Class PhoenixOdometryThread

java.lang.Object

java.lang.Thread

com.stuypulse.robot.subsystems.swerve.PhoenixOdometryThread

All Implemented Interfaces:

Runnable

public class PhoenixOdometryThread
extends Thread

Provides an interface for asynchronously reading high-frequency measurements to a set of queues.

This version is intended for Phoenix 6 devices on both the RIO and CANivore buses. When using a CANivore, the thread uses the "waitForAll" blocking method to enable more consistent sampling. This also allows Phoenix Pro users to benefit from lower latency between devices using CANivore time synchronization.

Nested Class Summary

Nested classes/interfaces inherited from class Thread

Thread.Builder, Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field	Description
private final List<Queue<Double>>	genericQueues
private final List<DoubleSupplier>	genericSignals
private static PhoenixOdometryThread	instance
private static boolean	isCANFD
private final List<Queue<Double>>	phoenixQueues
private final List<com.ctre.phoenix6.BaseStatusSignal>	phoenixSignals
private final Lock	signalsLock
private final List<Queue<Double>>	timestampQueues

Fields inherited from class Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Modifier	Constructor	Description
private	PhoenixOdometryThread()

Method Summary

Modifier and Type	Method	Description
static PhoenixOdometryThread	getInstance()
Queue<Double>	makeTimestampQueue()	Returns a new queue that returns timestamp values for each sample.
Queue<Double>	registerSignal(com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle> signal)	Registers a Phoenix signal to be read from the thread.
Queue<Double>	registerSignal(DoubleSupplier signal)	Registers a generic signal to be read from the thread.
void	run()
void	start()

Methods inherited from class Thread

activeCount, checkAccess, clone, currentThread, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, isVirtual, join, join, join, join, ofPlatform, ofVirtual, onSpinWait, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, sleep, startVirtualThread, stop, threadId, toString, yield

Methods inherited from class Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

signalsLock

private final Lock signalsLock

phoenixSignals

private final List<com.ctre.phoenix6.BaseStatusSignal> phoenixSignals

genericSignals

private final List<DoubleSupplier> genericSignals

phoenixQueues

private final List<Queue<Double>> phoenixQueues

genericQueues

private final List<Queue<Double>> genericQueues

timestampQueues

private final List<Queue<Double>> timestampQueues

isCANFD

private static boolean isCANFD

instance

private static PhoenixOdometryThread instance

Constructor Details

PhoenixOdometryThread

private PhoenixOdometryThread()

Method Details

getInstance

public static PhoenixOdometryThread getInstance()

start

public void start()

Overrides:

start in class Thread

registerSignal

public Queue<Double> registerSignal(com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle> signal)

Registers a Phoenix signal to be read from the thread.

registerSignal

public Queue<Double> registerSignal(DoubleSupplier signal)

Registers a generic signal to be read from the thread.

makeTimestampQueue

public Queue<Double> makeTimestampQueue()

Returns a new queue that returns timestamp values for each sample.

run

public void run()

Specified by:

run in interface Runnable

Overrides:

run in class Thread