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rsi.h
1#ifndef _RSI_H
2#define _RSI_H
3
4#include <stdlib.h>
5#include <vector>
6#include <stdio.h>
7#include <string.h>
8#include <math.h>
9#include <exception>
10#include <cstdint>
11#include <cstring>
12
13#include "rsienums.h"
14
15#if defined(_WIN32)
16# if !defined(__INTIME__)
17# define HAS_CARTESIAN_ROBOT 1
18# endif
19# if !defined(RSI_API)
20# if defined(RSIDLL)
21# define RSI_API __declspec(dllexport)
22# else
23# define RSI_API __declspec(dllimport)
24# endif
25# endif
26#elif defined(__linux__)
27# define HAS_CARTESIAN_ROBOT 1
28# if !defined(RSI_API)
29# define RSI_API __attribute__ ((visibility ("default")))
30# endif
31#endif
32
33// Macro for pure virtual definitions
34#define PURE_VIRTUAL = 0
35
37namespace RSI
38{
39
41namespace RapidCode
42{
43
44#if defined(__cplusplus)
45extern "C"
46{
47#endif
48
49
50class MotionController;
51class Axis;
52class MultiAxis;
53class IO;
54class RapidCodeNetworkNode;
55class IOPoint;
56class RTOS;
57
59class StaticInstanceMediator
60{
61private:
62 bool isValid;
63public:
64
65 bool IsValid() { return isValid; }
66
67 void OnDelete() { isValid = false; }
68
69 void OnCreate() { isValid = true; }
70};
71
74
106class RsiError : public std::exception
107{
108public:
110 RSIErrorMessage number;
112 int32_t lineNumber;
114 int32_t objectIndex;
116 bool isWarning;
118 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
119 char text[RSI_ERROR_TEXT_SIZE];
121 char functionName[RSI_ERROR_TEXT_SIZE];
123 char shortText[RSI_ERROR_TEXT_SIZE];
125 char fileName[RSI_ERROR_TEXT_SIZE];
126
127 RsiError()
128 {
129 text[0] = '\0';
130 functionName[0] = '\0';
131 shortText[0] = '\0';
132 fileName[0] = '\0';
133 number = RSIErrorMessage::RSIMessageOK;
134 lineNumber = -1;
135 isWarning = false;
136 objectIndex = -1;
137 }
146 RsiError(const RsiError& copyFrom)
147 {
148#if defined(_WIN32)
149 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
150 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
151 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
152 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
153#elif defined(__linux__)
154 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
155 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
156 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
157 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
158#endif
159 number = copyFrom.number;
160 lineNumber = copyFrom.lineNumber;
161 isWarning = copyFrom.isWarning;
162 objectIndex = copyFrom.objectIndex;
163 }
164 ~RsiError()
165 {
166 }
167
169 virtual const char* what() const noexcept { return text; }
170};
171
180class RSI_API RapidCodeObject {
181public:
186
187
188
201 virtual const char* const VersionGet() PURE_VIRTUAL;
202
204 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
206 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
208 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
210 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
212 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
216 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
217
220 virtual int32_t NumberGet() PURE_VIRTUAL;
222
227
228
229
230
256 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
257
271 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
272
285 virtual void ErrorLogClear() PURE_VIRTUAL;
286
305 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
306
308 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
309
311 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
312
314 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
316
321
322
337 virtual void Trace(bool state) PURE_VIRTUAL;
338
353 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
354
355
376 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
377
393 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
394
408 virtual void TraceMaskClear() PURE_VIRTUAL;
409
424 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
425
438 virtual void TraceFileClose() PURE_VIRTUAL;
439
454 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
455
456
457
458
460};
461
463typedef union
464{
465 bool Bool;
466 int8_t Int8;
467 uint8_t UInt8;
468 int16_t Int16;
469 uint16_t UInt16;
470 int32_t Int32;
471 uint32_t UInt32;
472 float Float;
473 double Double;
474 int64_t Int64;
475 uint64_t UInt64;
476} FirmwareValue;
477
479
493class RSI_API RapidCodeOS {
494public:
495
500
513 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
514
533 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
534
544 virtual int32_t TimerCountGet() PURE_VIRTUAL;
545
554 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
555
556
568 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
569
581 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
582
584};
585
587
590class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
591public:
595
597 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
598
599
621 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
622
642 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
643
664 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
665
666
687 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
688
690 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
691
693 virtual void InterruptWake() PURE_VIRTUAL;
694
696 virtual void InterruptMaskClear() PURE_VIRTUAL;
697
699 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
700
702 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
703
705 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
706
708 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
709
710
723 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
724
725
737 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
738
744 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
745
781
783 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
784
790 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
791};
792
796class RSI_API MotionController : public virtual RapidCodeInterrupt {
797protected:
798 MotionController();
799 StaticInstanceMediator* _mediator;
800
801public:
802
803 // Static functions or attributes should be grouped together.
808
810 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
811
813 static inline constexpr uint32_t AxisCountMaximum = 64;
814
816 static inline constexpr uint32_t MotionCountMaximum = 64;
817
819 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
820
822 static inline constexpr uint32_t RecorderCountMaximum = 64;
823
825 static inline constexpr uint32_t CompensatorCountMaximum = 64;
826
828 static inline constexpr uint32_t MathBlockCountMaximum = 64;
829
831 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
832
834 static inline constexpr double SampleRateDefault = 1000.0;
835
845 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
846
848
849 // Static functions or attributes should be grouped together.
854
856 struct CreationParameters
857 {
862
867 static inline constexpr uint32_t PathLengthMaximum = 256;
868
874 static inline constexpr int32_t CpuAffinityDefault = -1;
875
880 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
881
886 static inline constexpr int32_t RmpThreadPriorityRange = 8;
887
892 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
893
898 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
899
904 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
906
907
912
917 CreationParameters()
918 {
919 std::memset(RmpPath, '\0', PathLengthMaximum);
920 std::memset(NicPrimary, '\0', PathLengthMaximum);
921 std::memset(NicSecondary, '\0', PathLengthMaximum);
922#if defined(_WIN32)
923 std::memset(NodeName, '\0', PathLengthMaximum);
924#elif defined(__linux__)
925 CpuAffinity = CpuAffinityDefault;
926 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
927#endif
928 }
930
935
940 char RmpPath[PathLengthMaximum];
941
946 char NicPrimary[PathLengthMaximum];
947
952 char NicSecondary[PathLengthMaximum];
954
955 // Control which platform specific parameters are available
956#if defined(_WIN32) && defined(__linux__)
957 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
958#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
959 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
960#endif //defined(_WIN32) && defined(__linux__)
961#if defined(_WIN32) || defined(DOXYGEN)
962
967
972 char NodeName[PathLengthMaximum];
973
975#endif //defined(_WIN32)
976#if defined(__linux__) || defined(DOXYGEN)
977
982
992 int32_t CpuAffinity;
993
1004 int32_t RmpThreadPriorityMax;
1005
1007# endif // defined(__linux__)
1008 };
1009
1020 static MotionController* Create(CreationParameters* creationParameters);
1021
1022#if defined(_WIN32)
1049 static MotionController* CreateFromSoftware();
1050
1055 static MotionController* CreateFromSoftware(const char* const RtaPath);
1056
1062 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1063
1090 static MotionController* Create();
1091#endif // defined(_WIN32)
1092
1097 static MotionController* CreateFromFile(const char* const fileName);
1099
1104
1123 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1124
1141 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1142
1156 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1157
1172 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1173
1189 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1190
1213 virtual void Delete(void) PURE_VIRTUAL;
1215
1220
1230 virtual void Reset() PURE_VIRTUAL;
1231
1236 virtual void Refresh() PURE_VIRTUAL;
1237
1245 virtual void Shutdown() PURE_VIRTUAL;
1246
1255 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1257
1262
1285 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1286
1301 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1302
1313 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1314
1318 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1319
1320
1322
1327
1328
1329
1352 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1353
1372 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1373
1374
1376 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1377
1379 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1380
1382 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1383
1384
1385
1386
1408 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1409
1414 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1415
1418 virtual double SampleRateGet() PURE_VIRTUAL;
1419
1437 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1438
1457 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1458
1461 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1462
1465 virtual bool IsLicensed() PURE_VIRTUAL;
1466
1468 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1469
1471 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1472
1474 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1475
1477 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1478
1503 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1504
1521 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1522
1548 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1549
1573 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1574
1577 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1578
1595 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1596
1611 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1613
1618
1636 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1637
1655 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1656
1658 virtual bool HasMechaWare() PURE_VIRTUAL;
1659
1683 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1684
1685
1703 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1704
1730 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1731
1746 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1747
1748
1749
1766 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1767
1793 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1794
1813 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1814
1815
1816
1817
1840 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1841
1842
1843
1866 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1867
1868
1869
1870
1879 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1880
1881
1882
1891 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1892
1907 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1908
1926 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1927
1928
1941 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
1942
1947 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1948
1962 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1963
1964
1965
1981 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
1983
1988
1990 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
1991
1993 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
1994
1997 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
1998
2000 virtual void NetworkStart() PURE_VIRTUAL;
2001
2010 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2011
2015 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2016
2021 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2022
2024 virtual void NetworkShutdown() PURE_VIRTUAL;
2025
2028 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2029
2031 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2032
2034 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2035
2037 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2038
2042 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2043
2046 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2047
2050 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2051
2055 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2056
2057
2058
2062 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2063
2067 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2068
2071 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2072
2073
2077 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2078
2080 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2081
2083 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2084
2100 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2101
2118 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2119
2138 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2139
2144 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2145
2156 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2157
2169 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2170
2181 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2182
2183
2184
2185
2202 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2203
2216 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2217
2232 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2233
2237 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2238
2240 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2241
2246 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2247
2249 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2250
2252 virtual void NetworkTimingClear() PURE_VIRTUAL;
2253
2255 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2256
2258 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2259
2261 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2262
2264 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2265
2267 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2268
2270 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2271
2273 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2274
2276 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2278
2283
2300 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2301
2320 virtual void InterruptWake() PURE_VIRTUAL;
2321
2349 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2350
2376 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2377
2397 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2398
2400 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2401
2412 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2413
2415 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2416
2429 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2430
2441 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2442
2452 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2453
2479
2480 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2482
2487
2488
2489
2508 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2509
2527 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2528
2545 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2546
2548 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2549
2566 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2567
2569 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2570
2586 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2587
2589 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2590
2607 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2608
2610 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2611
2612
2618 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2619
2633
2639 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2640
2647 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2648
2654 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2655
2662 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2663
2670 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2671
2680 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2681
2697 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2698
2700 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2701
2718 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2719
2721 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2722
2736 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2737
2739 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2740
2755 virtual void RecorderStart() PURE_VIRTUAL;
2756
2758 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2759
2776 virtual void RecorderStop() PURE_VIRTUAL;
2777
2779 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2780
2781
2782
2798 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2799
2801 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2802
2817 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2818
2838 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2839
2841 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2842
2859 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2860
2862 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2863
2882 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2883
2885 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2886
2888 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2889
2908 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2909
2927 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
2928
2930 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
2931
2946 virtual void RecorderReset() PURE_VIRTUAL;
2947
2949 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
2950
2962 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
2963
2980 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
2982
2987
2988
2989
2990
3015 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3016
3036 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3037
3048 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3049
3069 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3070
3084 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3085
3111 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;
3112
3142 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;
3143
3164 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;
3165
3186 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;
3187
3199 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3200
3212 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3213
3233 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3234
3235
3236
3237
3238
3239
3251
3252 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3253
3262 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3263
3268 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3269
3276 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3277
3279
3284
3304 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3305
3325 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3326
3346 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3347
3350 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3351
3353 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3354
3356 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3357
3359 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3360
3362 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3363
3365 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3366
3391 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3392
3414 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3415
3417 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3418
3420 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3421
3423 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3424
3426 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3427
3429 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3430
3432 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3433
3460 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3461
3464 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3465
3468 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3469
3472 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3473
3489 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3490
3492 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3493
3495 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3496
3498 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3499
3501 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3502
3504 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3505
3507 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3508
3510 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3511
3513 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3514
3516 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3517
3518
3520 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3521
3542 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3543
3564 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3565
3567 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3568
3583 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3584
3596 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3597
3606
3607 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3608
3626 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3627
3629 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3631
3632
3637
3647 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3648
3659 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3660
3679
3681 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3682
3684 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3685
3687 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3688
3690
3691
3696
3698 RapidCodeOS* OS;
3699
3701};
3702
3706class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3707public:
3708
3713
3715 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3716
3718
3719
3724
3726 virtual bool Exists() PURE_VIRTUAL;
3727
3729 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3730
3732 virtual bool IsEtherCAT() PURE_VIRTUAL;
3733
3735 virtual bool IsSynqNet() PURE_VIRTUAL;
3736
3738
3743
3745 virtual bool HasIO() PURE_VIRTUAL;
3746
3748 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3749
3751 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3752
3754 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3755
3757 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3758
3760 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3761
3763 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3764
3766
3770
3772 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3773
3775 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3776
3778 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3779
3781 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3782
3783
3785 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3786
3788 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3789
3791 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3792
3794 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3795
3797 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3798
3800 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3801
3814 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3815
3828 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3829
3842 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3843
3856 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3857
3869 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3870
3882 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3883
3895 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3896
3908 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
3909
3923 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3924
3928 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3929
3942 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3943
3947 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3948
3964 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
3965
3966
3971 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3972
3985 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
3986
3994 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3995
4001 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4002
4004 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4005
4007 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4008
4021 virtual const char* const NameGet() PURE_VIRTUAL;
4022
4035 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4036
4049 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4050
4052 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4053
4055 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4056
4058 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4059
4061 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4062
4064 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4065
4067 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4068};
4069
4071
4074class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4075public:
4076
4082
4084 MotionController* rsiControl;
4085
4087
4088
4092
4110 virtual int32_t NumberGet() PURE_VIRTUAL;
4111
4128 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4129
4133
4158 virtual void TriggeredModify() PURE_VIRTUAL;
4159
4186 virtual void Stop() PURE_VIRTUAL;
4187
4212 virtual void Resume() PURE_VIRTUAL;
4213
4238 virtual void EStop() PURE_VIRTUAL;
4239
4260 virtual void EStopAbort() PURE_VIRTUAL;
4261
4278 virtual void EStopModify() PURE_VIRTUAL;
4279
4282 virtual void EStopModifyAbort() PURE_VIRTUAL;
4283
4305 virtual void Abort() PURE_VIRTUAL;
4306
4333 virtual void ClearFaults() PURE_VIRTUAL;
4334
4361 virtual void AmpEnableSet(bool enable) PURE_VIRTUAL;
4362
4392 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4393
4413
4414 virtual void Map() PURE_VIRTUAL;
4415
4433 virtual void Unmap() PURE_VIRTUAL;
4434
4439 virtual bool IsMapped() PURE_VIRTUAL;
4440
4457 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4458
4477 virtual double FeedRateGet() PURE_VIRTUAL;
4478
4482
4483
4484
4485
4505 virtual RSIState StateGet() PURE_VIRTUAL;
4506
4534 virtual RSISource SourceGet() PURE_VIRTUAL;
4535
4560 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4561
4584 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4585
4612 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4613
4634 virtual bool MotionDoneGet() PURE_VIRTUAL;
4635
4658 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4659
4674 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4675
4679
4708 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4709
4723 virtual void InterruptWake() PURE_VIRTUAL;
4724
4728
4744 virtual double StopTimeGet() PURE_VIRTUAL;
4745
4761 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4762
4778 virtual double EStopTimeGet() PURE_VIRTUAL;
4779
4795 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
4796
4813 virtual double MotionDelayGet() PURE_VIRTUAL;
4814
4835 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
4836
4857 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4858
4876 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
4877
4879 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
4880
4882 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
4883
4898 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
4899
4907 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
4908
4928 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
4929
4962 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
4963
4975 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
4976
4995
4996 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
4997
5014 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5015
5034 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5035
5059 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5060
5083 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5084
5101 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5102
5119 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5120
5137
5138 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5139
5156 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5157
5159 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5160
5162 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5163
5180 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5181
5198 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5199
5215 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5216
5232 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5233
5249 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5250
5266 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5267
5269 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5270
5295
5296 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5297
5316 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5317
5334
5335 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5336
5340
5341
5342
5378 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;
5379
5417 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;
5418
5448 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;
5449
5454 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5455
5477 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5478
5483 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5484
5503 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5504
5520 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5521
5541 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5542};
5543
5544
5549class RSI_API Axis : public virtual RapidCodeMotion{
5550public:
5551
5552 friend class MotionController;
5553 friend class MultiAxis;
5554
5555
5560
5562 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5563
5565 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5566
5568
5569
5574
5579 RapidCodeNetworkNode* NetworkNode;
5580
5581
5583
5588
5626 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5627
5649 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5650
5673 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5674 //virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel, bool checkLimits) PURE_VIRTUAL;
5675
5714 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5715
5720 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5721
5731 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5732
5736 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5737
5772 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5773
5810 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
5811
5850 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5851
5855 virtual void MoveRelative(double releativePosition) PURE_VIRTUAL;
5856
5860 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5862
5867
5892 virtual void PositionSet(double position) PURE_VIRTUAL;
5893
5912 virtual double ActualPositionGet() PURE_VIRTUAL;
5913
5935 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
5936
5953 virtual double CompensationPositionGet() PURE_VIRTUAL;
5954
5967 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
5968
5980 virtual double TargetPositionGet() PURE_VIRTUAL;
5981
6001 virtual double CommandPositionGet() PURE_VIRTUAL;
6002
6034 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6035
6059 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6060
6077 virtual double OriginPositionGet() PURE_VIRTUAL;
6078
6101 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6102
6123 virtual double PositionErrorGet() PURE_VIRTUAL;
6124
6146 virtual double CommandVelocityGet() PURE_VIRTUAL;
6147
6170 virtual double ActualVelocityGet() PURE_VIRTUAL;
6171
6192 virtual double CommandAccelGet() PURE_VIRTUAL;
6193
6195 virtual double CommandJerkGet() PURE_VIRTUAL;
6196
6217 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6218
6240 virtual double UserUnitsGet() PURE_VIRTUAL;
6241
6264 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6265
6267 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6268
6270 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6271
6291 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6293
6298
6319
6320 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6321
6325 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6326
6345
6346 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6347
6366
6367 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6368
6389
6390 virtual double HomeOffsetGet() PURE_VIRTUAL;
6391
6410
6411 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6412
6430
6431 virtual double HomeVelocityGet() PURE_VIRTUAL;
6432
6435 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6436
6457 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6458
6463 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6464
6480 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6481
6497 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6498
6516
6517 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6518
6521 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6522
6542
6543 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6544
6548 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6549
6566
6567 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6568
6571 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6572
6591
6592 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6593
6597 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6598
6616
6617 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6618
6621 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6622
6642 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6643
6648 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6649
6669 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6670
6689 virtual bool HomeStateGet() PURE_VIRTUAL;
6690
6703 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6704
6709 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6710
6712 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6713
6715 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6716
6719 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6720
6742
6743 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6744
6764 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
6765
6779 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
6780
6792 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
6794
6800
6802 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
6803
6805 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6807
6812 // reads active configuration to report state
6813
6837
6838 virtual bool NegativeLimitGet() PURE_VIRTUAL;
6839
6863 virtual bool PositiveLimitGet() PURE_VIRTUAL;
6864
6893 virtual bool HomeLimitGet() PURE_VIRTUAL;
6894
6922 virtual bool HomeSwitchGet() PURE_VIRTUAL;
6923
6944 virtual bool AmpFaultGet() PURE_VIRTUAL;
6945
6969 virtual bool AmpEnableGet() PURE_VIRTUAL;
6970
6995 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
6996
7021 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7022
7045 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7046
7069 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7071
7076
7097 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7098
7119 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7120
7141
7142 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7143
7162 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7163
7182 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7183
7206 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7207
7226 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7227
7244 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7246
7251
7265 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7266
7281 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7282
7293 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7294
7312 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7313
7323 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7324
7342 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7343
7354 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7355
7373 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7374
7376 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7377
7379 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7380
7400 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7401
7422 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7424
7429
7431 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7432
7434 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7435
7437 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7438
7440 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7441
7443 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7444
7446 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7447
7449 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7450
7452 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7453
7455 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7456
7458 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7459
7461 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7462
7464 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7465
7467 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7468
7470 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7471
7473 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7474
7476 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7478
7482 // /@{
7483
7506 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7507
7530 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7531
7553 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7554
7576 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7577
7598 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7599
7620 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7621
7646 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7647
7671 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7672
7698 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
7699
7720 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
7721
7743 virtual double HomeDurationGet() PURE_VIRTUAL;
7744
7767 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
7768
7797 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
7798
7825 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
7826
7849 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
7850
7872 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
7873
7895 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
7896
7919 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
7920
7945 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
7946
7971 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
7972
7996 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
7997
8021 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8022
8045 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8046
8069
8070 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8071
8096 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8097
8122 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8123
8144 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8145
8169 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8170
8193 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8194
8217 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8218
8244 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8245
8269 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8270
8293 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8294
8317 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8318
8342 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8343
8367 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8368
8391 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8392
8415 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8416
8442 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8443
8468 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8469
8493 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8494
8516 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8517
8539 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8540
8562 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8563
8565 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8566
8568 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8569
8585 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8586
8600 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8601
8602 // common limit methods
8603
8605 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8606
8608 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8609
8611 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8612
8614 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8615
8617 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8618
8620 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8621
8623 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8624
8626 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8628
8633
8647 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8648
8662 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8663
8677 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
8678
8694
8695 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
8696
8710 virtual double VelocityToleranceGet() PURE_VIRTUAL;
8711
8725 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
8726
8741 virtual double SettlingTimeGet() PURE_VIRTUAL;
8742
8757 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
8758
8775 virtual bool SettleOnStopGet() PURE_VIRTUAL;
8776
8793
8794 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
8795
8812 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
8813
8829 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
8830
8847 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
8848
8864 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
8866
8871
8888 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
8889
8905 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
8906
8923 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
8924
8940 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
8941
8959
8960 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
8961
8977 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
8978
8994 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
8995
8996
9013 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9014
9030 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9031
9049 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9050
9052 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9053
9055 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9056
9058 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9059
9061 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9062
9064 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9065
9066
9068 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9069
9071 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9072
9090 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9091
9093 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9094
9096 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9097
9119 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9120
9122 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9123
9125 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9126
9128 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9129
9131 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9132
9134 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9135
9138 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9139
9141 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9142
9144 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9145
9159 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9160
9174 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9175
9195 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9196
9222 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9224
9229
9251 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9252
9256 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9257
9276 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9277
9294 virtual void GearingDisable() PURE_VIRTUAL;
9295
9297 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9298
9300 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9301
9303 virtual bool GearingEnableGet() PURE_VIRTUAL;
9304
9322 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9323
9336 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9338
9343
9360 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9361
9376 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9377
9394 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9395
9413 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9414
9432 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9433
9456 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9457
9487 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;
9488
9505
9506 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9508
9513
9526 virtual double BacklashWidthGet() PURE_VIRTUAL;
9527
9540 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9541
9554 virtual double BacklashRateGet() PURE_VIRTUAL;
9555
9568 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9569
9570
9581 virtual double BacklashValueGet() PURE_VIRTUAL;
9583
9588
9616 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9617
9642 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9643
9669 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9670
9693 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9694
9697 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9698
9702 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9703
9738 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9739
9768 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
9769
9786 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
9787
9789 virtual double FilterOutputGet(void) PURE_VIRTUAL;
9790
9803 virtual double FilterLowPassGet() PURE_VIRTUAL;
9804
9820 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
9821
9840 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
9841
9842
9844 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
9845
9846
9848 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
9849
9851 virtual bool IsTuneable() PURE_VIRTUAL;
9852
9869 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
9870
9886 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
9887
9906 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
9907
9923 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
9924
9942 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
9943
9962 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
9963
9982 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
9983
9999 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10000
10021 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10022
10024 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10025 //virtual RSIFilterPostFilterSection PostFilterSection;
10027
10032
10052 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10053
10074 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10076
10081
10083 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10084
10086 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10087
10089 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10090
10092 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10093
10095 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10096
10098 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10099
10117 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10118
10137 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10139
10141
10149 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10150
10157 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10158
10182 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10183
10207 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10208
10217 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10218
10228 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10229
10236 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10237
10239};
10240
10244class RSI_API MultiAxis : public virtual RapidCodeMotion {
10245public:
10246
10250
10264 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10265
10268 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10269
10282 virtual void AxisRemoveAll() PURE_VIRTUAL;
10283
10287
10303 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10304
10324 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10325
10346 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10347
10351
10366 virtual double VectorVelocityGet() PURE_VIRTUAL;
10367
10383 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10384
10399 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10400
10423 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10424
10439 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10440
10463 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10464
10479 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10480
10503 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10504
10528 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10529
10532 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10533
10537
10557
10558 virtual double PathTimeSliceGet() PURE_VIRTUAL;
10559
10580
10581 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
10582
10607 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
10608
10611 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
10612
10629 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
10630
10639
10640 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
10641
10650
10651 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
10652
10671 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
10672
10693 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
10694
10714 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
10715
10734 virtual void PathListEnd() PURE_VIRTUAL;
10735
10752 virtual void PathMotionStart() PURE_VIRTUAL;
10753
10757
10775 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
10776
10779 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
10780
10807 virtual void MoveSCurve(const double* const position, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct) PURE_VIRTUAL;
10808
10811 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
10812
10827 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
10828
10832 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
10833
10852 virtual void MoveRelative(const double* const relativePosition, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct) PURE_VIRTUAL;
10853
10856 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
10857
10873 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
10874
10891 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
10892
10910 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
10911
10913 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
10914
10928 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
10929
10943 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
10944
10954 virtual bool AmpEnableGet() PURE_VIRTUAL;
10955
10956
10957};
10958
10964class RSI_API IOPoint : public virtual RapidCodeObject {
10965public:
10970
10987 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
10988
11005 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11006
11022 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11023 // use NetworkNode*
11024 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11025
11036 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11037
11051 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11052
11070 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11071
11088 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11089
11105 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11106 // use NetworkNode*
11107 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11108
11109
11122 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11123
11137 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11138
11153 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11154 // use RapidCodeNetworkNode*
11155 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11156
11171 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11172 // use RapidCodeNetworkNode*
11173 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11174
11176
11180
11183 virtual uint64_t AddressGet() PURE_VIRTUAL;
11184
11187 virtual int32_t MaskGet() PURE_VIRTUAL;
11188
11191 virtual bool IsDigital() PURE_VIRTUAL;
11192
11193
11196 virtual bool IsOutput() PURE_VIRTUAL;
11197
11201
11205 virtual bool Get() PURE_VIRTUAL;
11206
11213 virtual void Set(bool state) PURE_VIRTUAL;
11214
11218
11222 virtual double ValueGet() PURE_VIRTUAL;
11223
11227 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11228};
11229
11233class RSI_API RTOS {
11234
11235public:
11236#if defined(_WIN32)
11241
11244 static INtimeStatus INtimeStatusGet();
11245
11250 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11251
11254 static INtimeStatus INtimeStart();
11255
11260 static INtimeStatus INtimeStart(const char* const nodeName);
11261
11264 static INtimeStatus INtimeStop();
11265
11270 static INtimeStatus INtimeStop(const char* const nodeName);
11271
11274 static INtimeStatus INtimeRestart();
11275
11280 static INtimeStatus INtimeRestart(const char* const nodeName);
11281
11284 static const char* const INtimeCatalogRMPGet();
11285
11288 static const char* const INtimeCatalogRMPNetworkGet();
11289
11292 static uint32_t INtimeNodeCountGet();
11293
11297 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11298
11302 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11304#endif // _WIN32
11305};
11306
11308class RSI_API Trace
11309{
11310public:
11315
11328 static void MaskSet(RSITrace mask);
11329
11345 static void MaskOnSet(RSITrace maskOn);
11346
11347
11367 static bool MaskOnGet(RSITrace maskOn);
11368
11384 static void MaskOffSet(RSITrace maskOff);
11385
11398 static void MaskClear();
11399
11414 static int32_t FileSet(const char* const fileName);
11415
11428 static void FileClose();
11429
11444 static void InjectMessage(RSITrace traceLevel, const char* const message);
11445
11447};
11448
11450
11452
11456class RSI_API IO : public virtual RapidCodeObject {
11457public:
11458
11459 friend class MotionController;
11460
11465
11467 RapidCodeNetworkNode* NetworkNode;
11469 MotionController* rsiControl;
11470
11472
11477
11478
11511 virtual bool IOExists() PURE_VIRTUAL;
11512
11529 virtual int32_t NumberGet() PURE_VIRTUAL;
11531
11536
11537
11538
11568 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
11569
11602 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
11603
11634 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
11635
11658 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
11659
11691 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
11692
11724 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
11726
11736 virtual const char* const UserLabelGet() PURE_VIRTUAL;
11737
11744 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
11745};
11746
11747#if defined(__cplusplus)
11748}
11749#endif
11750
11751template<typename ContainerClass>
11752class RSI_API RapidVectorIterator
11753{
11754public:
11756 typedef typename ContainerClass::ValueType ValueType;
11757
11759 typedef typename ContainerClass::PointerType PointerType;
11760
11763 ValueType& operator*();
11764
11767 const ValueType& operator*() const;
11768
11771 RapidVectorIterator& operator++();
11772
11775 RapidVectorIterator operator++(int);
11776
11779 bool operator==(const RapidVectorIterator&) const;
11780
11783 bool operator!=(const RapidVectorIterator&) const;
11784
11786 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
11787
11789 RapidVectorIterator(const RapidVectorIterator&) = default;
11790
11792 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
11793
11795 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
11796
11798 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
11799private:
11800 PointerType pointer;
11801 PointerType start, end;
11802 void VerifyPointer() const;
11803};
11804
11806template<typename Type>
11807class RapidVectorImplementation;
11808
11811
11820template<typename Type>
11821class RSI_API RapidVector
11822{
11823private:
11824 // The pointer to the implementation.
11825 RapidVectorImplementation<Type>* pImpl;
11826public:
11830 Type& operator[](const size_t index);
11831
11835 const Type& operator[](const size_t index) const;
11836
11840 Type& At(const size_t index);
11841
11845 const Type& At(const size_t index) const;
11846
11849 void PushBack(const Type& element);
11850
11853 const size_t Size() const;
11854
11856 void Clear();
11857
11859 void PopBack();
11860
11863 Type& Front();
11864
11867 const Type& Front() const;
11868
11871 Type& Back();
11872
11875 const Type& Back() const;
11876
11878 RapidVector();
11879
11881 RapidVector(const size_t size);
11882
11884 RapidVector(RapidVectorImplementation<Type>*);
11885
11887 ~RapidVector();
11888
11890 RapidVector(const RapidVector& other);
11891
11893 RapidVector& operator=(const RapidVector& other);
11894
11896 RapidVector(RapidVector&& other) noexcept;
11897
11899 RapidVector& operator=(RapidVector&& other) noexcept;
11900
11901 typedef Type* PointerType;
11902 typedef Type ValueType;
11903
11905 typedef RapidVectorIterator<RapidVector> Iterator;
11906
11909 Iterator begin() noexcept;
11910
11913 Iterator begin() const noexcept;
11914
11918 Iterator end() const noexcept;
11919};
11920
11922
11923} // namespace RapidCode
11924
11925} // namespace RSI
11926
11927#endif // _RSI_H
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position)
RSI::RapidCode::Axis::MoveVelocitySCurve
void MoveVelocitySCurve(double velocity, double accel, double jerkPct)
Command a constant velocity move (jog) with non-constant acceleration.
RSI::RapidCode::Axis::NetworkNode
NetworkNode * NetworkNode
Gets the associated NetworkNode object.
Definition rsi.h:5579
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity)
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double releativePosition)
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::PositionSet
void PositionSet(double position)
Set the Command and Actual positions.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct)
Command a relative point-to-point S-Curve motion.
RSI::RapidCode::Axis::ActualPositionGet
double ActualPositionGet()
Get the current actual position.
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity, double accel)
Command a constant velocity move (jog).
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
Command a point-to-point S-Curve motion.
RSI::RapidCode::Axis
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5549
RSI::RapidCode::IO::IOExists
bool IOExists()
IOExists validates your IO object is an IO Node.
RSI::RapidCode::IO
The IO object provides an interface to the inputs and outputs of a network node.
Definition rsi.h:11456
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11467
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11469
RSI::RapidCode::IOPoint::AddressGet
uint64_t AddressGet()
Get the Host Address for the I/O point.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(Axis *axis, RSIMotorGeneralIo motorGeneralIoNumber)
Create a Digital Input from an Axis' general purpose inputs.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(NetworkNode *networkNode, int32_t bitNumber)
Create a Digital Input from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(MotionController *controller, uint64_t memoryAddress, int32_t bitNumber)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(Axis *axis, RSIMotorGeneralIo motorGeneralIoNumber)
Create a Digital Output from an Axis' general purpose inputs.
RSI::RapidCode::IOPoint::CreateAnalogInput
static IOPoint * CreateAnalogInput(NetworkNode *networkNode, int32_t analogChannel)
Create an Analog Input from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::CreateAnalogOutput
static IOPoint * CreateAnalogOutput(NetworkNode *networkNode, int32_t analogChannel)
Create an Analog Output from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(Axis *axis, RSIMotorDedicatedIn motorDedicatedInNumber)
Create a Digital Input from an Axis' Dedicated Input bits.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(MotionController *controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(MotionController *controller, uint64_t memoryAddress, int32_t bitNumber)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::CreateDigitalInput
static IOPoint * CreateDigitalInput(MotionController *controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type)
Create a Digital Output from a network PDO.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(Axis *axis, RSIMotorDedicatedOut motorDedicatedOutNumber)
Create a Digital Output from an Axis' Dedicated Output bits.
RSI::RapidCode::IOPoint::CreateDigitalOutput
static IOPoint * CreateDigitalOutput(NetworkNode *networkNode, int32_t bitNumber)
Create a Digital Output from a RapidCodeNetworkNode.
RSI::RapidCode::IOPoint
Represents one specific point: Digital Output, Digital Input, Analog Output, or Analog Input....
Definition rsi.h:10964
RSI::RapidCode::MotionController::AxisGet
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
RSI::RapidCode::MotionController::NetworkNodeGet
NetworkNode * NetworkNodeGet(int32_t nodeNumber)
NetworkNodeGet returns a pointer to a RapidCodeNetworkNode object using its node number and initializ...
RSI::RapidCode::MotionController::Reset
void Reset()
Reset the controller which stops and restarts the RMP firmware.
RSI::RapidCode::MotionController::Create
static MotionController * Create(CreationParameters *creationParameters)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::Create
static MotionController * Create()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CreateFromFile
static MotionController * CreateFromFile(const char *const fileName)
Create a MotionController from a memory-dumped file.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath, const char *const NodeName)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::Delete
void Delete(void)
Delete the MotionController and all its objects.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::IOGet
IO * IOGet(int32_t nodeNumber)
IOGet returns a pointer to an IO object using its node number and initializes its internals.
RSI::RapidCode::MotionController::MultiAxisGet
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
RSI::RapidCode::MotionController::LoadExistingMultiAxis
MultiAxis * LoadExistingMultiAxis(int32_t motionSupervisorNumber)
Get/Create a MultiAxis object from one that already exists (previously setup) on the RMP motion contr...
RSI::RapidCode::MotionController
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:796
RSI::RapidCode::MotionController::MathBlockConfigGet
MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber)
Get a MathBlock configuration.
RSI::RapidCode::MotionController::OS
RapidCodeOS * OS
Provides access to operating system (Windows) features.
Definition rsi.h:3698
RSI::RapidCode::MotionController::MathBlockProcessValueGet
FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber)
Get a MathBlock process value.
RSI::RapidCode::MotionController::MathBlockConfigSet
void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig &config)
Set a MathBlock configuration.
RSI::RapidCode::MultiAxis::AxisRemoveAll
void AxisRemoveAll()
Remove all axes from a MultiAxis group.s.
RSI::RapidCode::MultiAxis::AxesAdd
void AxesAdd(Axis **axes, int32_t axisCount)
RSI::RapidCode::MultiAxis::AxisAdd
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
RSI::RapidCode::MultiAxis
Represents multiple axes of motion control, allows you to map two or more Axis objects together for e...
Definition rsi.h:10244
RSI::RapidCode::NetworkNode::Exists
bool Exists()
Returns true if this NetworkNode exists on a physical network.
RSI::RapidCode::RTOS::INtimeCatalogRMPNetworkGet
static const char *const INtimeCatalogRMPNetworkGet()
Get the RMPNetwork catalog.
RSI::RapidCode::RTOS::INtimeStatusGet
static INtimeStatus INtimeStatusGet(const char *const nodeName)
Get the status of INtime.
RSI::RapidCode::RTOS::INtimeStart
static INtimeStatus INtimeStart()
Start INtime.
RSI::RapidCode::RTOS::INtimeRestart
static INtimeStatus INtimeRestart(const char *const nodeName)
Restart INtime (reboot INtime).
RSI::RapidCode::RTOS::INtimeNodeCountGet
static uint32_t INtimeNodeCountGet()
Get the number of INtime nodes on this PC.
RSI::RapidCode::RTOS::INtimeCatalogRMPGet
static const char *const INtimeCatalogRMPGet()
Get the RMP catalog.
RSI::RapidCode::RTOS::INtimeStart
static INtimeStatus INtimeStart(const char *const nodeName)
Start INtime.
RSI::RapidCode::RTOS::INtimeStatusGet
static INtimeStatus INtimeStatusGet()
Get the status of INtime.
RSI::RapidCode::RTOS::INtimeNodeIsLocal
static bool INtimeNodeIsLocal(uint32_t nodeNumber)
Determine if an INtime node is local (on this PC) or distributed (on another PC).
RSI::RapidCode::RTOS::INtimeStop
static INtimeStatus INtimeStop(const char *const nodeName)
Stop INtime.
RSI::RapidCode::RTOS::INtimeNodeNameGet
static const char *const INtimeNodeNameGet(uint32_t nodeNumber)
Get the name of an INtime node.
RSI::RapidCode::RTOS::INtimeRestart
static INtimeStatus INtimeRestart()
Restart INtime (reboot INtime).
RSI::RapidCode::RTOS::INtimeStop
static INtimeStatus INtimeStop()
Stop INtime.
RSI::RapidCode::RTOS
Represents the real-time operating system (INtime) when using RMP for Windows. This class provides st...
Definition rsi.h:11233
RSI::RapidCode::RapidCodeInterrupt::InterruptNameGet
const char *const InterruptNameGet()
Get the text name of an interrupt type.
RSI::RapidCode::RapidCodeInterrupt::InterruptWait
RSIEventType InterruptWait(int32_t milliseconds)
Suspend the current thread until an interrupt arrives from the controller.
RSI::RapidCode::RapidCodeInterrupt
Interface for objects which can use interrupts.
Definition rsi.h:590
RSI::RapidCode::RapidCodeInterrupt::InterruptEnableSet
void InterruptEnableSet(bool enable)
Enable or disable interrupts.
RSI::RapidCode::RapidCodeMotion::NumberGet
int32_t NumberGet()
Get the axis number.
RSI::RapidCode::RapidCodeMotion
The RapidCodeMotion interface is implemented by Axis and MultiAxis .
Definition rsi.h:4074
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4084
RSI::RapidCode::RapidCodeOS::Sleep
void Sleep(int32_t milliseconds)
Put the current thread to sleep.
RSI::RapidCode::RapidCodeOS::KeyGet
int32_t KeyGet(int32_t milliseconds)
Wait for a key to be pressed and return its value.
RSI::RapidCode::RapidCodeOS::TimerCountGet
int32_t TimerCountGet()
Gets the time since startup.
RSI::RapidCode::RapidCodeOS
The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionC...
Definition rsi.h:493
RSI::RapidCode::RapidCodeObject::VersionGet
const char *const VersionGet()
Get the RSI RapidCode version.
RSI::RapidCode::RapidCodeObject
The RapidCode base class. All non-error objects are derived from this class.
Definition rsi.h:180
RSI::RapidCode::RapidVector::Size
const size_t Size() const
Returns the number of elements in the vector.
RSI::RapidCode::RapidVector::operator[]
const Type & operator[](const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::Back
const Type & Back() const
Returns a const reference to the last element in the vector.
RSI::RapidCode::RapidVector::begin
Iterator begin() noexcept
Returns a RapidVectorIterator to the first element of the vector. The naming convention follows STL c...
RSI::RapidCode::RapidVector::Front
Type & Front()
Returns a reference to the first element in the vector.
RSI::RapidCode::RapidVector::Front
const Type & Front() const
Returns a const reference to the first element in the vector.
RSI::RapidCode::RapidVector::At
const Type & At(const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::PushBack
void PushBack(const Type &element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::Back
Type & Back()
Returns a reference to the last element in the vector.
RSI::RapidCode::RapidVector::operator[]
Type & operator[](const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::At
Type & At(const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector
A wrapper class for the C++ STL vector class that aims to maintain application binary interface....
Definition rsi.h:11822
RSI::RapidCode::RapidVector::RapidVector
RapidVector(RapidVector &&other) noexcept
Move constructor. Replaces contents with those of the other RapidVector.
RSI::RapidCode::RapidVector::Iterator
RapidVectorIterator< RapidVector > Iterator
The iterator type for this RapidVector.
Definition rsi.h:11905
RSI::RapidCode::RapidVector::~RapidVector
~RapidVector()
Destructs the vector and deallocates used storage.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(const RapidVector &other)
Copy assignment operator. Replaces contents with the contents of the other RapidVector.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const RapidVector &other)
Copy constructor. Constructs a RapidVector as a deep-copy.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(RapidVectorImplementation< Type > *)
Constructs a RapidVector with the given implementation. Intended for RSI internal use only.
RSI::RapidCode::RapidVector::Clear
void Clear()
Erases all elements from the vector.
RSI::RapidCode::RapidVector::PopBack
void PopBack()
Removes the last element from the container. Calling PopBack() on an empty container results in undef...
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const size_t size)
Constructs a vector with the specified size.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(RapidVector &&other) noexcept
Move assignment operator. Replaces contents with those of the other RapidVector. The original content...
RSI::RapidCode::RapidVector::RapidVector
RapidVector()
Default constructor that constructs an empty vector.
RSI::RapidCode::RapidVectorImplementation
Forward declaration of the implementation class for RapidVector.
Definition rsi.h:11807
RSI::RapidCode::RsiError::RsiError
RsiError(const RsiError &copyFrom)
Copy constructor for RsiError.
Definition rsi.h:146
RSI::RapidCode::RsiError
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:107
RSI::RapidCode::RsiError::fileName
char fileName[RSI_ERROR_TEXT_SIZE]
source file name
Definition rsi.h:125
RSI::RapidCode::RsiError::isWarning
bool isWarning
Whether the error is or is not a warning.
Definition rsi.h:116
RSI::RapidCode::RsiError::RSI_ERROR_TEXT_SIZE
static constexpr uint32_t RSI_ERROR_TEXT_SIZE
Error message text.
Definition rsi.h:118
RSI::RapidCode::RsiError::what
const char * what() const noexcept
Returns a null terminated character sequence that may be used to identify the exception.
Definition rsi.h:169
RSI::RapidCode::RsiError::shortText
char shortText[RSI_ERROR_TEXT_SIZE]
Error short text.
Definition rsi.h:123
RSI::RapidCode::RsiError::lineNumber
int32_t lineNumber
Source code line number.
Definition rsi.h:112
RSI::RapidCode::RsiError::functionName
char functionName[RSI_ERROR_TEXT_SIZE]
Function name of the raised the error.
Definition rsi.h:121
RSI::RapidCode::RsiError::number
RSIErrorMessage number
Error number.
Definition rsi.h:110
RSI::RapidCode::RsiError::objectIndex
int32_t objectIndex
Object index (0-based index of the object that has the error).
Definition rsi.h:114
RSI::RapidCode::Trace::MaskSet
static void MaskSet(RSITrace mask)
Sets the specified trace mask.
RSI::RapidCode::Trace::MaskOnSet
static void MaskOnSet(RSITrace maskOn)
Turn on a particular trace output mask.
RSI::RapidCode::Trace::InjectMessage
static void InjectMessage(RSITrace traceLevel, const char *const message)
Add a message to the Trace Log.
RSI::RapidCode::Trace::MaskOnGet
static bool MaskOnGet(RSITrace maskOn)
Check to see if a particular trace output mask is turned on.
RSI::RapidCode::Trace::MaskOffSet
static void MaskOffSet(RSITrace maskOff)
Turn off a particular trace output mask.
RSI::RapidCode::Trace::FileClose
static void FileClose()
Stops Logging to the file.
RSI::RapidCode::Trace::FileSet
static int32_t FileSet(const char *const fileName)
Channels Tracing messages to specified file.
RSI::RapidCode::Trace::MaskClear
static void MaskClear()
Clear the trace output mask.
RSI::RapidCode::Trace
Tracing allows for low level logs to be generated.
Definition rsi.h:11309
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1116
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1355
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1361
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:300
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1349
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:587
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1103
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:539
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1206
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1096
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:567
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:404
RSI::RapidCode::RSIMotorDisableAction
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1276
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:926
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:998
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:654
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:641
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1222
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1072
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:433
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:294
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1212
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1268
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:593
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:877
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1017
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:496
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1125
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:628
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1342
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1314
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1052
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:283
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1256
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1282
RSI::RapidCode::RSIErrorMessage
RSIErrorMessage
All possible RSI Error Messages.
Definition rsienums.h:17
RSI::RapidCode::RSIErrorMessage::RSIMessageOK
@ RSIMessageOK
RSI::RapidCode::RSINetworkType
RSINetworkType
Type of Network topology.
Definition rsienums.h:621
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1185
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1090
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:671
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:974
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:849
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1110
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:871
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1288
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1011
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1309
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1322
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:579
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1146
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:839
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1175
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:992
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMax
int32_t RmpThreadPriorityMax
[Linux] The maximum thread priority. All threads of the RMP and RMPNetwork will be based off of this....
Definition rsi.h:1004
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:917
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:857
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3676
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3669
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3674
RSI::RapidCode::MotionController::MathBlockConfig::OutputAddress
uint64_t OutputAddress
Host memory address for Output. The MathBlock will write its result to this address....
Definition rsi.h:3675
RSI::RapidCode::MotionController::MathBlockConfig::InputAddress0
uint64_t InputAddress0
Host memory address for Input0. Represents the left-hand side operand in math operations.
Definition rsi.h:3670
RSI::RapidCode::MotionController::MathBlockConfig::InputDataType0
RSIDataType InputDataType0
Data type for Input0. This is the data type of the left-hand side operand in math operations.
Definition rsi.h:3671
RSI::RapidCode::MotionController::MathBlockConfig::InputAddress1
uint64_t InputAddress1
Host memory address for Input1. Represents the right-hand side operand in math operations.
Definition rsi.h:3672
RSI::RapidCode::MotionController::MathBlockConfig::InputDataType1
RSIDataType InputDataType1
Data type for Input1. This is the data type of the right-hand side operand in math operations.
Definition rsi.h:3673
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3677
RSI::RapidCode::FirmwareValue
Union representing a generic RMP firmware value with multiple data types, stored in 64-bits.
Definition rsi.h:464
RSI::RapidCode::FirmwareValue::Float
float Float
Single precision (32-bit) floating-point.
Definition rsi.h:472
RSI::RapidCode::FirmwareValue::Int64
int64_t Int64
64-bit signed integer.
Definition rsi.h:474
RSI::RapidCode::FirmwareValue::UInt8
uint8_t UInt8
8-bit unsigned integer.
Definition rsi.h:467
RSI::RapidCode::FirmwareValue::Int8
int8_t Int8
8-bit signed integer.
Definition rsi.h:466
RSI::RapidCode::FirmwareValue::Double
double Double
Double precision (64-bit) floating-point.
Definition rsi.h:473
RSI::RapidCode::FirmwareValue::Int32
int32_t Int32
32-bit signed integer.
Definition rsi.h:470
RSI::RapidCode::FirmwareValue::UInt16
uint16_t UInt16
16-bit unsigned integer.
Definition rsi.h:469
RSI::RapidCode::FirmwareValue::Int16
int16_t Int16
16-bit signed integer.
Definition rsi.h:468
RSI::RapidCode::FirmwareValue::Bool
bool Bool
Boolean value.
Definition rsi.h:465
RSI::RapidCode::FirmwareValue::UInt32
uint32_t UInt32
32-bit unsigned integer.
Definition rsi.h:471
RSI::RapidCode::FirmwareValue::UInt64
uint64_t UInt64
64-bit unsigned integer.
Definition rsi.h:475