_helpers.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
public static class Helpers
{
    public static void CheckErrors(RapidCodeObject rsiObject)
    {
        var hasErrors = false;
        var errorStrBuilder = new System.Text.StringBuilder();
 
        while (rsiObject.ErrorLogCountGet() > 0)
        {
            // get error
            RsiError rsiError = rsiObject.ErrorLogGet();
 
            // get message
            var errorMsg = rsiError.isWarning ? $"WARNING: {rsiError.Message}" : $"ERROR: {rsiError.Message}";
            errorStrBuilder.AppendLine(errorMsg);
 
            // set flag
            hasErrors = !rsiError.isWarning;
        }
 
        if (hasErrors)
            throw new Exception(errorStrBuilder.ToString());
    }
 
    public static void StartTheNetwork(MotionController controller)
    {
        // check if network is started already
        if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
        {
            Console.WriteLine("Starting Network..");
 
            // if not started, initialize the network
            controller.NetworkStart();
        }
 
        // check if network is started again
        if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
        {
            // read network log messages
            int messagesToRead = controller.NetworkLogMessageCountGet();
 
            // print all the messages to help figure out the problem
            for (int i = 0; i < messagesToRead; i++)
                Console.WriteLine(controller.NetworkLogMessageGet(i));
 
            throw new SystemException("Expected OPERATIONAL state but the network did not get there.");
        }
        else
        {
            Console.WriteLine("Network Started");
        }
    }
 
    public static void ShutdownTheNetwork(MotionController controller)
    {
        // check if the network is already shutdown
        if (controller.NetworkStateGet() == RSINetworkState.RSINetworkStateUNINITIALIZED ||
            controller.NetworkStateGet() == RSINetworkState.RSINetworkStateSHUTDOWN)
            return;
 
        // shutdown the network
        Console.WriteLine("Shutting down the network..");
        controller.NetworkShutdown();
 
        // check if the network is shutdown
        var networkState = controller.NetworkStateGet();
        if (networkState != RSINetworkState.RSINetworkStateUNINITIALIZED &&
            networkState != RSINetworkState.RSINetworkStateSHUTDOWN)
        {
            // some kind of error shutting down the network, read the network log messages
            int messagesToRead = controller.NetworkLogMessageCountGet();
 
            // print all the messages to help figure out the problem
            for (int i = 0; i < messagesToRead; i++)
                Console.WriteLine(controller.NetworkLogMessageGet(i));
 
            throw new SystemException("Expected SHUTDOWN state but the network did not get there.");
        }
        else
        {
            Console.WriteLine("Network Shutdown");
        }
    }
 
    public static void SetupControllerForHardware(MotionController controller)
    {
        ShutdownTheNetwork(controller);
 
        // reset the controller to ensure it is in a known state
        controller.Reset();
 
        StartTheNetwork(controller);
    }
 
    public static void ClearControllerCounts(MotionController controller)
    {
        controller.AxisCountSet(0);
        controller.MotionCountSet(0);
        controller.UserLimitCountSet(0);
    }
 
    public static void ConfigurePhantomAxis(MotionController controller, int axisIndex)
    {
        Axis phantomAxis = controller.AxisGet(axisIndex);
 
        // disable all limits (not used for phantom axes)
        phantomAxis.ErrorLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.HardwareNegLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.HardwarePosLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.HomeActionSet(RSIAction.RSIActionNONE);
        phantomAxis.SoftwareNegLimitActionSet(RSIAction.RSIActionNONE);
        phantomAxis.SoftwarePosLimitActionSet(RSIAction.RSIActionNONE);
 
        // set position tolerances to max value for immediate MotionDone
        double POSITION_TOLERANCE_MAX = Double.MaxValue / 10.0;
        phantomAxis.PositionToleranceCoarseSet(POSITION_TOLERANCE_MAX);
        phantomAxis.PositionToleranceFineSet(POSITION_TOLERANCE_MAX);
 
        // set the motor type to phantom
        phantomAxis.MotorTypeSet(RSIMotorType.RSIMotorTypePHANTOM);
    }
}