APIs, concepts, guides, and more

🔹 RPCs

rpc RTOS(RTOSRequest) returns (RTOSResponse) {};
rpc RTOSBatch(RTOSBatchRequest) returns (RTOSBatchResponse) {};

🔹 Request

message RTOSRequest {
// Common request header
RSI.RapidServer.RequestHeader header = 1;
// Specify a specific INtime node by name.
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
}

🔹 Response

message RTOSResponse {
// Common response header. Always check the response header for errors.
RSI.RapidServer.ResponseHeader header = 1;
// Specify a specific INtime node by name.
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
optional RTOSInfo info = 5;
optional RTOSStatus status = 6;
}

🔹 Batch Request and Response

message RTOSBatchRequest {
// Common request header
RSI.RapidServer.RequestHeader header = 1;
repeated RTOSRequest requests = 2;
}
message RTOSBatchResponse {
// Common response header. Always check the response header for errors.
RSI.RapidServer.ResponseHeader header = 1;
repeated RTOSResponse responses = 2;
}
RSINetworkStartMode
Network start modes.
Definition rsienums.h:585
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1265
RSINetworkStartError
Network start errors.
Definition rsienums.h:591
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:495
INtimeStatus
INtime status values.
Definition rsienums.h:1303
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSINetworkType
Type of Network topology.
Definition rsienums.h:619
RSINodeType
Valid Node types.
Definition rsienums.h:669

🔹 Config

🔹 Action

message RTOSAction {
optional Restart restart = 1;
optional Stop stop = 2;
optional Start start = 3;
message Restart {}
message Stop {}
message Start {}
}

🔹 Info

message RTOSInfo {
// The RMP process catalog.
string rmp_catalog = 1;
// The RMPNetwork process catalog.
string rmp_network_catalog = 2;
// The number of INtime nodes.
uint32 node_count = 3;
}

🔹 Status

message RTOSStatus {
// The status of the INtime node
INtimeStatus status = 3;
}