ControllerInterrupts.cpp

 
#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.
}