⚙️ Helpers

Use helper functions to learn about RapidCode good practices.

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.

In this page:

• ⚙️ Check Errors
• ⚙️ Network Start
• ⚙️ Network Shutdown

⚙️ Check Errors

Checks for errors in a RapidCodeObject and throws an exception if non-warning errors are found. This helper reads and prints all errors from the error log, ignoring warnings. Use after any RapidCode API call that might generate errors.

  void CheckErrors(RapidCodeObject *rsiObject, const std::source_location &location = std::source_location::current())
  {
    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)
    {
      std::ostringstream message;
      message << "Error! In "
              << location.file_name() << '('
              << location.line() << ':'
              << location.column() << ") `"
              << location.function_name() << "`:\n"
              << errorStrings;
 
      throw std::runtime_error(message.str().c_str());
    }
  }

⚙️ Network Start

Starts the network communication for a MotionController and verifies it reaches OPERATIONAL state. Prints network log messages if the network fails to start. Throws an exception if OPERATIONAL state is not reached.

  void NetworkStart(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;
    }
  }

⚙️ Network Shutdown

Shuts down the network communication for a MotionController. Verifies the network reaches SHUTDOWN or UNINITIALIZED state. Prints network log messages if shutdown fails.

  void NetworkShutdown(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;
    }
  }