ControllerInterrupts.cpp

Attention

See the following Concept pages for a detailed explanation of this sample: Settling.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

#include "rsi.h"                // Import our RapidCode Library. 
#include "SampleAppsHelper.h"    // Import our SampleApp helper functions. 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace
 
void controllerInterruptsMain()
{
    const int TIMEOUT = (5000);  //ms
 
    RSIEventType interruptType;
 
    // Initialize Controller, enable interrupts
    MotionController *controller = MotionController::CreateFromSoftware();
    SampleAppsHelper::CheckErrors(controller);
 
    controller->InterruptEnableSet(true);
    try
    {
        SampleAppsHelper::StartTheNetwork(controller);            // [Helper Function] Initialize the network.
 
        while (controller->OS->KeyGet((int32_t)RSIWait::RSIWaitPOLL) < 0)
        {
            // add code here to generate interrupts (move axes, etc.)
 
            // wait for an interrupt
            interruptType = controller->InterruptWait(TIMEOUT);
 
            if (interruptType != RSIEventType::RSIEventTypeTIMEOUT)
            {
                printf("IRQ %ld\n", interruptType);
                printf("%s\n", controller->InterruptNameGet());
                printf("InterruptSourceNumber = %ld\n", controller->InterruptSourceNumberGet());
                printf("InterruptSampleTimer = %ld\n", controller->InterruptSampleTimeGet());
                printf("\n");
            }
            else
            {
                printf("Timeout waiting for interrupts...\n");
            }
        }
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}