Class Signal<T>

java.lang.Object

com.revrobotics.util.Signal<T>

public final class Signal<T>
extends Object

Method Summary

Modifier and Type	Method	Description
static <T extends StatusFrame> Signal<T>	create(T statusFrame)
T	get()	Get the last known value.
T	get(T defaultValue)	Get the last known value if it is recent, or the provided default otherwise.
REVLibError	getError()
long	getTimestamp()
boolean	isValid()	Returns whether the value is recent and was collected without error.
<R> Signal<R>	map(Function<T,R> mapper)	Create a new Signal with a value returned by mapper, and the same error and timestamp as this object.
static <T> Signal<T>	of(T value, long timestamp)	Create a Signal with no error.
static <T> Signal<T>	ofError(T value, REVLibError error, long timestamp)	Create a signal that has an error.

Methods inherited from class Object

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

Method Details

get

public T get()

Get the last known value. This value may or may not be recent. Check isValid() to know if this value was recently collected. Prefer get(T defaultValue) if you have a reasonable default.

Returns:

The last known value.

get

public T get(T defaultValue)

Get the last known value if it is recent, or the provided default otherwise.

Parameters:

defaultValue - the default to use if the value is not valid

Returns:

The last known value, or the default.

getTimestamp

public long getTimestamp()

isValid

public boolean isValid()

Returns whether the value is recent and was collected without error. You can still get the last known value through 'get' if this method returns false, but the value may be outdated.

Returns:

Whether the value returned by 'get' is valid and recent.

getError

public REVLibError getError()

map

public <R> Signal<R> map(Function<T,R> mapper)

Create a new Signal with a value returned by mapper, and the same error and timestamp as this object.

Type Parameters:

R - the new object's signal type

Parameters:

mapper - a function that converts this object's signal to another signal

Returns:

A new signal object with the same error and timestamp, but a new value

of

public static <T> Signal<T> of(T value,
 long timestamp)

Create a Signal with no error. isValid will return true

Parameters:

value - known good value

timestamp - timestamp the value was collected

Returns:

A known good signal with the given value

ofError

public static <T> Signal<T> ofError(T value,
 REVLibError error,
 long timestamp)

Create a signal that has an error. isValid will return false if the error was not kOk.

Parameters:

value - The latest known good value

error - error associated with the signal

timestamp - timestamp the value was collected

Returns:

A signal that may be good or have an error

create

public static <T extends StatusFrame> Signal<T> create(T statusFrame)