Class HootReplay

java.lang.Object
com.ctre.phoenix6.HootReplay
All Implemented Interfaces:
AutoCloseable
public class HootReplay extends Object implements AutoCloseable
Static class for controlling Phoenix 6 hoot log replay.

This replays all signals in the given hoot log in simulation. Hoot logs can be created by a robot program using SignalLogger. Only one hoot log may be replayed at a time.

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.

During replay, all transmits from the robot program are ignored. This includes features such as control requests, configs, and setting signal update frequency. Additionally, Tuner X is not functional during log replay.

To use Hoot Replay, construct a HootReplay(String) before any devices are constructed to load a hoot file and start replay. It is recommended that this is constructed immediately before a CANBus to fulfill this requirement. Non-critical failures from opening and reading the file can be fetched using getStatus().

After devices are constructed, Hoot Replay can be controlled using play(), pause(), stop(), and restart(). Additionally, Hoot Replay supports stepTiming(double) while paused. The current file can be closed using close(), after which a new file may be loaded.

  • Constructor Details

    • HootReplay

      public HootReplay(String filepath)
      Loads the given file and starts signal log replay. Only one hoot log may be replayed at a time.

      This must be constructed before constructing any devices or checking CAN bus status. It is recommended that this is constructed immediately before a CANBus to fulfill this requirement.

      When using relative paths, the file path is typically relative to the top-level folder of the robot project.

      This API is blocking on the file read.

      Parameters:
      filepath - Path and name of the hoot file to load
      Throws:
      IllegalArgumentException - The file is invalid, unlicensed, or targets a different version of Phoenix 6

  • Method Details

    • close

      public void close()
      Ends the hoot log replay. This stops the replay if it is running, closes the hoot log, and clears all signals read from the file.
      Specified by:
      close in interface AutoCloseable

    • getStatus

      public final StatusCode getStatus()
      Gets the status from opening and reading the file for replay.
      Returns:
      Status from opening and reading the file for replay

    • isFileLoaded

      public static boolean isFileLoaded()
      Gets whether a valid hoot log file is currently loaded.
      Returns:
      true if a valid hoot log file is loaded

    • play

      public static StatusCode play()
      Starts or resumes the hoot log replay.
      Returns:
      Status of starting or resuming replay

    • pause

      public static StatusCode pause()
      Pauses the hoot log replay. This maintains the current position in the log replay so it can be resumed later.
      Returns:
      Status of pausing replay

    • stop

      public static StatusCode stop()
      Stops the hoot log replay. This resets the current position in the log replay to the start.
      Returns:
      Status of stopping replay

    • restart

      public static StatusCode restart()
      Restarts the hoot log replay from the start of the log. This is equivalent to calling stop() followed by play().
      Returns:
      Status of restarting replay

    • isPlaying

      public static boolean isPlaying()
      Gets whether hoot log replay is actively playing.

      This API will return true in programs that do not support replay, making it safe to call without first checking if the program supports replay.

      Returns:
      true if replay is playing back signals

    • waitForPlaying

      public static boolean waitForPlaying(double timeoutSeconds)
      Waits until hoot log replay is actively playing.

      This API will immediately return true in programs that do not support replay, making it safe to call without first checking if the program supports replay.

      Since this can block the calling thread, this should not be called with a non-zero timeout on the main thread.

      This can also be used with a timeout of 0 to perform a non-blocking check, which is equivalent to isPlaying().

      Parameters:
      timeoutSeconds - Max time to wait for replay to start playing
      Returns:
      true if replay is playing back signals

    • isFinished

      public static boolean isFinished()
      Gets whether hoot log replay has reached the end of the log.
      Returns:
      true if replay has reached the end of the log, or if no log is currently loaded

    • setSpeed

      public static void setSpeed(double speed)
      Sets the speed of the hoot log replay. A speed of 1.0 corresponds to replaying the file in real time, and larger values increase the speed.
      • Minimum Value: 0.01
      • Maximum Value: 100.0
      • Default Value: 1.0
      Parameters:
      speed - Speed of the hoot log replay

    • stepTiming

      public static StatusCode stepTiming(double stepTimeSeconds)
      Advances the hoot log replay time by the given value. Replay must be paused or stopped before advancing its time.
      Parameters:
      stepTimeSeconds - The amount of time to advance
      Returns:
      Status of advancing the replay time

    • getSchemaValue

      public static StatusSignal.SignalMeasurement<byte[]> getSchemaValue(String name, HootSchemaType type)
      Gets a schema-serialized user signal. Users can call getStruct(String, Struct), getStructArray(String, Struct), and getProtobuf(String, Protobuf) to directly get schema values instead.
      Parameters:
      name - Name of the signal
      type - Type of the schema, such as struct or protobuf
      Returns:
      Structure with all information about the signal

    • getStruct

      public static <T> StatusSignal.SignalMeasurement<Optional<T>> getStruct(String name, Struct<T> struct)
      Gets a WPILib Struct user signal.
      Type Parameters:
      T - Struct type
      Parameters:
      name - Name of the signal
      struct - Struct deserialization implementation
      Returns:
      Structure with all information about the signal

    • getStructArray

      public static <T> StatusSignal.SignalMeasurement<Optional<T[]>> getStructArray(String name, Struct<T> struct)
      Gets a WPILib Struct array user signal.
      Type Parameters:
      T - Struct type
      Parameters:
      name - Name of the signal
      struct - Struct deserialization implementation
      Returns:
      Structure with all information about the signal

    • getProtobuf

      public static <T> StatusSignal.SignalMeasurement<Optional<T>> getProtobuf(String name, Protobuf<T,?> proto)
      Gets a Protobuf user signal.
      Type Parameters:
      T - Protobuf type
      Parameters:
      name - Name of the signal
      proto - Protobuf deserialization implementation
      Returns:
      Structure with all information about the signal

    • getRaw

      public static StatusSignal.SignalMeasurement<byte[]> getRaw(String name)
      Gets a raw-bytes user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getBoolean

      public static StatusSignal.SignalMeasurement<Boolean> getBoolean(String name)
      Gets a boolean user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getInteger

      public static StatusSignal.SignalMeasurement<Long> getInteger(String name)
      Gets an integer user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getFloat

      public static StatusSignal.SignalMeasurement<Float> getFloat(String name)
      Gets a float user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getDouble

      public static StatusSignal.SignalMeasurement<Double> getDouble(String name)
      Gets a double user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getValue

      public static <MEAS extends Measure<?>> StatusSignal.SignalMeasurement<MEAS> getValue(String name, DoubleFunction<MEAS> unitFactory)
      Gets a unit value user signal.
      Type Parameters:
      MEAS - Unit measure type
      Parameters:
      name - Name of the signal
      unitFactory - Factory for creating the unit type, such as Rotations::of
      Returns:
      Structure with all information about the signal

    • getString

      public static StatusSignal.SignalMeasurement<String> getString(String name)
      Gets a string user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getBooleanArray

      public static StatusSignal.SignalMeasurement<boolean[]> getBooleanArray(String name)
      Gets a boolean user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getIntegerArray

      public static StatusSignal.SignalMeasurement<long[]> getIntegerArray(String name)
      Gets a boolean array user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getFloatArray

      public static StatusSignal.SignalMeasurement<float[]> getFloatArray(String name)
      Gets a float array user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getDoubleArray

      public static StatusSignal.SignalMeasurement<double[]> getDoubleArray(String name)
      Gets a double array user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal

    • getStringArray

      public static StatusSignal.SignalMeasurement<String[]> getStringArray(String name)
      Gets a string array user signal.
      Parameters:
      name - Name of the signal
      Returns:
      Structure with all information about the signal