value: float, units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the double to the log file.

Parameters:

• name (str) – Name of the signal

• value – Value to write

• units (str) – Units of the signal

• latency_seconds (second) – 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

Return type:

StatusCode

static write_string(name: str, value: str, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the string to the log file.

Parameters:

• name (str) – Name of the signal

• value – Value to write

• latency_seconds (second) – 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

Return type:

StatusCode

static write_boolean_array(name: str, value: list[bool], latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the array of booleans to the log file.

Parameters:

• name (str) – Name of the signal

• value (list[bool]) – Array of values to write

• latency_seconds (second) – 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

Return type:

StatusCode

static write_integer_array(name: str, value: list[int], units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the array of integers to the log file.

Parameters:

• name (str) – Name of the signal

• value (list[int]) – Array of values to write

• units (str) – Units of the signal

• latency_seconds (second) – 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

Return type:

StatusCode

static write_float_array(name: str, value: list[float], units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the array of floats to the log file.

Parameters:

• name (str) – Name of the signal

• value (list[float]) – Array of values to write

• units (str) – Units of the signal

• latency_seconds (second) – 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

Return type:

StatusCode

static write_double_array(name: str, value: list[float], units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the array of doubles to the log file.

Parameters:

• name (str) – Name of the signal

• value (list[float]) – Array of values to write

• units (str) – Units of the signal

• latency_seconds (second) – 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

Return type:

StatusCode

static write_string_array(name: str, value: list[str], latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode

Writes the array of strings to the log file.

Parameters:

• name (str) – Name of the signal

• value (list[str]) – Array of values to write

• latency_seconds (second) – 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

Return type:

StatusCode