redux::sensors::canandcolor::digout::DigoutSlot Class Reference

#include <CanandcolorDigoutSlot.h>

Classes
struct	CompareAffine
struct	CompareImmidiate
struct	Disabled
struct	PrevClauseTrueFor
struct	PrevSlotTrueFor

Public Types
using	DigoutSlotType = std::variant< Disabled, CompareImmidiate, CompareAffine, PrevSlotTrueFor, PrevClauseTrueFor >

Public Member Functions
template<std::convertible_to< DigoutSlotType > T>
constexpr	DigoutSlot (T slot)
constexpr uint64_t	ToSettingData () const

Static Public Member Functions
static constexpr DigoutSlot	FromSettingData (uint64_t data)

Public Attributes
DigoutSlotType	slotType

Detailed Description

Represents a digout "slot" which helps determine the digital output's value.

When a CanandcolorDigout is set in the DigoutMode::DigoutSlot mode, the value of the digital output pin (high or low) is determined by a set of up to 16 "digout slots". These slots can each evaluate a single boolean expression, e.g. "Is the proximity sensor reading above 0.5" or "Is the blue channel reading greater than the red channel minus an offset", and are often able to read from CanandcolorDataSource to accomplish this.

Each slot can be chained by logical AND, OR, or XOR to form compound expressions of "clauses". All clauses have to evaluate to true for the digital output pin's value to be true. If a slot is not joined to the next indexed slot, it terminates a clause – terminating slots without any preceding joining slots are single-slot or "singleton" clauses.

Digout slots can take one of a few forms:

• DigoutSlot::Disabled for disabled/unused slots
• DigoutSlot::CompareImmidiate for comparing against constants
• DigoutSlot::CompareAffine for comparing between data sources
• DigoutSlot::PrevSlotTrueFor for checking duration
• DigoutSlot::PrevClauseTrueFor for similar purposes

While the boolean outputs are to the digital output pads, the boolean state of each slot is also available over CAN. This DigoutSlotState can be retreived using Canandcolor.GetDigoutState.

Member Typedef Documentation

DigoutSlotType

using redux::sensors::canandcolor::digout::DigoutSlot::DigoutSlotType = std::variant<Disabled, CompareImmidiate, CompareAffine, PrevSlotTrueFor, PrevClauseTrueFor>

The std::variant type alias of valid digout slot configs

Constructor & Destructor Documentation

DigoutSlot()

template<std::convertible_to< DigoutSlotType > T>

constexpr redux::sensors::canandcolor::digout::DigoutSlot::DigoutSlot ( T  slot )

inlineconstexpr

Constructor for DigoutSlot (shouldn't need to be accessed, usually)

Parameters

slot	the actual underlying slot data

Member Function Documentation

FromSettingData()

static constexpr DigoutSlot redux::sensors::canandcolor::digout::DigoutSlot::FromSettingData ( uint64_t  data )

inlinestaticconstexpr

Deserializes a 48-bit setting value into a DigoutSlot object.

Parameters

data	setting data

Returns

DigoutSlot object

ToSettingData()

constexpr uint64_t redux::sensors::canandcolor::digout::DigoutSlot::ToSettingData ( ) const

inlineconstexpr

Serializes the DigoutSlot to a value that can be written in a set settings packet.

Returns

long value (only lower 48 bits are relevant)

Member Data Documentation

slotType

DigoutSlotType redux::sensors::canandcolor::digout::DigoutSlot::slotType

The actual underlying digout slot config specified

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

• src/main/native/include/redux/sensors/canandcolor/CanandcolorDigoutSlot.h