HelperFunctions.cs

 
using RSI.RapidCode.dotNET; // Import our RapidCode Library
using System;
using NUnit.Framework;
 
 
 
#if DOXYGEN // RSI internal documentation use only
using RSI.RapidCode;
using RSI.RapidCode.Cartesian; 
#endif
 
public static class HelperFunctions
{
  public static void CheckErrors(RapidCodeObject rsiObject)
  {
    bool hasErrors = false;
    System.Text.StringBuilder errorStringBuilder = new System.Text.StringBuilder();
    while (rsiObject.ErrorLogCountGet() > 0)
    {
      RsiError error = rsiObject.ErrorLogGet();
 
      if (error.isWarning)
      {
        errorStringBuilder.AppendLine("WARNING: " + error.Message);
      }
      else
      {
        hasErrors = true;
        errorStringBuilder.AppendLine("ERROR: " + error.Message);
      }
    }
 
    if (errorStringBuilder.Length > 0)
    {
      Console.WriteLine(errorStringBuilder.ToString());
    }
 
    if (hasErrors)
    {
      throw new Exception(errorStringBuilder.ToString());
    }
  }
 
  public static void StartTheNetwork(MotionController controller)
  {
    // Initialize the Network
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL) // Check if network is started already.
    {
      Console.WriteLine("Starting Network..");
      controller.NetworkStart();                                                    // If not. Initialize The Network. (This can also be done from RapidSetup Tool)
    }
 
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL) // Check if network is started again.
    {
      int messagesToRead = controller.NetworkLogMessageCountGet();                  // Some kind of error starting the network, read the network log messages
 
      for (int i = 0; i < messagesToRead; i++)
      {
        Console.WriteLine(controller.NetworkLogMessageGet(i));                      // Print all the messages to help figure out the problem
      }
      Console.WriteLine("Expected OPERATIONAL state but the network did not get there.");
      //throw new RsiError();                                                       // Uncomment if you want your application to exit when the network isn't operational. (Comment when using phantom axis)
    }
    else                                                                            // Else, of network is operational.
    {
      Console.WriteLine("Network Started");
    }
  }
}
 
public static class Constants
{
  public const int SAMPLES            = 2;
  public const int AXIS_NUMBER        = 0;
  public const int X_AXIS_NUMBER      = 0;
  public const int Y_AXIS_NUMBER      = 1;
  public const int Z_AXIS_NUMBER      = 2;
  public const int A_AXIS_NUMBER      = 3;
  public const int B_AXIS_NUMBER      = 4;
  public const int C_AXIS_NUMBER      = 5;
  public const int MAIN_AXIS_NUMBER   = 0;
  public const int DRIVEN_AXIS_NUMBER = 1;
  public const int HOLDING_AXIS_INDEX = 0;
  public const int MOVING_AXIS_INDEX  = 1;
  public const int AXIS_COUNT         = 6;
  public const int FIRST_AXIS_NUMBER  = 0;
  public const int SECOND_AXIS_NUMBER = 1;
  public const int THIRD_AXIS_NUMBER  = 2;
  public const double USER_UNITS      = 1;
  public const double AKD_USER_UNITS  = 1048576; // USER UNITS for an AKD drive 1 rev (the motor used in this sample app has 1048576 encoder pulses per revolution)     
 
  public const double POSITION     = 2;   // Specify the position to travel to.
  public const double VELOCITY     = 200; // Specify your velocity.     - units: UserUnits/Sec    
  public const double ACCELERATION = 100; // Specify your acceleration. - units: UserUnits/Sec^2
  public const double DECELERATION = 100; // Specify your deceleration. - units: UserUnits/Sec^2
  public const double JERK_PERCENT = 50;  // Specify your jerk percent (0.0 to 100.0)
 
  public const double POSITION_A = 5;
  public const double POSITION_B = 10;
  public const int MAX_TEST_TIME = 3000;
  public const int COMP_NUM_ZERO = 0;
  public const int COMP_NUM_ONE  = 1;
  public const int COMP_NUM_TWO  = 2;
}
 
public class TestBase
{
  public MotionController controller;
  public Axis axis;
  public Axis x_axis;
  public Axis y_axis;
  public Axis z_axis;
  public Axis a_axis;
  public Axis b_axis;
  public Axis c_axis;
  public Axis prime_axis;
  public Axis main_axis;
  public Axis driven_axis;
  public MultiAxis jointsMultiAxis;
  public Robot robot;
 
  public Axis CreateAndReadyAxis(int AxisNumber)
  {
    Axis axis = controller.AxisGet(AxisNumber); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
    HelperFunctions.CheckErrors(axis);          // [Helper Function] Check that the axis has been initialize correctly.
    ResetAxis(axis);
    return axis;
  }
 
  public void InitializeAllAxes()
  {
    axis = controller.AxisGet(Constants.AXIS_NUMBER); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
    HelperFunctions.CheckErrors(axis);
    x_axis = controller.AxisGet(Constants.X_AXIS_NUMBER);
    HelperFunctions.CheckErrors(x_axis);
    y_axis = controller.AxisGet(Constants.Y_AXIS_NUMBER);
    HelperFunctions.CheckErrors(y_axis);
    z_axis = controller.AxisGet(Constants.Z_AXIS_NUMBER);
    HelperFunctions.CheckErrors(z_axis);
    a_axis = controller.AxisGet(Constants.A_AXIS_NUMBER);
    HelperFunctions.CheckErrors(a_axis);
    b_axis = controller.AxisGet(Constants.B_AXIS_NUMBER);
    HelperFunctions.CheckErrors(b_axis);
    c_axis = controller.AxisGet(Constants.C_AXIS_NUMBER);
    HelperFunctions.CheckErrors(c_axis);
    main_axis = controller.AxisGet(Constants.MAIN_AXIS_NUMBER);
    HelperFunctions.CheckErrors(main_axis);
    driven_axis = controller.AxisGet(Constants.DRIVEN_AXIS_NUMBER);
    HelperFunctions.CheckErrors(driven_axis);
    jointsMultiAxis = controller.MultiAxisGet(Constants.AXIS_COUNT);
    HelperFunctions.CheckErrors(jointsMultiAxis);
  }
 
  public void DisableAllAxes()
  {
    for (int i = 0; i < controller.AxisCountGet(); i++)
    {
      Axis axis = controller.AxisGet(i);
      HelperFunctions.CheckErrors(axis);
      axis.Abort();
      axis.AmpEnableSet(false);
    }
  }
 
  public void ResetAxis(Axis myAxis)
  {
    myAxis.ErrorLimitTriggerValueSet(1000);
    myAxis.UserUnitsSet(Constants.USER_UNITS); // Specify the counts per Unit.
    myAxis.PositionSet(0);                     // Sets the current position as 0 effectively 'homing' it. 
    myAxis.Abort();                            // If there is any motion happening, abort it (creates a fault).
    myAxis.DefaultAccelerationSet(Constants.ACCELERATION);
    myAxis.DefaultDecelerationSet(Constants.ACCELERATION);
    myAxis.DefaultVelocitySet(Constants.VELOCITY);
 
    EnableAmp(myAxis);
  }
 
  public void EnableAmp(Axis myAxis)
  {
    myAxis.ClearFaults();      // To enable after an abort faults must be cleared.                                 
    myAxis.AmpEnableSet(true); // Enable the motor.
  }      
 
  public void TearDownFixture()
  {
    DisableAllAxes();
    controller.Shutdown();
    controller.Delete();
  }
}
 
public class SampleAppTestBase : TestBase
{
  [SetUp]
  public void SetUp()
  {
    for (int i = 0; i < controller.AxisCountGet(); i++)
    {
      //@[AxisGet]
      Axis axis = controller.AxisGet(i);
      HelperFunctions.CheckErrors(axis);
      //@[AxisGet]
      ResetAxis(axis);
    }
  }
 
  [OneTimeSetUp]
  public void OneTimeSetUp()
  {
    controller = MotionController.CreateFromSoftware(TestContext.CurrentContext.TestDirectory);// Insert the path location of the RMP.rta (usually the RapidSetup folder) 
    HelperFunctions.CheckErrors(controller);                                                   // [Helper Function] Check that the controller has been initialize correctly.
    controller.AxisCountSet(Constants.AXIS_COUNT);
    controller.MotionCountSet(Constants.AXIS_COUNT + 1); // Create a MultiAxis
 
    InitializeAllAxes();
  }
 
  [TearDown]
  public void TearDown()
  {
    DisableAllAxes();
  }
 
  [OneTimeTearDown]
  public void OneTimeTearDown()
  {
    controller.Shutdown();
    controller.Delete();
  }
}
 
[TestFixture]
[Category("Software")]
public class StaticMemoryTestBase : TestBase
{
  [OneTimeSetUp]
  public void OneTimeSetUp()
  {
    //@[ControllerReset]
    controller = MotionController.CreateFromSoftware(TestContext.CurrentContext.TestDirectory);
    controller.Reset(); // reboot the RMP controller firmware
    //@[ControllerReset]
  }
 
  [SetUp]
  public void Setup()
  {
    controller = MotionController.CreateFromSoftware(TestContext.CurrentContext.TestDirectory);
    HelperFunctions.CheckErrors(controller);
  }
 
  [TearDown]
  public void TearDown()
  {
    TearDownFixture(); // Teardown the entire fixture every time as the controller needs to be restarted between different static memory allocations
  }
}
 
[TestFixture]
[Category("Software")]
public class HelperFunctionsTests : SampleAppTestBase
  {
    [Test]
    public void CheckErrorsTest()
    {
      string expectedErrorSubstring = "Motion: RSIStateERROR"; // we expect this to be in the message
      axis.ThrowExceptions(false); // exceptions will be logged, not thrown
      axis.Abort(); // put into RSIStateERROR
      axis.MoveSCurve(1); // command a move while in ERROR state - this will log an exception
      Assert.Throws(Is.TypeOf<Exception>().And.Message.Contains(expectedErrorSubstring), () => HelperFunctions.CheckErrors(axis));
    }
 
    [Test]
    public void CheckErrorsWarningTest()
    {
      const int BAD_AXIS_NUMBER = 777;
      Axis badAxis = controller.AxisGet(BAD_AXIS_NUMBER); // try to get an illegal axis
      Assert.Throws(Is.TypeOf<Exception>().And.Message.Contains(BAD_AXIS_NUMBER.ToString()), () => HelperFunctions.CheckErrors(badAxis));
    }
  }