_setup.cs

using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Sample Apps Setup");
 
// start fresh each time
KillExistingController();
 
// create new controller
var creationParams = GetCreationParameters();
MotionController controller = MotionController.Create(creationParams);
Helpers.CheckErrors(controller);
 
// setup controller
SetupController(controller, Constants.AXIS_COUNT, Constants.USE_HARDWARE);
 
// print setup
Console.WriteLine($"RMP path: {creationParams.RmpPath}");
Console.WriteLine($"Use hardware: {Constants.USE_HARDWARE}");
Console.WriteLine($"Axis count: {controller.AxisCountGet()}");
 
for (int i = 0; i < Constants.AXIS_COUNT; i++)
{
    Axis? currentAxis = controller.AxisGet(axisNumber: i);
    Helpers.CheckErrors(currentAxis);
       
    // set userunits
    currentAxis.UserUnitsSet(countsPerUserUnit: 1);
 
    // print axis info
    if (currentAxis != null)
    {
        Console.WriteLine($"  Axis {i}: Motor Type = {currentAxis.MotorTypeGet()}");
        Console.WriteLine($"  Axis {i}: UserUnits = {currentAxis.UserUnitsGet()}");
    }
}
 
 
/*
┌────────────────┐
│ HELPER METHODS │
└────────────────┘
*/
MotionController.CreationParameters GetCreationParameters()
{
    var createParams = new MotionController.CreationParameters();
 
#if WINDOWS
    createParams.RmpPath = Constants.RMP_WINDOWS_PATH;
    createParams.NodeName = Constants.RMP_NODE_NAME;        // default is "NodeA"
#elif LINUX
    createParams.RmpPath = Constants.RMP_LINUX_PATH;
    createParams.NicPrimary = Constants.RMP_NIC_PRIMARY;    // default is "" since we do not have network by default
    createParams.CpuAffinity = Constants.RMP_CPU_AFFINITY;  // default is 0 since this is what our tests use
#endif
 
    return createParams;
}
 
static void SetupController(MotionController controller, int userAxisCount, bool useHardware)
{
    // Start or shutdown the network depending on the configuration
    if (useHardware)
    {
        Helpers.ControllerSetup(controller);
    }
    else if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateUNINITIALIZED &&
             controller.NetworkStateGet() != RSINetworkState.RSINetworkStateSHUTDOWN)
    {
        throw new Exception(
            "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 set USE_HARDWARE to true in config.json\n" +
            "Otherwise, shutdown the network before running the sample apps with phantom axes.");
    }
 
    // Track initial counts for restoration later
    int initialAxisCount = controller.AxisCountGet();
    int initialMotionCount = controller.MotionCountGet();
 
    // Check if we are using hardware or phantom axes
    if (useHardware)
    {
        // Verify there are enough axes configured
        int axisCount = controller.AxisCountGet();
        if (axisCount < userAxisCount)
        {
            throw new Exception(
                $"Error! Not enough axes configured. Expected {userAxisCount} axes but only found {axisCount} axes.\n" +
                "Please configure the axes in your hardware setup.");
        }
    }
    else
    {
        // Add phantom axes for the sample app if needed
        if (userAxisCount != initialAxisCount)
        {
            controller.AxisCountSet(userAxisCount);
        }
 
        // Configure each phantom axis
        for (int i = 0; i < userAxisCount; i++)
        {
            Axis phantomAxis = controller.AxisGet(i);
            Helpers.CheckErrors(phantomAxis);
            Helpers.PhantomAxisReset(phantomAxis);
        }
    }
}
 
static void KillExistingController()
{
    // try getting existing controller if any
    MotionController controller = MotionController.Get();
 
    try
    {
        // throws if there was no existing controller
        Helpers.CheckErrors(controller);
 
        // no errors thrown, so kill existing controller
        controller.Shutdown();
    }
    catch
    {
        // ignore errors (no existing controller)
    }
    finally
    {
        controller.Delete();  // dispose 
    }
}