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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 int32_t ControllerIndexDefault = 0;
868
873 static inline constexpr uint32_t PathLengthMaximum = 256;
874
880 static inline constexpr int32_t CpuAffinityDefault = -1;
881
886 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
887
892 static inline constexpr int32_t RmpThreadPriorityRange = 8;
893
898 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
899
904 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
905
910 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
912
913
918
923 CreationParameters()
924 {
925 ControllerIndex = ControllerIndexDefault;
926 std::memset(RmpPath, '\0', PathLengthMaximum);
927 std::memset(NicPrimary, '\0', PathLengthMaximum);
928 std::memset(NicSecondary, '\0', PathLengthMaximum);
929#if defined(_WIN32)
930 std::memset(NodeName, '\0', PathLengthMaximum);
931#elif defined(__linux__)
932 CpuAffinity = CpuAffinityDefault;
933 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
934#endif
935 }
937
942
947 int32_t ControllerIndex;
948
953 char RmpPath[PathLengthMaximum];
954
959 char NicPrimary[PathLengthMaximum];
960
965 char NicSecondary[PathLengthMaximum];
967
968 // Control which platform specific parameters are available
969#if defined(_WIN32) && defined(__linux__)
970 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
971#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
972 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
973#endif //defined(_WIN32) && defined(__linux__)
974#if defined(_WIN32) || defined(DOXYGEN)
975
980
985 char NodeName[PathLengthMaximum];
986
988#endif //defined(_WIN32)
989#if defined(__linux__) || defined(DOXYGEN)
990
995
1005 int32_t CpuAffinity;
1006
1017 int32_t RmpThreadPriorityMax;
1018
1020# endif // defined(__linux__)
1021 };
1022
1033 static MotionController* Create(CreationParameters* creationParameters);
1034
1039 static MotionController* Get();
1040
1045 static MotionController* Get(int32_t controllerIndex);
1046
1047#if defined(_WIN32)
1074 static MotionController* CreateFromSoftware();
1075
1080 static MotionController* CreateFromSoftware(const char* const RtaPath);
1081
1087 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1088
1115 static MotionController* Create();
1116#endif // defined(_WIN32)
1117
1122 static MotionController* CreateFromFile(const char* const fileName);
1124
1129
1148 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1149
1166 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1167
1181 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1182
1197 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1198
1214 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1215
1238 virtual void Delete(void) PURE_VIRTUAL;
1240
1245
1255 virtual void Reset() PURE_VIRTUAL;
1256
1261 virtual void Refresh() PURE_VIRTUAL;
1262
1270 virtual void Shutdown() PURE_VIRTUAL;
1271
1280 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1282
1287
1310 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1311
1326 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1327
1338 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1339
1343 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1344
1345
1347
1352
1353
1354
1377 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1378
1397 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1398
1399
1401 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1402
1404 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1405
1407 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1408
1409
1410
1411
1433 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1434
1439 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1440
1443 virtual double SampleRateGet() PURE_VIRTUAL;
1444
1462 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1463
1482 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1483
1486 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1487
1490 virtual bool IsLicensed() PURE_VIRTUAL;
1491
1493 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1494
1496 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1497
1499 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1500
1502 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1503
1528 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1529
1546 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1547
1573 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1574
1598 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1599
1602 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1603
1620 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1621
1636 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1638
1643
1661 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1662
1680 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1681
1683 virtual bool HasMechaWare() PURE_VIRTUAL;
1684
1708 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1709
1710
1728 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1729
1755 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1756
1771 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1772
1773
1774
1791 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1792
1818 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1819
1838 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1839
1840
1841
1842
1865 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1866
1867
1868
1891 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1892
1893
1894
1895
1904 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1905
1906
1907
1916 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1917
1932 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1933
1951 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1952
1953
1966 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
1967
1972 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1973
1987 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1988
1989
1990
2006 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2008
2013
2015 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2016
2018 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2019
2022 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2023
2069 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2070
2091 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2092
2094 virtual void NetworkStart() PURE_VIRTUAL;
2095
2104 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2105
2109 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2110
2115 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2116
2118 virtual void NetworkShutdown() PURE_VIRTUAL;
2119
2122 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2123
2125 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2126
2128 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2129
2131 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2132
2136 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2137
2140 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2141
2144 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2145
2149 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2150
2151
2152
2156 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2157
2161 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2162
2165 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2166
2167
2171 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2172
2174 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2175
2177 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2178
2194 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2195
2212 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2213
2232 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2233
2238 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2239
2250 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2251
2263 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2264
2275 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2276
2277
2278
2279
2296 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2297
2310 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2311
2326 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2327
2331 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2332
2334 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2335
2340 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2341
2343 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2344
2346 virtual void NetworkTimingClear() PURE_VIRTUAL;
2347
2349 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2350
2352 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2353
2355 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2356
2358 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2359
2361 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2362
2364 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2365
2367 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2368
2370 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2372
2377
2394 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2395
2414 virtual void InterruptWake() PURE_VIRTUAL;
2415
2443 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2444
2470 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2471
2491 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2492
2494 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2495
2506 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2507
2509 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2510
2523 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2524
2535 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2536
2546 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2547
2573
2574 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2576
2581
2582
2583
2602 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2603
2621 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2622
2639 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2640
2642 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2643
2660 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2661
2663 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2664
2680 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2681
2683 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2684
2701 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2702
2704 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2705
2706
2712 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2713
2727
2733 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2734
2741 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2742
2748 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2749
2756 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2757
2764 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2765
2774 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2775
2791 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2792
2794 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2795
2812 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2813
2815 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2816
2830 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2831
2833 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2834
2849 virtual void RecorderStart() PURE_VIRTUAL;
2850
2852 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2853
2870 virtual void RecorderStop() PURE_VIRTUAL;
2871
2873 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2874
2875
2876
2892 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2893
2895 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2896
2911 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2912
2932 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2933
2935 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2936
2953 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2954
2956 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2957
2976 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2977
2979 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2980
2982 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2983
3002 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3003
3021 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3022
3024 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3025
3040 virtual void RecorderReset() PURE_VIRTUAL;
3041
3043 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3044
3056 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3057
3074 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3076
3081
3082
3083
3084
3109 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3110
3130 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3131
3142 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3143
3163 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3164
3178 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3179
3205 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;
3206
3236 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;
3237
3258 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;
3259
3280 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;
3281
3293 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3294
3306 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3307
3327 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3328
3329
3330
3331
3332
3333
3345
3346 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3347
3356 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3357
3362 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3363
3370 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3371
3373
3378
3398 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3399
3419 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3420
3440 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3441
3444 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3445
3447 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3448
3450 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3451
3453 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3454
3456 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3457
3459 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3460
3485 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3486
3508 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3509
3511 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3512
3514 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3515
3517 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3518
3520 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3521
3523 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3524
3526 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3527
3554 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3555
3558 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3559
3562 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3563
3566 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3567
3583 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3584
3586 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3587
3589 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3590
3592 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3593
3595 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3596
3598 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3599
3601 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3602
3604 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3605
3607 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3608
3610 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3611
3612
3614 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3615
3636 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3637
3658 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3659
3661 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3662
3677 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3678
3690 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3691
3700
3701 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3702
3720 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3721
3723 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3725
3726
3731
3741 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3742
3753 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3754
3773
3775 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3776
3778 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3779
3781 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3782
3784
3785
3790
3792 RapidCodeOS* OS;
3793
3795};
3796
3800class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3801public:
3802
3807
3809 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3810
3812
3813
3818
3820 virtual bool Exists() PURE_VIRTUAL;
3821
3823 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3824
3826 virtual bool IsEtherCAT() PURE_VIRTUAL;
3827
3829 virtual bool IsSynqNet() PURE_VIRTUAL;
3830
3832
3837
3839 virtual bool HasIO() PURE_VIRTUAL;
3840
3842 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3843
3845 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3846
3848 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3849
3851 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3852
3854 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3855
3857 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3858
3860
3864
3866 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3867
3869 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3870
3872 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3873
3875 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3876
3877
3879 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3880
3882 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3883
3885 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3886
3888 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3889
3891 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3892
3894 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3895
3908 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3909
3922 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3923
3936 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3937
3950 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3951
3963 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3964
3976 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3977
3989 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3990
4002 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4003
4017 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4018
4022 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4023
4036 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4037
4041 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4042
4058 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4059
4060
4065 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4066
4079 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4080
4088 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4089
4095 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4096
4098 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4099
4101 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4102
4115 virtual const char* const NameGet() PURE_VIRTUAL;
4116
4129 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4130
4143 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4144
4146 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4147
4149 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4150
4152 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4153
4155 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4156
4158 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4159
4161 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4162};
4163
4165
4168class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4169public:
4170
4176
4178 MotionController* rsiControl;
4179
4181
4182
4186
4204 virtual int32_t NumberGet() PURE_VIRTUAL;
4205
4222 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4223
4227
4252 virtual void TriggeredModify() PURE_VIRTUAL;
4253
4280 virtual void Stop() PURE_VIRTUAL;
4281
4306 virtual void Resume() PURE_VIRTUAL;
4307
4332 virtual void EStop() PURE_VIRTUAL;
4333
4354 virtual void EStopAbort() PURE_VIRTUAL;
4355
4372 virtual void EStopModify() PURE_VIRTUAL;
4373
4376 virtual void EStopModifyAbort() PURE_VIRTUAL;
4377
4399 virtual void Abort() PURE_VIRTUAL;
4400
4427 virtual void ClearFaults() PURE_VIRTUAL;
4428
4455 virtual void AmpEnableSet(bool enable) PURE_VIRTUAL;
4456
4486 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4487
4507
4508 virtual void Map() PURE_VIRTUAL;
4509
4527 virtual void Unmap() PURE_VIRTUAL;
4528
4533 virtual bool IsMapped() PURE_VIRTUAL;
4534
4551 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4552
4571 virtual double FeedRateGet() PURE_VIRTUAL;
4572
4576
4577
4578
4579
4599 virtual RSIState StateGet() PURE_VIRTUAL;
4600
4628 virtual RSISource SourceGet() PURE_VIRTUAL;
4629
4654 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4655
4678 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4679
4706 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4707
4728 virtual bool MotionDoneGet() PURE_VIRTUAL;
4729
4752 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4753
4768 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4769
4773
4802 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4803
4817 virtual void InterruptWake() PURE_VIRTUAL;
4818
4822
4838 virtual double StopTimeGet() PURE_VIRTUAL;
4839
4855 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4856
4872 virtual double EStopTimeGet() PURE_VIRTUAL;
4873
4889 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
4890
4907 virtual double MotionDelayGet() PURE_VIRTUAL;
4908
4929 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
4930
4951 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4952
4970 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
4971
4973 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
4974
4976 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
4977
4992 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
4993
5001 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5002
5022 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5023
5056 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5057
5069 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5070
5089
5090 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5091
5108 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5109
5128 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5129
5153 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5154
5177 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5178
5195 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5196
5213 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5214
5231
5232 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5233
5250 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5251
5253 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5254
5256 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5257
5274 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5275
5292 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5293
5309 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5310
5326 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5327
5343 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5344
5360 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5361
5363 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5364
5389
5390 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5391
5410 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5411
5428
5429 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5430
5434
5435
5436
5472 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;
5473
5511 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;
5512
5542 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;
5543
5548 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5549
5571 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5572
5577 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5578
5597 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5598
5614 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5615
5635 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5636};
5637
5638
5643class RSI_API Axis : public virtual RapidCodeMotion{
5644public:
5645
5646 friend class MotionController;
5647 friend class MultiAxis;
5648
5649
5654
5656 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5657
5659 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5660
5662
5663
5668
5673 RapidCodeNetworkNode* NetworkNode;
5674
5675
5677
5682
5720 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5721
5743 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5744
5767 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5768 //virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel, bool checkLimits) PURE_VIRTUAL;
5769
5808 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5809
5814 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5815
5825 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5826
5830 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5831
5866 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5867
5904 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
5905
5944 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5945
5949 virtual void MoveRelative(double releativePosition) PURE_VIRTUAL;
5950
5954 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5956
5961
5986 virtual void PositionSet(double position) PURE_VIRTUAL;
5987
6006 virtual double ActualPositionGet() PURE_VIRTUAL;
6007
6029 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6030
6047 virtual double CompensationPositionGet() PURE_VIRTUAL;
6048
6061 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6062
6074 virtual double TargetPositionGet() PURE_VIRTUAL;
6075
6095 virtual double CommandPositionGet() PURE_VIRTUAL;
6096
6128 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6129
6153 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6154
6171 virtual double OriginPositionGet() PURE_VIRTUAL;
6172
6195 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6196
6217 virtual double PositionErrorGet() PURE_VIRTUAL;
6218
6240 virtual double CommandVelocityGet() PURE_VIRTUAL;
6241
6264 virtual double ActualVelocityGet() PURE_VIRTUAL;
6265
6286 virtual double CommandAccelGet() PURE_VIRTUAL;
6287
6289 virtual double CommandJerkGet() PURE_VIRTUAL;
6290
6311 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6312
6334 virtual double UserUnitsGet() PURE_VIRTUAL;
6335
6358 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6359
6361 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6362
6364 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6365
6385 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6387
6392
6413
6414 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6415
6419 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6420
6439
6440 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6441
6460
6461 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6462
6483
6484 virtual double HomeOffsetGet() PURE_VIRTUAL;
6485
6504
6505 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6506
6524
6525 virtual double HomeVelocityGet() PURE_VIRTUAL;
6526
6529 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6530
6551 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6552
6557 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6558
6574 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6575
6591 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6592
6610
6611 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6612
6615 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6616
6636
6637 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6638
6642 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6643
6660
6661 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6662
6665 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6666
6685
6686 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6687
6691 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6692
6710
6711 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6712
6715 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6716
6736 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6737
6742 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6743
6763 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6764
6783 virtual bool HomeStateGet() PURE_VIRTUAL;
6784
6797 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6798
6803 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6804
6806 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6807
6809 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6810
6813 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6814
6836
6837 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6838
6858 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
6859
6873 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
6874
6886 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
6888
6894
6896 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
6897
6899 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6901
6906 // reads active configuration to report state
6907
6931
6932 virtual bool NegativeLimitGet() PURE_VIRTUAL;
6933
6957 virtual bool PositiveLimitGet() PURE_VIRTUAL;
6958
6987 virtual bool HomeLimitGet() PURE_VIRTUAL;
6988
7016 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7017
7038 virtual bool AmpFaultGet() PURE_VIRTUAL;
7039
7063 virtual bool AmpEnableGet() PURE_VIRTUAL;
7064
7089 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7090
7115 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7116
7139 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7140
7163 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7165
7170
7191 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7192
7213 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7214
7235
7236 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7237
7256 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7257
7276 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7277
7300 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7301
7320 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7321
7338 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7340
7345
7359 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7360
7375 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7376
7387 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7388
7406 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7407
7417 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7418
7436 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7437
7448 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7449
7467 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7468
7470 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7471
7473 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7474
7494 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7495
7516 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7518
7523
7525 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7526
7528 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7529
7531 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7532
7534 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7535
7537 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7538
7540 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7541
7543 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7544
7546 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7547
7549 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7550
7552 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7553
7555 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7556
7558 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7559
7561 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7562
7564 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7565
7567 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7568
7570 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7572
7576 // /@{
7577
7600 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7601
7624 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7625
7647 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7648
7670 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7671
7692 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7693
7714 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7715
7740 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7741
7765 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7766
7792 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
7793
7814 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
7815
7837 virtual double HomeDurationGet() PURE_VIRTUAL;
7838
7861 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
7862
7891 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
7892
7919 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
7920
7943 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
7944
7966 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
7967
7989 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
7990
8013 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8014
8039 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8040
8065 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8066
8090 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8091
8115 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8116
8139 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8140
8163
8164 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8165
8190 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8191
8216 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8217
8238 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8239
8263 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8264
8287 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8288
8311 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8312
8338 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8339
8363 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8364
8387 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8388
8411 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8412
8436 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8437
8461 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8462
8485 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8486
8509 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8510
8536 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8537
8562 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8563
8587 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8588
8610 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8611
8633 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8634
8656 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8657
8659 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8660
8662 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8663
8679 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8680
8694 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8695
8696 // common limit methods
8697
8699 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8700
8702 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8703
8705 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8706
8708 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8709
8711 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8712
8714 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8715
8717 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8718
8720 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8722
8727
8741 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8742
8756 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8757
8771 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
8772
8788
8789 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
8790
8804 virtual double VelocityToleranceGet() PURE_VIRTUAL;
8805
8819 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
8820
8835 virtual double SettlingTimeGet() PURE_VIRTUAL;
8836
8851 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
8852
8869 virtual bool SettleOnStopGet() PURE_VIRTUAL;
8870
8887
8888 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
8889
8906 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
8907
8923 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
8924
8941 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
8942
8958 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
8960
8965
8982 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
8983
8999 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9000
9017 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9018
9034 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9035
9053
9054 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9055
9071 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9072
9088 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9089
9090
9107 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9108
9124 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9125
9143 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9144
9146 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9147
9149 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9150
9152 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9153
9155 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9156
9158 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9159
9160
9162 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9163
9165 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9166
9184 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9185
9187 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9188
9190 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9191
9213 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9214
9216 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9217
9219 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9220
9222 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9223
9225 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9226
9228 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9229
9232 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9233
9235 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9236
9238 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9239
9253 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9254
9268 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9269
9289 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9290
9316 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9318
9323
9345 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9346
9350 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9351
9370 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9371
9388 virtual void GearingDisable() PURE_VIRTUAL;
9389
9391 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9392
9394 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9395
9397 virtual bool GearingEnableGet() PURE_VIRTUAL;
9398
9416 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9417
9430 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9432
9437
9454 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9455
9470 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9471
9488 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9489
9507 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9508
9526 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9527
9550 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9551
9581 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;
9582
9599
9600 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9602
9607
9620 virtual double BacklashWidthGet() PURE_VIRTUAL;
9621
9634 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9635
9648 virtual double BacklashRateGet() PURE_VIRTUAL;
9649
9662 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9663
9664
9675 virtual double BacklashValueGet() PURE_VIRTUAL;
9677
9682
9710 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9711
9736 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9737
9763 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9764
9787 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9788
9791 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9792
9796 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9797
9832 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9833
9862 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
9863
9880 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
9881
9883 virtual double FilterOutputGet(void) PURE_VIRTUAL;
9884
9897 virtual double FilterLowPassGet() PURE_VIRTUAL;
9898
9914 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
9915
9934 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
9935
9936
9938 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
9939
9940
9942 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
9943
9945 virtual bool IsTuneable() PURE_VIRTUAL;
9946
9963 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
9964
9980 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
9981
10000 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10001
10017 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10018
10036 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10037
10056 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10057
10076 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10077
10093 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10094
10115 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10116
10118 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10119 //virtual RSIFilterPostFilterSection PostFilterSection;
10121
10126
10146 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10147
10168 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10170
10175
10177 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10178
10180 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10181
10183 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10184
10186 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10187
10189 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10190
10192 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10193
10211 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10212
10231 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10233
10235
10243 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10244
10251 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10252
10276 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10277
10301 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10302
10311 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10312
10322 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10323
10330 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10331
10333};
10334
10338class RSI_API MultiAxis : public virtual RapidCodeMotion {
10339public:
10340
10344
10358 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10359
10362 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10363
10376 virtual void AxisRemoveAll() PURE_VIRTUAL;
10377
10381
10397 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10398
10418 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10419
10440 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10441
10445
10460 virtual double VectorVelocityGet() PURE_VIRTUAL;
10461
10477 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10478
10493 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10494
10517 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10518
10533 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10534
10557 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10558
10573 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10574
10597 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10598
10622 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10623
10626 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10627
10631
10651
10652 virtual double PathTimeSliceGet() PURE_VIRTUAL;
10653
10674
10675 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
10676
10701 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
10702
10705 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
10706
10723 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
10724
10733
10734 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
10735
10744
10745 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
10746
10765 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
10766
10787 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
10788
10808 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
10809
10828 virtual void PathListEnd() PURE_VIRTUAL;
10829
10846 virtual void PathMotionStart() PURE_VIRTUAL;
10847
10851
10869 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
10870
10873 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
10874
10901 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;
10902
10905 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
10906
10921 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
10922
10926 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
10927
10946 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;
10947
10950 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
10951
10967 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
10968
10985 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
10986
11004 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11005
11007 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11008
11022 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11023
11037 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11038
11048 virtual bool AmpEnableGet() PURE_VIRTUAL;
11049
11050
11051};
11052
11058class RSI_API IOPoint : public virtual RapidCodeObject {
11059public:
11064
11081 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11082
11099 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11100
11116 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11117 // use NetworkNode*
11118 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11119
11130 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11131
11145 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11146
11164 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11165
11182 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11183
11199 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11200 // use NetworkNode*
11201 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11202
11203
11216 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11217
11231 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11232
11247 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11248 // use RapidCodeNetworkNode*
11249 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11250
11265 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11266 // use RapidCodeNetworkNode*
11267 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11268
11270
11274
11277 virtual uint64_t AddressGet() PURE_VIRTUAL;
11278
11281 virtual int32_t MaskGet() PURE_VIRTUAL;
11282
11285 virtual bool IsDigital() PURE_VIRTUAL;
11286
11287
11290 virtual bool IsOutput() PURE_VIRTUAL;
11291
11295
11299 virtual bool Get() PURE_VIRTUAL;
11300
11307 virtual void Set(bool state) PURE_VIRTUAL;
11308
11312
11316 virtual double ValueGet() PURE_VIRTUAL;
11317
11321 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11322};
11323
11327class RSI_API RTOS {
11328
11329public:
11330#if defined(_WIN32)
11335
11338 static INtimeStatus INtimeStatusGet();
11339
11344 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11345
11348 static INtimeStatus INtimeStart();
11349
11354 static INtimeStatus INtimeStart(const char* const nodeName);
11355
11358 static INtimeStatus INtimeStop();
11359
11364 static INtimeStatus INtimeStop(const char* const nodeName);
11365
11368 static INtimeStatus INtimeRestart();
11369
11374 static INtimeStatus INtimeRestart(const char* const nodeName);
11375
11378 static const char* const INtimeCatalogRMPGet();
11379
11382 static const char* const INtimeCatalogRMPNetworkGet();
11383
11386 static uint32_t INtimeNodeCountGet();
11387
11391 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11392
11396 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11398#endif // _WIN32
11399};
11400
11402class RSI_API Trace
11403{
11404public:
11409
11422 static void MaskSet(RSITrace mask);
11423
11439 static void MaskOnSet(RSITrace maskOn);
11440
11441
11461 static bool MaskOnGet(RSITrace maskOn);
11462
11478 static void MaskOffSet(RSITrace maskOff);
11479
11492 static void MaskClear();
11493
11508 static int32_t FileSet(const char* const fileName);
11509
11522 static void FileClose();
11523
11538 static void InjectMessage(RSITrace traceLevel, const char* const message);
11539
11541};
11542
11544
11546
11550class RSI_API IO : public virtual RapidCodeObject {
11551public:
11552
11553 friend class MotionController;
11554
11559
11561 RapidCodeNetworkNode* NetworkNode;
11563 MotionController* rsiControl;
11564
11566
11571
11572
11605 virtual bool IOExists() PURE_VIRTUAL;
11606
11623 virtual int32_t NumberGet() PURE_VIRTUAL;
11625
11630
11631
11632
11662 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
11663
11696 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
11697
11728 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
11729
11752 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
11753
11785 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
11786
11818 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
11820
11830 virtual const char* const UserLabelGet() PURE_VIRTUAL;
11831
11838 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
11839};
11840
11841#if defined(__cplusplus)
11842}
11843#endif
11844
11845template<typename ContainerClass>
11846class RSI_API RapidVectorIterator
11847{
11848public:
11850 typedef typename ContainerClass::ValueType ValueType;
11851
11853 typedef typename ContainerClass::PointerType PointerType;
11854
11857 ValueType& operator*();
11858
11861 const ValueType& operator*() const;
11862
11865 RapidVectorIterator& operator++();
11866
11869 RapidVectorIterator operator++(int);
11870
11873 bool operator==(const RapidVectorIterator&) const;
11874
11877 bool operator!=(const RapidVectorIterator&) const;
11878
11880 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
11881
11883 RapidVectorIterator(const RapidVectorIterator&) = default;
11884
11886 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
11887
11889 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
11890
11892 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
11893private:
11894 PointerType pointer;
11895 PointerType start, end;
11896 void VerifyPointer() const;
11897};
11898
11900template<typename Type>
11901class RapidVectorImplementation;
11902
11905
11914template<typename Type>
11915class RSI_API RapidVector
11916{
11917private:
11918 // The pointer to the implementation.
11919 RapidVectorImplementation<Type>* pImpl;
11920public:
11924 Type& operator[](const size_t index);
11925
11929 const Type& operator[](const size_t index) const;
11930
11934 Type& At(const size_t index);
11935
11939 const Type& At(const size_t index) const;
11940
11943 void PushBack(const Type& element);
11944
11947 const size_t Size() const;
11948
11950 void Clear();
11951
11953 void PopBack();
11954
11957 Type& Front();
11958
11961 const Type& Front() const;
11962
11965 Type& Back();
11966
11969 const Type& Back() const;
11970
11972 RapidVector();
11973
11975 RapidVector(const size_t size);
11976
11978 RapidVector(RapidVectorImplementation<Type>*);
11979
11981 ~RapidVector();
11982
11984 RapidVector(const RapidVector& other);
11985
11987 RapidVector& operator=(const RapidVector& other);
11988
11990 RapidVector(RapidVector&& other) noexcept;
11991
11993 RapidVector& operator=(RapidVector&& other) noexcept;
11994
11995 typedef Type* PointerType;
11996 typedef Type ValueType;
11997
11999 typedef RapidVectorIterator<RapidVector> Iterator;
12000
12003 Iterator begin() noexcept;
12004
12007 Iterator begin() const noexcept;
12008
12012 Iterator end() const noexcept;
12013};
12014
12016
12017} // namespace RapidCode
12018
12019} // namespace RSI
12020
12021#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:5673
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:5643
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:11550
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11561
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11563
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:11058
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::Get
static MotionController * Get()
Get an already running RMP EtherCAT controller.
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::Get
static MotionController * Get(int32_t controllerIndex)
Get an already running RMP EtherCAT controller.
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:3792
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:10338
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:11327
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:4168
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4178
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:11916
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:11999
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:11901
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:11403
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1117
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1382
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1356
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1362
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:300
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1350
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:1104
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:539
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1207
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1097
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:1277
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:1223
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1073
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:1213
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1269
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:1018
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:1126
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:628
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1343
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1315
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1053
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:283
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1257
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1283
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:1186
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1091
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:1111
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:871
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1289
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1012
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1310
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1323
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:579
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1147
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:1176
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:947
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1005
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:1017
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:923
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:3770
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3763
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3768
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:3769
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:3764
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:3765
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:3766
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:3767
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3771
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