recorder.cs

/*  This sample demonstrates how to use the Recorder to track multiple controller parameters.
    Shows how to configure the recorder, record axis position and digital input values,
    and retrieve recorded data to find when specific events occurred.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Recorder");
 
// set sample config params
const int VALUES_PER_RECORD = 2;      // how many values to store in each record
const int RECORD_PERIOD_SAMPLES = 1;  // how often to record data (samples between consecutive records)
const int RECORD_TIME = 250;          // how long to record (milliseconds)
const int INPUT_INDEX = 0;
    
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // set recorder count before any RapidCodeObject get/create other than the controller
    controller.RecorderCountSet(1);
 
    // get axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    Helpers.PhantomAxisReset(axis);
 
    // create simulated digital input using user buffer memory
    ulong userBufferAddress = controller.AddressGet(RSIControllerAddressType.RSIControllerAddressTypeUSER_BUFFER, 0);
    IOPoint digitalInput = IOPoint.CreateDigitalInput(controller, userBufferAddress, INPUT_INDEX);
 
    // stop recorder if already running
    if (controller.RecorderEnabledGet() == true)
    {
        controller.RecorderStop();   // stop recording
        controller.RecorderReset();  // reset controller
    }
 
    // configure recorder 
    controller.RecorderPeriodSet(RECORD_PERIOD_SAMPLES);                                                          // record every n samples
    controller.RecorderCircularBufferSet(false);                                                                  // do not use circular buffer
    controller.RecorderDataCountSet(VALUES_PER_RECORD);                                                           // number of values per record
    controller.RecorderDataAddressSet(0, axis.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeACTUAL_POSITION));  // record axis position
    controller.RecorderDataAddressSet(1, digitalInput.AddressGet());                                              // record digital input state
 
    // start recording
    controller.RecorderStart();
    controller.OS.Sleep(RECORD_TIME); // record for specified time
 
    // retrieve recorded data
    int recordsAvailable = controller.RecorderRecordCountGet();
    Console.WriteLine($"There are {recordsAvailable} records available");
 
    // process records to find when input triggered
    for (int i = 0; i < recordsAvailable; i++)
    {
        controller.RecorderRecordDataRetrieve();                            // retrieve one record
 
        double positionRecord = controller.RecorderRecordDataDoubleGet(0);  // get axis position value
        int digitalInputValue = controller.RecorderRecordDataValueGet(1);   // get digital input value
 
        // check if digital input bit is high
        if ((digitalInputValue & digitalInput.MaskGet()) == digitalInput.MaskGet())
        {
            Console.WriteLine($"Encoder position was: {positionRecord} when input triggered");
            break;
        }
    }
 
    // stop and reset recorder
    controller.RecorderStop();
    controller.RecorderReset();
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}