SampleAppsHelper.h

Attention

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

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.

 
#ifndef SAMPLE_APPS_HELPER
#define SAMPLE_APPS_HELPER
 
#include "rsi.h" // Import our RapidCode Library.
#include <algorithm>
#include <cstdlib>
#include <iostream>
#include <string>
#include <sstream>
 
using namespace RSI::RapidCode; // Import the RapidCode namespace
 
struct SampleAppsConfig
{
  // Motion Controller Creation Parameters
  static constexpr char RMP_PATH[] = ""; 
  static constexpr char NIC_PRIMARY[] = "";            
  static constexpr char NODE_NAME[] = "";              
  static constexpr int CPU_AFFINITY = 0;               
 
  // If you want to use hardware, then follow the instructions in the README before setting this to true.
  static constexpr bool USE_HARDWARE = false; 
 
  static void ConfigureHardwareAxes(MotionController *controller)
  {
    // If you have configured your axes using rsiconfig, RapidSetup, or RapidSetupX then you can comment out this error and return.
    // IMPLEMENTATION REQUIRED: Configure the axes for hardware
    std::ostringstream message;
    message << "You must implement the " << __func__ << " function (found in " << __FILE__ << " line " << __LINE__ << ") to use hardware.";
    throw std::runtime_error(message.str().c_str());
 
    // Simple Axis Configuration Example:
    // (Look at the Axis: Configuration section in the RapidCode API Reference for more advanced configurations)
    /*
    const int USER_UNITS = 1048576; // example for 20-bit encoder, 2^20 = 1048576
    Axis *axis = controller->AxisGet(0);
    axis->UserUnitsSet(USER_UNITS);
    axis->PositionSet(0);
    axis->ErrorLimitTriggerValueSet(0.1 * USER_UNITS);
    axis->ErrorLimitActionSet(RSIAction::RSIActionABORT);
    axis->Abort();
    axis->ClearFaults();
    */
  }
};
 
namespace SampleAppsHelper
{
#if _WIN32
static MotionController::CreationParameters GetCreationParameters()
{
  // Create a controller with using defined parameters
  MotionController::CreationParameters params;
  strncpy(params.RmpPath, SampleAppsConfig::RMP_PATH, params.PathLengthMaximum);
  strncpy(params.NicPrimary, SampleAppsConfig::NIC_PRIMARY, params.PathLengthMaximum);
  strncpy(params.NodeName, SampleAppsConfig::NODE_NAME, params.PathLengthMaximum);
  return params;
}
#elif __linux__
static MotionController::CreationParameters GetCreationParameters()
{
  MotionController::CreationParameters params;
  strncpy(params.RmpPath, SampleAppsConfig::RMP_PATH, params.PathLengthMaximum);
  strncpy(params.NicPrimary, SampleAppsConfig::NIC_PRIMARY, params.PathLengthMaximum);
  params.CpuAffinity = SampleAppsConfig::CPU_AFFINITY;
  return params;
}
#endif
 
static void CheckErrors(RapidCodeObject *rsiObject)
{
  bool hasErrors = false;
  std::string errorStrings("");
  while (rsiObject->ErrorLogCountGet() > 0)
  {
    const RsiError *err = rsiObject->ErrorLogGet();
 
    errorStrings += err->what();
    errorStrings += "\n";
 
    if (!err->isWarning)
    {
      hasErrors = true;
    }
  }
 
  if (hasErrors)
  {
    throw std::runtime_error(errorStrings.c_str());
  }
}
 
static void StartTheNetwork(MotionController *controller)
{
  // Initialize the Network
  if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateOPERATIONAL) // Check if network is started already.
  {
    std::cout << "Starting Network.." << std::endl;
    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++)
    {
      std::cout << controller->NetworkLogMessageGet(i) << std::endl; // Print all the messages to help figure out the problem
    }
    throw std::runtime_error("Expected OPERATIONAL state but the network did not get there.");
  }
  else // Else, of network is operational.
  {
    std::cout << "Network Started" << std::endl << std::endl;
  }
}
 
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
  std::cout << "Shutting down the network.." << std::endl;
  controller->NetworkShutdown();
 
  if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateUNINITIALIZED &&
      controller->NetworkStateGet() != RSINetworkState::RSINetworkStateSHUTDOWN) // Check if the network is shutdown.
  {
    int messagesToRead = controller->NetworkLogMessageCountGet(); // Some kind of error shutting down the network, read the network log messages
 
    for (int i = 0; i < messagesToRead; i++)
    {
      std::cout << controller->NetworkLogMessageGet(i) << std::endl; // Print all the messages to help figure out the problem
    }
    throw std::runtime_error("Expected SHUTDOWN state but the network did not get there.");
  }
  else // Else, of network is shutdown.
  {
    std::cout << "Network Shutdown" << std::endl << std::endl;
  }
}
 
static void ConfigurePhantomAxis(MotionController *controller, int axisNumber)
{
  // Configure the specified axis as a phantom axis
  Axis *axis = controller->AxisGet(axisNumber); // Initialize Axis class
  CheckErrors(axis);                            // [Helper Function] Check that the axis has been initialized correctly
 
  // These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary)
  // Therefore, you must set all of their actions to "NONE".
  axis->PositionSet(0);                                      // Set the position to 0
  axis->ErrorLimitActionSet(RSIAction::RSIActionNONE);       // Set Error Limit Action.
  axis->AmpFaultActionSet(RSIAction::RSIActionNONE);         // Set Amp Fault Action.
  axis->AmpFaultTriggerStateSet(1);                          // Set Amp Fault Trigger State.
  axis->HardwareNegLimitActionSet(RSIAction::RSIActionNONE); // Set Hardware Negative Limit Action.
  axis->HardwarePosLimitActionSet(RSIAction::RSIActionNONE); // Set Hardware Positive Limit Action.
  axis->SoftwareNegLimitActionSet(RSIAction::RSIActionNONE); // Set Software Negative Limit Action.
  axis->SoftwarePosLimitActionSet(RSIAction::RSIActionNONE); // Set Software Positive Limit Action.
  axis->HomeActionSet(RSIAction::RSIActionNONE);             // Set Home Action.
 
  const double positionToleranceMax =
      std::numeric_limits<double>::max() /
      10.0; // Reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException
  axis->PositionToleranceCoarseSet(positionToleranceMax); // Set Settling Coarse Position Tolerance to max value
  axis->PositionToleranceFineSet(positionToleranceMax
  ); // Set Settling Fine Position Tolerance to max value (so Phantom axis will get immediate MotionDone when target is reached)
 
  axis->MotorTypeSet(RSIMotorType::RSIMotorTypePHANTOM); // Set the MotorType to phantom
}
 
static int initialAxisCount = -1; 
static int initialMotionCount = -1; 
 
static void SetupController(MotionController *controller, int numAxes = 0)
  {
    // Start or shutdown the network depending on the configuration
    if (SampleAppsConfig::USE_HARDWARE)
    {
      StartTheNetwork(controller);
    }
    else if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateUNINITIALIZED &&
      controller->NetworkStateGet() != RSINetworkState::RSINetworkStateSHUTDOWN)
    {
      std::ostringstream message;    
      message << "The Sample Apps are configured to use Phantom Axes, but the network is not in the UNINITIALIZED or SHUTDOWN state.\n"
              << "If you intended to run with hardware, then follow the steps in README.md and /include/SampleAppsHelper.h\n"
              << "Otherwise, shutdown the network before running the sample apps with phantom axes.";
 
      throw std::runtime_error(message.str().c_str());
    }
 
    // Check if we are using hardware or phantom axes
    if (SampleAppsConfig::USE_HARDWARE)
    {
      // Let the user defined function configure the axes
      SampleAppsConfig::ConfigureHardwareAxes(controller);
      
      // Check that there are enough axes configured
      int axisCount = controller->AxisCountGet();
      if (axisCount < numAxes)
      {
        std::ostringstream message;
        message << "Error! Not enough axes configured. Expected " << numAxes << " axes but only found " << axisCount << " axes."
                << "Please configure the axes in the SampleAppsConfig::ConfigureHardwareAxes function.";
        throw std::runtime_error(message.str().c_str());
      }
    }
    else
    {
      // Record the initial object counts to restore later
      initialAxisCount = controller->AxisCountGet();
      initialMotionCount = controller->MotionCountGet();
 
      // Add phantom axes for the sample app if needed
      if (numAxes > initialAxisCount)
      {
        controller->AxisCountSet(numAxes);
      }
      
      for (int i = 0; i < numAxes; i++)
      {
        ConfigurePhantomAxis(controller, i);
      }
    }
  }
 
static void Cleanup(MotionController* controller)
{
  // Restore the object counts to the original values
  if (initialAxisCount != -1) { controller->AxisCountSet(initialAxisCount); }
  if (initialMotionCount != -1) { controller->MotionCountSet(initialMotionCount); }
 
  // Reset the object counts
  initialAxisCount = -1;
  initialMotionCount = -1;
}
 
static void SetupControllerForHardware(MotionController *controller)
{
  ShutdownTheNetwork(controller);
  controller->Reset(); // Reset the controller to ensure it is in a known state.
  StartTheNetwork(controller);
}
 
static void ClearControllerCounts(MotionController *controller)
{
  // Clear the counts
  controller->AxisCountSet(0);
  controller->MotionCountSet(0);
  controller->UserLimitCountSet(0);
}
 
static void SetupControllerForPhantoms(MotionController *controller, int axisCount, std::vector<int> axisNums)
{
  ShutdownTheNetwork(controller);
 
  ClearControllerCounts(controller);
 
  controller->AxisCountSet(axisCount);
  for (auto axisNum : axisNums)
  {
    ConfigurePhantomAxis(controller, axisNum);
  }
}
 
static void PrintHeader(std::string sampleAppName)
{
  std::cout << "----------------------------------------------------------------------------------------------------\n";
  std::cout << "Running " << sampleAppName << " Sample App\n";
  std::cout << "----------------------------------------------------------------------------------------------------\n" << std::endl;
}
 
static void PrintFooter(std::string sampleAppName, int exitCode)
{
  std::cout << "\n----------------------------------------------------------------------------------------------------\n";
  if (exitCode == 0)
  {
    std::cout << sampleAppName << " Sample App Completed Successfully\n";
  }
  else
  {
    std::cout << sampleAppName << " Sample App Failed with Exit Code: " << exitCode << "\n";
  }
  std::cout << "----------------------------------------------------------------------------------------------------\n" << std::endl;
}
} // namespace SampleAppsHelper
 
#endif // SAMPLE_APPS_HELPER