798 StaticInstanceMediator* _mediator;
809 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
812 static inline constexpr uint32_t AxisCountMaximum = 64;
815 static inline constexpr uint32_t MotionCountMaximum = 64;
818 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
821 static inline constexpr uint32_t RecorderCountMaximum = 64;
824 static inline constexpr uint32_t CompensatorCountMaximum = 64;
827 static inline constexpr uint32_t MathBlockCountMaximum = 64;
830 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
833 static inline constexpr double SampleRateDefault = 1000.0;
844 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
866 static inline constexpr uint32_t PathLengthMaximum = 256;
873 static inline constexpr int32_t CpuAffinityDefault = -1;
879 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
885 static inline constexpr int32_t RmpThreadPriorityRange = 8;
891 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
897 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
903 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
918 std::memset(RmpPath,
'\0', PathLengthMaximum);
919 std::memset(NicPrimary,
'\0', PathLengthMaximum);
920 std::memset(NicSecondary,
'\0', PathLengthMaximum);
922 std::memset(NodeName,
'\0', PathLengthMaximum);
923#elif defined(__linux__)
924 CpuAffinity = CpuAffinityDefault;
925 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
939 char RmpPath[PathLengthMaximum];
945 char NicPrimary[PathLengthMaximum];
951 char NicSecondary[PathLengthMaximum];
955#if defined(_WIN32) && defined(__linux__)
956 static_assert(
false,
"_WIN32 and __linux__ defined. Double check preprocessor definitions");
957#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
958 static_assert(
false,
"Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
960#if defined(_WIN32) || defined(DOXYGEN)
971 char NodeName[PathLengthMaximum];
975#if defined(__linux__) || defined(DOXYGEN)
1188 virtual IO*
IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1235 virtual
void Refresh() PURE_VIRTUAL;
1244 virtual
void Shutdown() PURE_VIRTUAL;
1254 virtual
void MemoryToFile(const
char* const fileName) PURE_VIRTUAL;
1284 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1300 virtual
double ProcessorUsageGet() PURE_VIRTUAL;
1312 virtual
void ProcessorUsageClear() PURE_VIRTUAL;
1317 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1351 virtual uint32_t SerialNumberGet(
void) PURE_VIRTUAL;
1371 virtual
void SampleWait(uint32_t samples) PURE_VIRTUAL;
1378 virtual const
char* const ServerNameGet() PURE_VIRTUAL;
1381 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1413 virtual
void SampleRateSet(
double sampleRate) PURE_VIRTUAL;
1417 virtual
double SampleRateGet() PURE_VIRTUAL;
1436 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1456 virtual
void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1460 virtual
void AxisCountSet(int32_t axisCount,
bool setMotorFilterSupervisor) PURE_VIRTUAL;
1464 virtual
bool IsLicensed() PURE_VIRTUAL;
1467 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1470 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1473 virtual
bool MechaWareLicenseGet() PURE_VIRTUAL;
1476 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1502 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1520 virtual
void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1547 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1572 virtual
void UserVersionSet(int32_t version) PURE_VIRTUAL;
1576 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1594 virtual
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1610 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1635 virtual const
char* const FirmwareVersionGet() PURE_VIRTUAL;
1654 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1657 virtual
bool HasMechaWare() PURE_VIRTUAL;
1682 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1702 virtual
double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1729 virtual
void MemoryBlockGet(uint64_t address,
void* dataStart, int32_t size) PURE_VIRTUAL;
1745 virtual
void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1765 virtual
void MemoryDoubleSet(uint64_t address,
double dataDouble) PURE_VIRTUAL;
1792 virtual
void MemoryBlockSet(uint64_t address, const
void* const dataStart, int32_t size) PURE_VIRTUAL;
1812 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1839 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1865 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1878 virtual uint64_t AddressFromStringGet(const
char* const addressName) PURE_VIRTUAL;
1890 virtual const
char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1961 virtual
bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1980 virtual
void MotionHoldGateSet(int32_t gateNumber,
bool hold) PURE_VIRTUAL;
1996 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
1999 virtual
void NetworkStart() PURE_VIRTUAL;
2023 virtual
void NetworkShutdown() PURE_VIRTUAL;
2030 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2033 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2036 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2041 virtual const
char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2045 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2049 virtual const
char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2054 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2061 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2066 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2070 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2076 virtual const
char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2079 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2082 virtual const
char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2099 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2117 virtual
void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2137 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2155 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2168 virtual
void NetworkOutputOverrideSet(int32_t index,
bool outputOverride) PURE_VIRTUAL;
2180 virtual
bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2201 virtual
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2215 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2231 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2236 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2245 virtual const
char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2248 virtual
void NetworkTimingEnableSet(
bool enable) PURE_VIRTUAL;
2251 virtual
void NetworkTimingClear() PURE_VIRTUAL;
2254 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2257 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2260 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2263 virtual
void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2266 virtual
void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2269 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2272 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2275 virtual
bool NetworkSynchronizedGet() PURE_VIRTUAL;
2299 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
2319 virtual
void InterruptWake() PURE_VIRTUAL;
2348 virtual
void SyncInterruptEnableSet(
bool enable) PURE_VIRTUAL;
2375 virtual
void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2396 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2399 virtual
bool ServiceThreadStateGet() PURE_VIRTUAL;
2411 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2414 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2428 virtual
void SyncInterruptHostProcessFlagSet(
bool hostProcessFlag) PURE_VIRTUAL;
2440 virtual
bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2451 virtual
void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2479 virtual
void ServiceThreadEnableSet(
bool enable) PURE_VIRTUAL;
2507 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2526 virtual
void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2544 virtual
void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2547 virtual
void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2565 virtual
void RecorderCircularBufferSet(
bool enable) PURE_VIRTUAL;
2568 virtual
void RecorderCircularBufferSet(int32_t recorderNumber,
bool enable) PURE_VIRTUAL;
2585 virtual
void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2588 virtual
void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2606 virtual
void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2609 virtual
void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2617 virtual
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2638 virtual
void RecorderConfigureToTriggerOnMotion(
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2646 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2653 virtual
void RecorderConfigureToTriggerOnMotion(
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2661 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2669 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber,
bool triggerOnMotion) PURE_VIRTUAL;
2679 virtual
bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2696 virtual
bool RecorderEnabledGet() PURE_VIRTUAL;
2699 virtual
bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2717 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2720 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2735 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2738 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2754 virtual
void RecorderStart() PURE_VIRTUAL;
2757 virtual
void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2775 virtual
void RecorderStop() PURE_VIRTUAL;
2778 virtual
void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2797 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2800 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2816 virtual
void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2837 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2840 virtual
void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2858 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2861 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2881 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2884 virtual
double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2887 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2907 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2926 virtual
void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
2929 virtual
void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
2945 virtual
void RecorderReset() PURE_VIRTUAL;
2948 virtual
void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
2961 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
2979 virtual
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3014 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3035 virtual
void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3047 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3068 virtual
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3083 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3110 virtual
void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber,
RSIAxisMasterType firstInputAxisType,
double firstInputAxisMinimum,
double firstInputAxisMaximum,
double firstInputAxisDelta, int32_t secondInputAxisNumber,
RSIAxisMasterType secondInputAxisType,
double secondInputAxisMinimum,
double secondInputAxisMaximum,
double secondInputAxisDelta, int32_t outputAxisNumber,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3141 virtual
void CompensatorConfigSet(int32_t compensatorNumber,
Axis* firstInputAxis,
RSIAxisMasterType firstInputAxisType,
double firstInputAxisMinimum,
double firstInputAxisMaximum,
double firstInputAxisDelta,
Axis* secondInputAxis,
RSIAxisMasterType secondInputAxisType,
double secondInputAxisMinimum,
double secondInputAxisMaximum,
double secondInputAxisDelta,
Axis* outputAxis,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3163 virtual
void CompensatorConfigSet(int32_t compensatorNumber, int32_t inputAxisNumber,
RSIAxisMasterType inputAxisType,
double inputAxisMinimum,
double inputAxisMaximum,
double inputAxisDelta, int32_t outputAxisNumber,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3185 virtual
void CompensatorConfigSet(int32_t compensatorNumber,
Axis* inputAxis,
RSIAxisMasterType inputAxisType,
double inputAxisMinimum,
double inputAxisMaximum,
double inputAxisDelta,
Axis* outputAxis,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3198 virtual
void CompensatorTableSet(int32_t compensatorNumber, const
double* const table) PURE_VIRTUAL;
3211 virtual
void CompensatorTableGet(int32_t compensatorNumber,
double* table) PURE_VIRTUAL;
3232 virtual
double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3251 virtual
void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3261 virtual
void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3267 virtual
void CompensatorDisable(int32_t compensatorNumber,
bool force) PURE_VIRTUAL;
3275 virtual
void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3303 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3324 virtual
void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3355 virtual
RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3358 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3361 virtual
double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3364 virtual
bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3390 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3413 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfDouble,
double limitValueDouble) PURE_VIRTUAL;
3416 virtual
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3419 virtual
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3422 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3425 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3428 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3431 virtual
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3459 virtual
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3463 virtual
void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3467 virtual
void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3471 virtual
void UserLimitOutputSet(int32_t number,
double limitValueDouble, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3488 virtual
void UserLimitOutputSet(int32_t number,
RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3491 virtual
bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3494 virtual
RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3497 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3500 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3503 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3506 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3509 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3512 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3515 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3519 virtual
double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3541 virtual
bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3563 virtual
bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3566 virtual
void UserLimitEnableSet(int32_t number,
bool enable) PURE_VIRTUAL;
3582 virtual
void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3595 virtual
void UserLimitReset(int32_t number) PURE_VIRTUAL;
3606 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3625 virtual
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3628 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3646 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3658 virtual
void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3714 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3731 virtual
bool IsEtherCAT() PURE_VIRTUAL;
3734 virtual
bool IsSynqNet() PURE_VIRTUAL;
3744 virtual
bool HasIO() PURE_VIRTUAL;
3747 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3750 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3753 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool state) PURE_VIRTUAL;
3756 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3759 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3762 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3771 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3774 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3777 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3780 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3784 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3787 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3790 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3793 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3796 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3799 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3813 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3827 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3841 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3855 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3868 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3881 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3894 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3907 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
3920 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3925 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3939 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3944 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3961 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
3968 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3982 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue) PURE_VIRTUAL;
3991 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3998 virtual
char* AKDASCIICommand(const
char* const command) PURE_VIRTUAL;
4001 virtual
void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4004 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4018 virtual const
char* const NameGet() PURE_VIRTUAL;
4032 virtual const
char* const ProductNameGet() PURE_VIRTUAL;
4046 virtual const
char* const VendorNameGet() PURE_VIRTUAL;
4049 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4052 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4055 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4058 virtual const
char* const SerialNumberGet() PURE_VIRTUAL;
4061 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4064 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4125 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4155 virtual
void TriggeredModify() PURE_VIRTUAL;
4183 virtual
void Stop() PURE_VIRTUAL;
4209 virtual
void Resume() PURE_VIRTUAL;
4235 virtual
void EStop() PURE_VIRTUAL;
4257 virtual
void EStopAbort() PURE_VIRTUAL;
4275 virtual
void EStopModify() PURE_VIRTUAL;
4279 virtual
void EStopModifyAbort() PURE_VIRTUAL;
4302 virtual
void Abort() PURE_VIRTUAL;
4330 virtual
void ClearFaults() PURE_VIRTUAL;
4358 virtual
void AmpEnableSet(
bool enable) PURE_VIRTUAL;
4389 virtual int32_t AmpEnableSet(
bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4411 virtual
void Map() PURE_VIRTUAL;
4430 virtual
void Unmap() PURE_VIRTUAL;
4436 virtual
bool IsMapped() PURE_VIRTUAL;
4454 virtual
void FeedRateSet(
double rate) PURE_VIRTUAL;
4474 virtual
double FeedRateGet() PURE_VIRTUAL;
4567 virtual const
char* const SourceNameGet(
RSISource source) PURE_VIRTUAL;
4591 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4619 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4641 virtual
bool MotionDoneGet() PURE_VIRTUAL;
4681 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4715 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
4730 virtual
void InterruptWake() PURE_VIRTUAL;
4751 virtual
double StopTimeGet() PURE_VIRTUAL;
4768 virtual
void StopTimeSet(
double seconds) PURE_VIRTUAL;
4785 virtual
double EStopTimeGet() PURE_VIRTUAL;
4802 virtual
void EStopTimeSet(
double seconds) PURE_VIRTUAL;
4820 virtual
double MotionDelayGet() PURE_VIRTUAL;
4842 virtual
void MotionDelaySet(
double seconds) PURE_VIRTUAL;
4864 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4883 virtual
void MotionIdSet(uint16_t
id) PURE_VIRTUAL;
4886 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
4889 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
4905 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
4914 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
4982 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5003 virtual
void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5021 virtual
double MotionHoldTimeoutGet() PURE_VIRTUAL;
5041 virtual
void MotionHoldTimeoutSet(
double seconds) PURE_VIRTUAL;
5066 virtual
bool MotionHoldGateGet() PURE_VIRTUAL;
5090 virtual
void MotionHoldGateSet(
bool hold) PURE_VIRTUAL;
5108 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5126 virtual
void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5145 virtual
double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5163 virtual
void MotionHoldAxisPositionSet(
double position) PURE_VIRTUAL;
5187 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5205 virtual
void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5222 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5239 virtual
void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5256 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5273 virtual
void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5276 virtual
void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5385 virtual
void MovePT(
RSIMotionType type, const
double* const position, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5424 virtual
void MovePVT(const
double* const position, const
double* const velocity, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5455 virtual
void MovePVAJT(const
double* const position, const
double* const velocity, const
double* const acceleration, const
double* const jerk, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5461 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5484 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5490 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on) PURE_VIRTUAL;
5510 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5527 virtual
void StreamingOutputsClear() PURE_VIRTUAL;
5548 virtual
void StreamingOutputsEnableSet(
bool enable) PURE_VIRTUAL;
5569 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5572 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5633 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel) PURE_VIRTUAL;
5656 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel,
double finalVel) PURE_VIRTUAL;
5721 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
5738 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
5857 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
5867 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
5942 virtual
void ActualPositionSet(
double position) PURE_VIRTUAL;
5960 virtual
double CompensationPositionGet() PURE_VIRTUAL;
5974 virtual
void CompensationPositionSet(
double position) PURE_VIRTUAL;
5987 virtual
double TargetPositionGet() PURE_VIRTUAL;
6008 virtual
double CommandPositionGet() PURE_VIRTUAL;
6041 virtual
void CommandPositionSet(
double position) PURE_VIRTUAL;
6066 virtual
void CommandPositionDirectSet(
double position) PURE_VIRTUAL;
6084 virtual
double OriginPositionGet() PURE_VIRTUAL;
6108 virtual
void OriginPositionSet(
double position) PURE_VIRTUAL;
6130 virtual
double PositionErrorGet() PURE_VIRTUAL;
6153 virtual
double CommandVelocityGet() PURE_VIRTUAL;
6177 virtual
double ActualVelocityGet() PURE_VIRTUAL;
6199 virtual
double CommandAccelGet() PURE_VIRTUAL;
6202 virtual
double CommandJerkGet() PURE_VIRTUAL;
6247 virtual
double UserUnitsGet() PURE_VIRTUAL;
6271 virtual
void UserUnitsSet(
double countsPerUserUnit) PURE_VIRTUAL;
6274 virtual
double UserUnitsToCounts(
double userUnits) PURE_VIRTUAL;
6277 virtual
double CountsToUserUnits(
double counts) PURE_VIRTUAL;
6298 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6327 virtual
void Home() PURE_VIRTUAL;
6332 virtual
void Home(
bool moveToZero) PURE_VIRTUAL;
6397 virtual
double HomeOffsetGet() PURE_VIRTUAL;
6418 virtual
void HomeOffsetSet(
double offset) PURE_VIRTUAL;
6438 virtual
double HomeVelocityGet() PURE_VIRTUAL;
6464 virtual
void HomeVelocitySet(
double velocity) PURE_VIRTUAL;
6470 virtual
void HomeVelocitySet(
RSIHomeStage homeStage,
double velocity) PURE_VIRTUAL;
6487 virtual
double HomeSlowVelocityGet() PURE_VIRTUAL;
6504 virtual
void HomeSlowVelocitySet(
double velocity) PURE_VIRTUAL;
6524 virtual
double HomeAccelerationGet() PURE_VIRTUAL;
6550 virtual
void HomeAccelerationSet(
double accel) PURE_VIRTUAL;
6555 virtual
void HomeAccelerationSet(
RSIHomeStage homeStage,
double accel) PURE_VIRTUAL;
6574 virtual
double HomeDecelerationGet() PURE_VIRTUAL;
6599 virtual
void HomeDecelerationSet(
double decel) PURE_VIRTUAL;
6604 virtual
void HomeDecelerationSet(
RSIHomeStage homeStage,
double decel) PURE_VIRTUAL;
6624 virtual
double HomeJerkPercentGet() PURE_VIRTUAL;
6649 virtual
void HomeJerkPercentSet(
double percent) PURE_VIRTUAL;
6655 virtual
void HomeJerkPercentSet(
RSIHomeStage homeStage,
double percent) PURE_VIRTUAL;
6676 virtual
void HomeCancelSet(
bool cancel) PURE_VIRTUAL;
6696 virtual
bool HomeStateGet() PURE_VIRTUAL;
6710 virtual
void HomeStateSet(
bool homed) PURE_VIRTUAL;
6716 virtual
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6719 virtual
void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6722 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6726 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6750 virtual
void HomeTravelDistanceSet(
RSIHomeStage stage,
double distanceToTravel) PURE_VIRTUAL;
6786 virtual
void HomeBehaviorSet(
RSIAction behavior) PURE_VIRTUAL;
6812 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6845 virtual
bool NegativeLimitGet() PURE_VIRTUAL;
6870 virtual
bool PositiveLimitGet() PURE_VIRTUAL;
6900 virtual
bool HomeLimitGet() PURE_VIRTUAL;
6929 virtual
bool HomeSwitchGet() PURE_VIRTUAL;
6951 virtual
bool AmpFaultGet() PURE_VIRTUAL;
6976 virtual
bool AmpEnableGet() PURE_VIRTUAL;
7251 virtual
double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7272 virtual
double EStopDecelerationGet() PURE_VIRTUAL;
7288 virtual
void EStopDecelerationSet(
double decel) PURE_VIRTUAL;
7300 virtual
double EStopJerkPercentGet() PURE_VIRTUAL;
7319 virtual
void EStopJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7330 virtual
double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7349 virtual
void TriggeredModifyDecelerationSet(
double decel) PURE_VIRTUAL;
7361 virtual
double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7380 virtual
void TriggeredModifyJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7383 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7386 virtual
void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7407 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7429 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7438 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
7441 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
7444 virtual
double DefaultVelocityGet() PURE_VIRTUAL;
7447 virtual
void DefaultVelocitySet(
double velocity) PURE_VIRTUAL;
7450 virtual
double DefaultAccelerationGet() PURE_VIRTUAL;
7453 virtual
void DefaultAccelerationSet(
double acceleration) PURE_VIRTUAL;
7456 virtual
double DefaultDecelerationGet() PURE_VIRTUAL;
7459 virtual
void DefaultDecelerationSet(
double deceleration) PURE_VIRTUAL;
7462 virtual
double DefaultJerkPercentGet() PURE_VIRTUAL;
7465 virtual
void DefaultJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
7468 virtual
double DefaultPosition1Get() PURE_VIRTUAL;
7471 virtual
void DefaultPosition1Set(
double position1) PURE_VIRTUAL;
7474 virtual
double DefaultPosition2Get() PURE_VIRTUAL;
7477 virtual
void DefaultPosition2Set(
double position2) PURE_VIRTUAL;
7480 virtual
double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7483 virtual
void DefaultRelativeIncrementSet(
double relativeIncrement) PURE_VIRTUAL;
7537 virtual
void AmpFaultActionSet(
RSIAction action) PURE_VIRTUAL;
7560 virtual
bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7583 virtual
void AmpFaultTriggerStateSet(
bool state) PURE_VIRTUAL;
7605 virtual
double AmpFaultDurationGet() PURE_VIRTUAL;
7627 virtual
void AmpFaultDurationSet(
double seconds) PURE_VIRTUAL;
7705 virtual
bool HomeTriggerStateGet() PURE_VIRTUAL;
7727 virtual
void HomeTriggerStateSet(
bool state) PURE_VIRTUAL;
7750 virtual
double HomeDurationGet() PURE_VIRTUAL;
7774 virtual
void HomeDurationSet(
double seconds) PURE_VIRTUAL;
7804 virtual
RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
7832 virtual
void ErrorLimitActionSet(
RSIAction action) PURE_VIRTUAL;
7856 virtual
double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
7879 virtual
void ErrorLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
7902 virtual
double ErrorLimitDurationGet() PURE_VIRTUAL;
7926 virtual
void ErrorLimitDurationSet(
double seconds) PURE_VIRTUAL;
7952 virtual
RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
7978 virtual
void HardwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8003 virtual
bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8028 virtual
void HardwareNegLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8052 virtual
double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8077 virtual
void HardwareNegLimitDurationSet(
double seconds) PURE_VIRTUAL;
8103 virtual
RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8129 virtual
void HardwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8151 virtual
bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8176 virtual
void HardwarePosLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8200 virtual
double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8224 virtual
void HardwarePosLimitDurationSet(
double seconds) PURE_VIRTUAL;
8251 virtual
RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8276 virtual
void SoftwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8300 virtual
double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8324 virtual
void SoftwareNegLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8349 virtual
RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8374 virtual
void SoftwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8398 virtual
double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8422 virtual
void SoftwarePosLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8449 virtual
RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8475 virtual
void EncoderFaultActionSet(
RSIAction action) PURE_VIRTUAL;
8546 virtual
double EncoderFaultDurationGet() PURE_VIRTUAL;
8569 virtual
void EncoderFaultDurationSet(
double seconds) PURE_VIRTUAL;
8572 virtual
RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8575 virtual
void NodeFailureActionSet(
RSIAction action) PURE_VIRTUAL;
8618 virtual
bool LimitTriggerStateGet(
RSIEventType limit) PURE_VIRTUAL;
8621 virtual
void LimitTriggerStateSet(
RSIEventType limit,
bool triggerState) PURE_VIRTUAL;
8624 virtual
double LimitTriggerValueGet(
RSIEventType limit) PURE_VIRTUAL;
8627 virtual
void LimitTriggerValueSet(
RSIEventType limit,
double triggerValue) PURE_VIRTUAL;
8630 virtual
double LimitDurationGet(
RSIEventType limit) PURE_VIRTUAL;
8633 virtual
void LimitDurationSet(
RSIEventType limit,
double seconds) PURE_VIRTUAL;
8654 virtual
double PositionToleranceFineGet() PURE_VIRTUAL;
8669 virtual
void PositionToleranceFineSet(
double tolerance) PURE_VIRTUAL;
8684 virtual
double PositionToleranceCoarseGet() PURE_VIRTUAL;
8702 virtual
void PositionToleranceCoarseSet(
double tolerance) PURE_VIRTUAL;
8717 virtual
double VelocityToleranceGet() PURE_VIRTUAL;
8732 virtual
void VelocityToleranceSet(
double tolerance) PURE_VIRTUAL;
8748 virtual
double SettlingTimeGet() PURE_VIRTUAL;
8764 virtual
void SettlingTimeSet(
double time) PURE_VIRTUAL;
8782 virtual
bool SettleOnStopGet() PURE_VIRTUAL;
8801 virtual
void SettleOnStopSet(
bool state) PURE_VIRTUAL;
8819 virtual
bool SettleOnEStopGet() PURE_VIRTUAL;
8836 virtual
void SettleOnEStopSet(
bool state) PURE_VIRTUAL;
8854 virtual
bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
8871 virtual
void SettleOnEStopCmdEqActSet(
bool state) PURE_VIRTUAL;
8912 virtual
void MotorTypeSet(
RSIMotorType type) PURE_VIRTUAL;
9001 virtual
double BrakeApplyDelayGet() PURE_VIRTUAL;
9020 virtual
void BrakeApplyDelaySet(
double seconds) PURE_VIRTUAL;
9037 virtual
double BrakeReleaseDelayGet() PURE_VIRTUAL;
9056 virtual
void BrakeReleaseDelaySet(
double seconds) PURE_VIRTUAL;
9059 virtual
void ClosedLoopStepperSet(
bool enable) PURE_VIRTUAL;
9062 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9068 virtual
void EncoderPointerSet(
RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9075 virtual
void FeedbackDeltaPointerSet(
RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9100 virtual int32_t EncoderRatioNumeratorGet(
RSIMotorFeedback encoder) PURE_VIRTUAL;
9103 virtual int32_t EncoderRatioDenominatorGet(
RSIMotorFeedback encoder) PURE_VIRTUAL;
9126 virtual
void EncoderRatioSet(
RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9129 virtual const
char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9132 virtual
void EncoderRatioPrimarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9135 virtual const
char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9138 virtual
void EncoderRatioSecondarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9141 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9145 virtual
void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9202 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9229 virtual
void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9258 virtual
void GearingEnable(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9263 virtual
void GearingEnable(
Axis* masterAxis,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9283 virtual
void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9301 virtual
void GearingDisable() PURE_VIRTUAL;
9304 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9307 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9310 virtual
bool GearingEnableGet() PURE_VIRTUAL;
9329 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9367 virtual
double MotionCamMasterStartGet(
Axis* master) PURE_VIRTUAL;
9383 virtual
void MotionCamMasterStartSet(
Axis* master,
double startPosition) PURE_VIRTUAL;
9401 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9420 virtual
void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9439 virtual
void MotionCamRepeatStop() PURE_VIRTUAL;
9463 virtual
void MoveCamLinear(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9494 virtual
void MoveCamCubic(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, const
double* const gearRatios, int32_t pointCount) PURE_VIRTUAL;
9513 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9533 virtual
double BacklashWidthGet() PURE_VIRTUAL;
9547 virtual
void BacklashWidthSet(
double width) PURE_VIRTUAL;
9561 virtual
double BacklashRateGet() PURE_VIRTUAL;
9575 virtual
void BacklashRateSet(
double rate) PURE_VIRTUAL;
9588 virtual
double BacklashValueGet() PURE_VIRTUAL;
9709 virtual
void FilterCoeffSet(
RSIFilterGainPIVCoeff coeff, int32_t gainTable,
double coeffValue) PURE_VIRTUAL;
9745 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9775 virtual
void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
9793 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
9796 virtual
double FilterOutputGet(
void) PURE_VIRTUAL;
9810 virtual
double FilterLowPassGet() PURE_VIRTUAL;
9827 virtual
void FilterLowPassSet(
double frequency) PURE_VIRTUAL;
9851 virtual
bool FilterGainSchedulingGet() PURE_VIRTUAL;
9855 virtual
void FilterGainSchedulingSet(
bool enable) PURE_VIRTUAL;
9858 virtual
bool IsTuneable() PURE_VIRTUAL;
9876 virtual
void PostFilterLowPassSet(int32_t sectionNumber,
double frequency) PURE_VIRTUAL;
9893 virtual
void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
9913 virtual
void PostFilterSingleOrderSet(int32_t sectionNumber,
double aOne,
double bZero,
double bOne) PURE_VIRTUAL;
9930 virtual
void PostFilterHighPassSet(int32_t sectionNumber,
double cornerFreq) PURE_VIRTUAL;
9949 virtual
void PostFilterNotchSet(int32_t sectionNumber,
double centerFreq,
double bandwidth) PURE_VIRTUAL;
9969 virtual
void PostFilterResonatorSet(int32_t sectionNumber,
double centerFreq,
double bandwidth,
double gain) PURE_VIRTUAL;
9989 virtual
void PostFilterLeadLagSet(int32_t sectionNumber,
double lowGain,
double highGain,
double centerFreq) PURE_VIRTUAL;
10006 virtual
void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10028 virtual
void PostFilterBiquadSet(int32_t sectionNumber,
double aOne,
double aTwo,
double bZero,
double bOne,
double bTwo) PURE_VIRTUAL;
10031 virtual const
char* const PostFilterInfoGet() PURE_VIRTUAL;
10059 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
10081 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
10090 virtual
void PostTrajectoryGearingEnableSet(
bool enable) PURE_VIRTUAL;
10093 virtual
bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10096 virtual
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10099 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10102 virtual
void PostTrajectoryGearingMultiplierSet(
double multiplier) PURE_VIRTUAL;
10105 virtual
double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10144 virtual
void NetworkIndexSet(
RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10156 virtual
double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10164 virtual
void BacklashHysteresisLimitSet(
double hysteresisLimit) PURE_VIRTUAL;
10189 virtual
bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10214 virtual
void StepperMotorLoopbackSet(
bool loopback) PURE_VIRTUAL;
10243 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;