yams::telemetry::DoubleTelemetry< F > Class Template Reference

#include <SmartMotorControllerTelemetry.hpp>

Public Member Functions
	DoubleTelemetry (std::string key, double defaultVal, F field, bool tunable, std::string unit)
void	SetDefaultValue (double value)
void	SetupNetworkTables (std::shared_ptr< wpi::nt::NetworkTable > dataTable, std::shared_ptr< wpi::nt::NetworkTable > tuningTable)
void	SetupNetworkTable (std::shared_ptr< wpi::nt::NetworkTable > dataTable)
void	SetupDataLog (const std::string &prefix)
void	TransformUnit (const motorcontrollers::SmartMotorControllerConfig &cfg)
void	ForceSet (double value)
bool	Set (double value)
double	Get () const
bool	IsTunable ()
void	Enable ()
void	Disable ()
void	Display (bool state)
F	GetField () const
bool	IsEnabled () const
void	Close ()

Detailed Description

template<typename F>
class yams::telemetry::DoubleTelemetry< F >

NT4 pub/sub wrapper for a single double-valued telemetry field.

Tunable fields use a subscriber so that values changed in NetworkTables are reflected back into the motor controller via ApplyTuningValues. Read-only fields only publish.

Generic over the enum type F identifying which field this entry represents, so the same wrapper can be reused across unrelated telemetry coordinators (e.g. SmartMotorControllerTelemetry uses DoubleTelemetry<DoubleTelemetryField>, while SwerveDriveTelemetry uses its own field enum).

Template Parameters

F	Enum type identifying which field this telemetry entry represents.

Constructor & Destructor Documentation

DoubleTelemetry()

template<typename F >

yams::telemetry::DoubleTelemetry< F >::DoubleTelemetry ( std::string  key, double  defaultVal, F  field, bool  tunable, std::string  unit  )

inline

Construct a DoubleTelemetry entry.

Parameters

key	NT4 table key for this field.
defaultVal	Default numeric value published on startup.
field	Field identifier.
tunable	true if the field should be placed in the tuning table with a subscriber.
unit	Unit string embedded in the NT4 topic metadata (e.g. "amps", "volts").

Member Function Documentation

Close()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::Close ( )

inline

Release all NT4 publishers/subscribers and DataLog entries.

Disable()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::Disable ( )

inline

Disable this field so publishing and reading are skipped.

Display()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::Display ( bool  state )

inline

Enable or disable this field.

Parameters

state

true to enable.

Enable()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::Enable ( )

inline

Enable this field so it is published / read each loop.

ForceSet()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::ForceSet ( double  value )

inline

Forcibly overwrite the tunable value in NetworkTables, bypassing the subscriber-must-match guard in Set(double). The next IsTunable() reports the change, as if it was made on the dashboard.

Parameters

value

Value to force.

Get()

template<typename F >

double yams::telemetry::DoubleTelemetry< F >::Get ( ) const

inline

Read the current value from the subscriber (tunable) or return the default.

Returns

Current field value.

GetField()

template<typename F >

F yams::telemetry::DoubleTelemetry< F >::GetField ( ) const

inline

Returns

The field identifier for this entry.

IsEnabled()

template<typename F >

bool yams::telemetry::DoubleTelemetry< F >::IsEnabled ( ) const

inline

Returns

true if this field is currently enabled.

IsTunable()

template<typename F >

bool yams::telemetry::DoubleTelemetry< F >::IsTunable ( )

inline

Return true if a tunable subscriber is active and the value has changed since the last call.

Returns

true when the NT4 subscriber holds a value different from the cached value.

Set()

template<typename F >

bool yams::telemetry::DoubleTelemetry< F >::Set ( double  value )

inline

Publish a value; returns false if the field is disabled or a tunable subscriber disagrees.

Parameters

value

Value to publish.

Returns

true if the value was accepted and published.

SetDefaultValue()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::SetDefaultValue ( double  value )

inline

Override the default published value (e.g. to seed a limit from the config).

Parameters

value

New default value.

SetupDataLog()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::SetupDataLog ( const std::string &  prefix )

inline

Create a DataLog entry under the given prefix path.

Parameters

prefix

DataLog path prefix (a trailing "/" is added if missing).

SetupNetworkTable()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::SetupNetworkTable ( std::shared_ptr< wpi::nt::NetworkTable >  dataTable )

inline

Create a read-only NT4 publisher under the data table (no tuning table).

Parameters

dataTable

NT4 table for sensor data.

SetupNetworkTables()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::SetupNetworkTables ( std::shared_ptr< wpi::nt::NetworkTable >  dataTable, std::shared_ptr< wpi::nt::NetworkTable >  tuningTable  )

inline

Create the NT4 publisher (and subscriber if tunable) under the given tables.

Parameters

dataTable	NT4 table for read-only sensor data.
tuningTable	NT4 table for live-tunable gains.

TransformUnit()

template<typename F >

void yams::telemetry::DoubleTelemetry< F >::TransformUnit ( const motorcontrollers::SmartMotorControllerConfig &  cfg )

inline

Resolve the "tunable_*" / "position" / "velocity" unit placeholders to concrete unit strings based on whether the config uses linear (meter) or angular (degree/rotation) control.

Parameters

cfg	SmartMotorControllerConfig used to determine the active measurement space.

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/telemetry/SmartMotorControllerTelemetry.hpp