PrintNetworkTopology.cpp

Attention

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

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 <iomanip>
#include <iostream>
#include <map>
#include <sstream>
#include <vector>
 
#include "SampleAppsHelper.h" // Import our helper functions.
#include "rsi.h"              // Import our RapidCode Library.
 
using namespace RSI::RapidCode; // Import the RapidCode namespace
 
// Map of the RSINetworkType enum to string
static const std::map<RSINetworkType, std::string> RSINetworkTypeMap = {
    {RSINetworkType::RSINetworkTypeSTRING, "RSINetworkTypeSTRING"},
    {RSINetworkType::RSINetworkTypeDUAL_STRING, "RSINetworkTypeDUAL_STRING"},
    {RSINetworkType::RSINetworkTypeRING, "RSINetworkTypeRING"}
};
 
// Map of the RSINetworkState enum to string
static const std::map<RSINetworkState, std::string> RSINetworkStateMap = {
    {RSINetworkState::RSINetworkStateUNINITIALIZED, "RSINetworkStateUNINITIALIZED"},
    {RSINetworkState::RSINetworkStateDISCOVERING, "RSINetworkStateDISCOVERING"},
    {RSINetworkState::RSINetworkStateDISCOVERED, "RSINetworkStateDISCOVERED"},
    {RSINetworkState::RSINetworkStatePREOPERATIONAL, "RSINetworkStatePREOPERATIONAL"},
    {RSINetworkState::RSINetworkStateOPERATIONAL, "RSINetworkStateOPERATIONAL"},
    {RSINetworkState::RSINetworkStateERROR, "RSINetworkStateERROR"},
    {RSINetworkState::RSINetworkStateSHUTDOWN, "RSINetworkStateSHUTDOWN"},
    {RSINetworkState::RSINetworkStateSTARTING, "RSINetworkStateSTARTING"}
};
 
// Constants for reading the device type from the Mdp
struct MdpConstants
{
  static constexpr int DEVICE_TYPE_INDEX = 0x1000;
  static constexpr int DEVICE_TYPE_SUB_INDEX = 0;
  static constexpr int DEVICE_TYPE_BYTE_SIZE = 4;
};
 
// Helper function to get the list of network nodes from the controller
static std::vector<RapidCodeNetworkNode *> GetNodeList(MotionController *controller)
{
  std::vector<RapidCodeNetworkNode *> nodes;
  for (int i = 0; i < controller->NetworkNodeCountGet(); ++i)
  {
    RapidCodeNetworkNode *node = controller->NetworkNodeGet(i);
 
    if (node == nullptr)
    {
      throw std::runtime_error("Error creating the network node, it is null.");
    }
 
    if (!node->Exists())
    {
      throw std::runtime_error("The network node should exist after we get it.");
    }
 
    nodes.push_back(node);
  }
  return nodes;
}
 
// Helper function to get the device type of a node from the Mdp
static std::string GetDeviceType(RapidCodeNetworkNode *node)
{
  std::string deviceType = "";
  try
  {
    uint32_t deviceTypeValue =
        node->ServiceChannelRead(MdpConstants::DEVICE_TYPE_INDEX, MdpConstants::DEVICE_TYPE_SUB_INDEX, MdpConstants::DEVICE_TYPE_BYTE_SIZE);
 
    std::ostringstream deviceTypeStream;
    deviceTypeStream << "0x" << std::uppercase << std::setfill('0') << std::setw(8) << std::hex << deviceTypeValue;
 
    deviceType = deviceTypeStream.str();
  }
  catch (std::exception err)
  {
    deviceType = "Exception trying to read device type";
  }
  return deviceType;
}
 
// Helper function to read the information of a node into a string
static std::string ReadNodeInfo(RapidCodeNetworkNode *node)
{
  std::ostringstream nodeInfo;
 
  nodeInfo << "\n"; // for spacing
  nodeInfo << "Node[" << node->NumberGet() << "] - " << node->NameGet() << " ______________________________________________\n";
 
  nodeInfo << " Vendor: " << node->VendorNameGet();
  nodeInfo << " Product: " << node->ProductNameGet() << "\n";
 
  nodeInfo << "  VendorID:      0x" << std::hex << std::setw(8) << std::setfill('0') << node->VendorIdGet();
  nodeInfo << " ProductCode:   0x" << std::setw(8) << node->ProductCodeGet() << "\n";
 
  nodeInfo << "  HardwareRev:   0x" << std::setw(8) << node->RevisionGet();
  nodeInfo << " SerialNumber:  " << node->SerialNumberGet() << "\n";
 
  nodeInfo << "  StationAlias:  0x" << std::setw(8) << node->StationAliasGet();
  nodeInfo << " AxisCount:     " << std::dec << node->AxisCountGet() << "\n";
 
  nodeInfo << "  DeviceType:    " << GetDeviceType(node);
  nodeInfo << " (For Mdp by reading SDO 0x" << std::hex << std::setw(4) << MdpConstants::DEVICE_TYPE_INDEX << ")\n";
 
  nodeInfo << "  SegmentCount:  " << node->SegmentCountGet() << "\n";
 
  nodeInfo << "  DI: " << node->DigitalInCountGet();
  nodeInfo << " DO: " << node->DigitalOutCountGet();
  nodeInfo << " AI: " << node->AnalogInCountGet();
  nodeInfo << " AO: " << node->AnalogOutCountGet() << "\n";
 
  return nodeInfo.str();
}
 
int main()
{
  const std::string SAMPLE_APP_NAME = "Utilities: Print Network Topology";
 
  // Print a start message to indicate that the sample app has started
  SampleAppsHelper::PrintHeader(SAMPLE_APP_NAME);
 
  /* RAPIDCODE INITIALIZATION */
 
  // Create the controller
  MotionController::CreationParameters params = SampleAppsHelper::GetCreationParameters();
  MotionController *controller = MotionController::Create(&params);
 
  int exitCode = -1; // Set the exit code to an error value.
  try                // Ensure that the controller is deleted if an error occurs.
  {
    SampleAppsHelper::CheckErrors(controller);
 
    /* SAMPLE APP BODY */
 
    // Get the nodes
    std::vector<RapidCodeNetworkNode *> nodes = GetNodeList(controller);
 
    // Print the network topology
    std::ostringstream topologyInfo;
 
    // Add the overview information
    topologyInfo << "EtherCAT: " << std::to_string(nodes.size());
    topologyInfo << " Nodes, " << RSINetworkTypeMap.at(controller->NetworkTypeGet());
    topologyInfo << " " << RSINetworkStateMap.at(controller->NetworkStateGet()) << "\n";
 
    // Add information for each node
    for (RapidCodeNetworkNode *node : nodes)
    {
      topologyInfo << ReadNodeInfo(node);
    }
 
    // Add network input information
    topologyInfo << "\nNetworkInputs count: " << controller->NetworkInputCountGet() << " _________________________________\n";
    for (int i = 0; i < controller->NetworkInputCountGet(); ++i)
    {
      topologyInfo << "  [" << i << "] - " << std::setw(70) << controller->NetworkInputNameGet(i);
      topologyInfo << " Bits: " << controller->NetworkInputBitSizeGet(i) << "\n";
    }
 
    // Add network output information
    topologyInfo << "NetworkOutputs count: " << controller->NetworkOutputCountGet() << " _________________________________\n";
    for (int i = 0; i < controller->NetworkOutputCountGet(); ++i)
    {
      topologyInfo << "  [" << i << "] - " << std::setw(70) << controller->NetworkOutputNameGet(i);
      topologyInfo << " Bits: " << controller->NetworkOutputBitSizeGet(i) << "\n";
    }
 
    // Print the accumulated string
    std::cout << topologyInfo.str() << std::endl;
 
    exitCode = 0;
  }
  catch (const std::exception &ex)
  {
    std::cerr << ex.what() << std::endl;
    exitCode = -1;
  }
  // Delete the controller as the program exits to ensure memory is deallocated in the correct order
  controller->Delete();
 
  // Print a message to indicate the sample app has finished and if it was successful or not
  SampleAppsHelper::PrintFooter(SAMPLE_APP_NAME, exitCode);
 
  return exitCode;
}