🔹 RPCs
rpc RTOS(RTOSRequest) returns (RTOSResponse) {};
rpc RTOSBatch(RTOSBatchRequest) returns (RTOSBatchResponse) {};
🔹 Request
message RTOSRequest {
RSI.RapidServer.RequestHeader header = 1;
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
}
🔹 Response
message RTOSResponse {
RSI.RapidServer.ResponseHeader header = 1;
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 {
RSI.RapidServer.RequestHeader header = 1;
repeated RTOSRequest requests = 2;
}
message RTOSBatchResponse {
RSI.RapidServer.ResponseHeader header = 1;
repeated RTOSResponse responses = 2;
}
RSINetworkStartMode
Network start modes.
RSIMotorDisableAction
Action for when a motor is disabled.
RSINetworkStartError
Network start errors.
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
INtimeStatus
INtime status values.
RSIHomeStage
Predefined Homing Stage sections.
RSINetworkType
Type of Network topology.
RSINodeType
Valid Node types.
🔹 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 {
string rmp_catalog = 1;
string rmp_network_catalog = 2;
uint32 node_count = 3;
}
🔹 Status