APIs, concepts, guides, and more
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
45 template<typename Type>
46 class RapidVector;
47
48#if defined(__cplusplus)
49extern "C"
50{
51#endif
52
53
54class MotionController;
55class Axis;
56class MultiAxis;
57class IO;
58class RapidCodeNetworkNode;
59class IOPoint;
60class RTOS;
61
63class StaticInstanceMediator
64{
65private:
66 bool isValid;
67public:
68
69 bool IsValid() { return isValid; }
70
71 void OnDelete() { isValid = false; }
72
73 void OnCreate() { isValid = true; }
74};
75
78
110class RsiError : public std::exception
111{
112public:
114 RSIErrorMessage number;
116 int32_t lineNumber;
118 int32_t objectIndex;
120 bool isWarning;
122 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
123 char text[RSI_ERROR_TEXT_SIZE];
125 char functionName[RSI_ERROR_TEXT_SIZE];
127 char shortText[RSI_ERROR_TEXT_SIZE];
129 char fileName[RSI_ERROR_TEXT_SIZE];
130
131 RsiError()
132 {
133 text[0] = '\0';
134 functionName[0] = '\0';
135 shortText[0] = '\0';
136 fileName[0] = '\0';
137 number = RSIErrorMessage::RSIMessageOK;
138 lineNumber = -1;
139 isWarning = false;
140 objectIndex = -1;
141 }
150 RsiError(const RsiError& copyFrom)
151 {
152#if defined(_WIN32)
153 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#elif defined(__linux__)
158 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
159 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
160 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
161 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
162#endif
163 number = copyFrom.number;
164 lineNumber = copyFrom.lineNumber;
165 isWarning = copyFrom.isWarning;
166 objectIndex = copyFrom.objectIndex;
167 }
168 ~RsiError()
169 {
170 }
171
173 virtual const char* what() const noexcept { return text; }
174};
175
184class RSI_API RapidCodeObject {
185public:
190
191
192
205 virtual const char* const VersionGet() PURE_VIRTUAL;
206
208 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
210 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
212 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
216 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
218 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
220 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
221
224 virtual int32_t NumberGet() PURE_VIRTUAL;
226
231
232
233
234
260 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
261
275 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
276
289 virtual void ErrorLogClear() PURE_VIRTUAL;
290
309 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
310
312 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
313
315 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
316
318 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
320
325
326
341 virtual void Trace(bool state) PURE_VIRTUAL;
342
357 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
358
359
380 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
381
397 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
398
412 virtual void TraceMaskClear() PURE_VIRTUAL;
413
428 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
429
442 virtual void TraceFileClose() PURE_VIRTUAL;
443
458 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
459
460
461
462
464};
465
467typedef union
468{
469 bool Bool;
470 int8_t Int8;
471 uint8_t UInt8;
472 int16_t Int16;
473 uint16_t UInt16;
474 int32_t Int32;
475 uint32_t UInt32;
476 float Float;
477 double Double;
478 int64_t Int64;
479 uint64_t UInt64;
480} FirmwareValue;
481
483
497class RSI_API RapidCodeOS {
498public:
499
504
517 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
518
537 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
538
548 virtual int32_t TimerCountGet() PURE_VIRTUAL;
549
558 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
559
560
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
573
585 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
586
588};
589
591
594class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
595public:
599
601 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
602
603
625 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
626
646 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
647
668 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
669
670
691 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
692
694 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
695
697 virtual void InterruptWake() PURE_VIRTUAL;
698
700 virtual void InterruptMaskClear() PURE_VIRTUAL;
701
703 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
704
706 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
707
709 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
710
712 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
713
714
727 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
728
729
741 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
742
748 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
749
785
787 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
788
794 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
795};
796
800class RSI_API MotionController : public virtual RapidCodeInterrupt {
801protected:
802 MotionController();
803 StaticInstanceMediator* _mediator;
804
805public:
806
807 // Static functions or attributes should be grouped together.
812
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
815
817 static inline constexpr uint32_t AxisCountMaximum = 64;
818
820 static inline constexpr uint32_t MotionCountMaximum = 64;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
833
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
836
838 static inline constexpr double SampleRateDefault = 1000.0;
839
849 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
850
852
853 // Static functions or attributes should be grouped together.
858
860 struct CreationParameters
861 {
866
871 static inline constexpr int32_t ControllerIndexDefault = 0;
872
877 static inline constexpr uint32_t PathLengthMaximum = 256;
878
884 static inline constexpr int32_t CpuAffinityDefault = -1;
885
890 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
891
896 static inline constexpr int32_t RmpThreadPriorityRange = 8;
897
902 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
903
908 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
909
914 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
916
917
922
927 CreationParameters()
928 {
929 ControllerIndex = ControllerIndexDefault;
930 std::memset(RmpPath, '\0', PathLengthMaximum);
931 std::memset(NicPrimary, '\0', PathLengthMaximum);
932 std::memset(NicSecondary, '\0', PathLengthMaximum);
933#if defined(_WIN32)
934 std::memset(NodeName, '\0', PathLengthMaximum);
935#elif defined(__linux__)
936 CpuAffinity = CpuAffinityDefault;
937 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
938#endif
939 }
941
946
951 int32_t ControllerIndex;
952
957 char RmpPath[PathLengthMaximum];
958
963 char NicPrimary[PathLengthMaximum];
964
969 char NicSecondary[PathLengthMaximum];
971
972 // Control which platform specific parameters are available
973#if defined(_WIN32) && defined(__linux__)
974 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
975#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
976 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
977#endif //defined(_WIN32) && defined(__linux__)
978#if defined(_WIN32) || defined(DOXYGEN)
979
984
989 char NodeName[PathLengthMaximum];
990
992#endif //defined(_WIN32)
993#if defined(__linux__) || defined(DOXYGEN)
994
999
1009 int32_t CpuAffinity;
1010
1021 int32_t RmpThreadPriorityMax;
1022
1024# endif // defined(__linux__)
1025 };
1026
1037 static MotionController* Create(CreationParameters* creationParameters);
1038
1043 static MotionController* Get();
1044
1049 static MotionController* Get(int32_t controllerIndex);
1050
1051#if defined(_WIN32)
1078 static MotionController* CreateFromSoftware();
1079
1084 static MotionController* CreateFromSoftware(const char* const RtaPath);
1085
1091 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1092
1119 static MotionController* Create();
1120#endif // defined(_WIN32)
1121
1126 static MotionController* CreateFromFile(const char* const fileName);
1128
1133
1152 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1153
1170 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1171
1185 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1186
1201 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1202
1218 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1219
1242 virtual void Delete(void) PURE_VIRTUAL;
1244
1249
1259 virtual void Reset() PURE_VIRTUAL;
1260
1265 virtual void Refresh() PURE_VIRTUAL;
1266
1274 virtual void Shutdown() PURE_VIRTUAL;
1275
1284 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1286
1291
1314 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1315
1330 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1331
1342 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1343
1347 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1348
1349
1351
1356
1357
1358
1381 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1382
1401 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1402
1403
1405 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1406
1408 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1409
1411 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1412
1413
1414
1415
1437 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1438
1443 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1444
1447 virtual double SampleRateGet() PURE_VIRTUAL;
1448
1466 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1467
1486 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1487
1490 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1491
1494 virtual bool IsLicensed() PURE_VIRTUAL;
1495
1497 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1498
1500 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1501
1503 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1504
1506 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1507
1532 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1533
1550 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1551
1577 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1578
1602 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1603
1606 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1607
1624 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1625
1640 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1642
1647
1665 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1666
1684 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1685
1687 virtual bool HasMechaWare() PURE_VIRTUAL;
1688
1712 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1713
1714
1732 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1733
1759 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1760
1775 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1776
1777
1778
1795 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1796
1822 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1823
1842 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1843
1844
1845
1846
1869 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1870
1871
1872
1895 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1896
1897
1898
1899
1908 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1909
1910
1911
1920 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1921
1936 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1937
1955 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1956
1957
1970 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
1971
1976 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1977
1991 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1992
1993
1994
2010 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2012
2017
2019 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2020
2022 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2023
2026 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2027
2073 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2074
2095 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2096
2098 virtual void NetworkStart() PURE_VIRTUAL;
2099
2108 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2109
2113 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2114
2119 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2120
2122 virtual void NetworkShutdown() PURE_VIRTUAL;
2123
2126 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2127
2129 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2130
2132 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2133
2135 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2136
2140 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2141
2144 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2145
2148 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2149
2153 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2154
2155
2156
2160 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2161
2165 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2166
2169 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2170
2171
2175 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2176
2178 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2179
2181 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2182
2198 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2199
2216 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2217
2236 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2237
2242 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2243
2254 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2255
2267 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2268
2279 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2280
2281
2282
2283
2300 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2301
2314 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2315
2330 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2331
2335 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2336
2338 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2339
2344 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2345
2347 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2348
2350 virtual void NetworkTimingClear() PURE_VIRTUAL;
2351
2353 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2354
2356 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2357
2359 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2360
2362 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2363
2365 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2366
2368 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2369
2371 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2372
2374 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2376
2381
2398 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2399
2418 virtual void InterruptWake() PURE_VIRTUAL;
2419
2447 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2448
2474 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2475
2495 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2496
2498 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2499
2510 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2511
2513 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2514
2527 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2528
2539 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2540
2550 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2551
2577
2578 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2580
2585
2586
2587
2606 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2607
2625 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2626
2643 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2644
2646 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2647
2664 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2665
2667 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2668
2684 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2685
2687 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2688
2705 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2706
2708 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2709
2710
2716 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2717
2731
2737 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2738
2745 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2746
2752 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2753
2760 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2761
2768 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2769
2778 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2779
2795 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2796
2798 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2799
2816 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2817
2819 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2820
2834 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2835
2837 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2838
2853 virtual void RecorderStart() PURE_VIRTUAL;
2854
2856 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2857
2874 virtual void RecorderStop() PURE_VIRTUAL;
2875
2877 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2878
2879
2880
2896 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2897
2899 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2900
2915 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2916
2936 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2937
2939 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2940
2957 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2958
2960 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2961
2980 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2981
2983 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2984
2986 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2987
3006 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3007
3025 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3026
3028 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3029
3044 virtual void RecorderReset() PURE_VIRTUAL;
3045
3047 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3048
3060 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3061
3078 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3080
3085
3086
3087
3088
3113 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3114
3134 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3135
3146 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3147
3167 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3168
3182 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3183
3209 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;
3210
3240 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;
3241
3262 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;
3263
3284 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;
3285
3297 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3298
3310 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3311
3331 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3332
3333
3334
3335
3336
3337
3349
3350 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3351
3360 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3361
3366 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3367
3374 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3375
3377
3382
3402 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3403
3423 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3424
3444 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3445
3448 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3449
3451 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3452
3454 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3455
3457 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3458
3460 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3461
3463 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3464
3489 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3490
3512 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3513
3515 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3516
3518 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3519
3521 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3522
3524 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3525
3527 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3528
3530 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3531
3558 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3559
3562 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3563
3566 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3567
3570 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3571
3587 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3588
3590 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3591
3593 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3594
3596 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3597
3599 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3600
3602 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3603
3605 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3606
3608 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3609
3611 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3612
3614 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3615
3616
3618 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3619
3640 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3641
3662 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3663
3665 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3666
3681 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3682
3694 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3695
3704
3705 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3706
3724 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3725
3727 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3729
3730
3735
3745 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3746
3757 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3758
3777
3779 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3780
3782 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3783
3785 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3786
3788
3789
3794
3796 RapidCodeOS* OS;
3797
3799};
3800
3804class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3805public:
3806
3811
3813 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3814
3816
3817
3822
3824 virtual bool Exists() PURE_VIRTUAL;
3825
3827 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3828
3830 virtual bool IsEtherCAT() PURE_VIRTUAL;
3831
3833 virtual bool IsSynqNet() PURE_VIRTUAL;
3834
3836
3841
3843 virtual bool HasIO() PURE_VIRTUAL;
3844
3846 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3847
3849 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3850
3852 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3853
3855 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3856
3858 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3859
3861 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3862
3864
3868
3870 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3871
3873 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3874
3876 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3877
3879 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3880
3881
3883 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3884
3886 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3887
3889 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3890
3892 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3893
3895 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3896
3898 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3899
3912 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3913
3926 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3927
3940 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3941
3954 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3955
3967 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3968
3980 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3981
3993 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3994
4006 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4007
4021 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4022
4026 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4027
4040 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4041
4045 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4046
4057 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4058
4072 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4073
4074
4079 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4080
4092 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4093
4101 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4102
4111 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4112
4118 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4119
4121 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4122
4124 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4125
4138 virtual const char* const NameGet() PURE_VIRTUAL;
4139
4152 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4153
4166 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4167
4169 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4170
4172 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4173
4175 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4176
4178 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4179
4181 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4182
4184 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4185};
4186
4188
4191class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4192public:
4193
4199
4201 MotionController* rsiControl;
4202
4204
4205
4209
4227 virtual int32_t NumberGet() PURE_VIRTUAL;
4228
4245 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4246
4250
4275 virtual void TriggeredModify() PURE_VIRTUAL;
4276
4303 virtual void Stop() PURE_VIRTUAL;
4304
4329 virtual void Resume() PURE_VIRTUAL;
4330
4355 virtual void EStop() PURE_VIRTUAL;
4356
4377 virtual void EStopAbort() PURE_VIRTUAL;
4378
4395 virtual void EStopModify() PURE_VIRTUAL;
4396
4399 virtual void EStopModifyAbort() PURE_VIRTUAL;
4400
4422 virtual void Abort() PURE_VIRTUAL;
4423
4450 virtual void ClearFaults() PURE_VIRTUAL;
4451
4478 virtual void AmpEnableSet(bool enable) PURE_VIRTUAL;
4479
4509 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4510
4530
4531 virtual void Map() PURE_VIRTUAL;
4532
4550 virtual void Unmap() PURE_VIRTUAL;
4551
4556 virtual bool IsMapped() PURE_VIRTUAL;
4557
4574 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4575
4594 virtual double FeedRateGet() PURE_VIRTUAL;
4595
4599
4600
4601
4602
4622 virtual RSIState StateGet() PURE_VIRTUAL;
4623
4651 virtual RSISource SourceGet() PURE_VIRTUAL;
4652
4677 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4678
4701 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4702
4729 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4730
4751 virtual bool MotionDoneGet() PURE_VIRTUAL;
4752
4775 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4776
4791 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4792
4796
4825 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4826
4840 virtual void InterruptWake() PURE_VIRTUAL;
4841
4845
4861 virtual double StopTimeGet() PURE_VIRTUAL;
4862
4878 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4879
4895 virtual double EStopTimeGet() PURE_VIRTUAL;
4896
4912 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
4913
4930 virtual double MotionDelayGet() PURE_VIRTUAL;
4931
4952 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
4953
4974 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4975
4993 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
4994
4996 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
4997
4999 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5000
5015 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5016
5024 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5025
5045 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5046
5079 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5080
5092 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5093
5112
5113 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5114
5131 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5132
5151 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5152
5176 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5177
5200 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5201
5218 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5219
5236 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5237
5254
5255 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5256
5273 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5274
5276 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5277
5279 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5280
5297 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5298
5315 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5316
5332 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5333
5349 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5350
5366 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5367
5383 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5384
5386 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5387
5412
5413 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5414
5433 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5434
5451
5452 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5453
5457
5458
5459
5495 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;
5496
5534 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;
5535
5565 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;
5566
5571 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5572
5594 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5595
5600 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5601
5620 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5621
5637 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5638
5658 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5659};
5660
5661
5666class RSI_API Axis : public virtual RapidCodeMotion{
5667public:
5668
5669 friend class MotionController;
5670 friend class MultiAxis;
5671
5672
5677
5679 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5680
5682 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5683
5685
5686
5691
5696 RapidCodeNetworkNode* NetworkNode;
5697
5698
5700
5705
5743 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5744
5766 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5767
5790 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5791 //virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel, bool checkLimits) PURE_VIRTUAL;
5792
5831 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5832
5837 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5838
5848 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5849
5853 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5854
5889 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5890
5927 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
5928
5967 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5968
5972 virtual void MoveRelative(double releativePosition) PURE_VIRTUAL;
5973
5977 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5979
5984
6009 virtual void PositionSet(double position) PURE_VIRTUAL;
6010
6029 virtual double ActualPositionGet() PURE_VIRTUAL;
6030
6052 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6053
6070 virtual double CompensationPositionGet() PURE_VIRTUAL;
6071
6084 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6085
6097 virtual double TargetPositionGet() PURE_VIRTUAL;
6098
6118 virtual double CommandPositionGet() PURE_VIRTUAL;
6119
6151 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6152
6176 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6177
6194 virtual double OriginPositionGet() PURE_VIRTUAL;
6195
6218 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6219
6240 virtual double PositionErrorGet() PURE_VIRTUAL;
6241
6263 virtual double CommandVelocityGet() PURE_VIRTUAL;
6264
6287 virtual double ActualVelocityGet() PURE_VIRTUAL;
6288
6309 virtual double CommandAccelGet() PURE_VIRTUAL;
6310
6312 virtual double CommandJerkGet() PURE_VIRTUAL;
6313
6334 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6335
6357 virtual double UserUnitsGet() PURE_VIRTUAL;
6358
6381 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6382
6384 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6385
6387 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6388
6408 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6410
6415
6436
6437 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6438
6442 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6443
6462
6463 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6464
6483
6484 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6485
6506
6507 virtual double HomeOffsetGet() PURE_VIRTUAL;
6508
6527
6528 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6529
6547
6548 virtual double HomeVelocityGet() PURE_VIRTUAL;
6549
6552 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6553
6574 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6575
6580 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6581
6597 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6598
6614 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6615
6633
6634 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6635
6638 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6639
6659
6660 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6661
6665 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6666
6683
6684 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6685
6688 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6689
6708
6709 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6710
6714 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6715
6733
6734 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6735
6738 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6739
6759 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6760
6765 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6766
6786 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6787
6806 virtual bool HomeStateGet() PURE_VIRTUAL;
6807
6820 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6821
6826 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6827
6829 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6830
6832 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6833
6836 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6837
6859
6860 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6861
6881 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
6882
6896 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
6897
6909 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
6911
6917
6919 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
6920
6922 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6924
6929 // reads active configuration to report state
6930
6954
6955 virtual bool NegativeLimitGet() PURE_VIRTUAL;
6956
6980 virtual bool PositiveLimitGet() PURE_VIRTUAL;
6981
7010 virtual bool HomeLimitGet() PURE_VIRTUAL;
7011
7039 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7040
7061 virtual bool AmpFaultGet() PURE_VIRTUAL;
7062
7086 virtual bool AmpEnableGet() PURE_VIRTUAL;
7087
7112 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7113
7138 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7139
7162 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7163
7186 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7188
7193
7214 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7215
7236 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7237
7258
7259 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7260
7279 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7280
7299 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7300
7323 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7324
7343 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7344
7361 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7363
7368
7382 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7383
7398 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7399
7410 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7411
7429 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7430
7440 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7441
7459 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7460
7471 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7472
7490 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7491
7493 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7494
7496 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7497
7517 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7518
7539 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7541
7546
7548 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7549
7551 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7552
7554 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7555
7557 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7558
7560 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7561
7563 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7564
7566 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7567
7569 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7570
7572 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7573
7575 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7576
7578 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7579
7581 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7582
7584 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7585
7587 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7588
7590 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7591
7593 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7595
7599 // /@{
7600
7623 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7624
7647 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7648
7670 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7671
7693 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7694
7715 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7716
7737 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7738
7763 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7764
7788 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7789
7815 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
7816
7837 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
7838
7860 virtual double HomeDurationGet() PURE_VIRTUAL;
7861
7884 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
7885
7914 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
7915
7942 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
7943
7966 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
7967
7989 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
7990
8012 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8013
8036 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8037
8062 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8063
8088 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8089
8113 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8114
8138 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8139
8162 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8163
8186
8187 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8188
8213 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8214
8239 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8240
8261 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8262
8286 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8287
8310 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8311
8334 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8335
8361 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8362
8386 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8387
8410 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8411
8434 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8435
8459 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8460
8484 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8485
8508 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8509
8532 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8533
8559 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8560
8585 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8586
8610 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8611
8633 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8634
8656 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8657
8679 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8680
8682 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8683
8685 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8686
8702 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8703
8717 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8718
8719 // common limit methods
8720
8722 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8723
8725 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8726
8728 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8729
8731 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8732
8734 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8735
8737 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8738
8740 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8741
8743 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8745
8750
8764 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8765
8779 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8780
8794 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
8795
8811
8812 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
8813
8827 virtual double VelocityToleranceGet() PURE_VIRTUAL;
8828
8842 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
8843
8858 virtual double SettlingTimeGet() PURE_VIRTUAL;
8859
8874 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
8875
8892 virtual bool SettleOnStopGet() PURE_VIRTUAL;
8893
8910
8911 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
8912
8929 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
8930
8946 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
8947
8964 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
8965
8981 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
8983
8988
9005 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9006
9022 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9023
9040 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9041
9057 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9058
9076
9077 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9078
9094 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9095
9111 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9112
9113
9130 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9131
9147 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9148
9166 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9167
9169 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9170
9172 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9173
9175 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9176
9178 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9179
9181 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9182
9183
9185 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9186
9188 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9189
9207 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9208
9210 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9211
9213 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9214
9236 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9237
9239 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9240
9242 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9243
9245 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9246
9248 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9249
9251 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9252
9255 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9256
9258 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9259
9261 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9262
9276 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9277
9291 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9292
9312 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9313
9339 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9341
9346
9368 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9369
9373 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9374
9393 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9394
9411 virtual void GearingDisable() PURE_VIRTUAL;
9412
9414 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9415
9417 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9418
9420 virtual bool GearingEnableGet() PURE_VIRTUAL;
9421
9439 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9440
9453 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9455
9460
9477 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9478
9493 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9494
9511 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9512
9530 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9531
9549 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9550
9573 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9574
9604 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;
9605
9622
9623 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9625
9630
9643 virtual double BacklashWidthGet() PURE_VIRTUAL;
9644
9657 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9658
9671 virtual double BacklashRateGet() PURE_VIRTUAL;
9672
9685 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9686
9687
9698 virtual double BacklashValueGet() PURE_VIRTUAL;
9700
9705
9733 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9734
9759 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9760
9786 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9787
9810 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9811
9814 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9815
9819 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9820
9855 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9856
9885 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
9886
9903 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
9904
9906 virtual double FilterOutputGet(void) PURE_VIRTUAL;
9907
9920 virtual double FilterLowPassGet() PURE_VIRTUAL;
9921
9937 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
9938
9957 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
9958
9959
9961 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
9962
9963
9965 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
9966
9968 virtual bool IsTuneable() PURE_VIRTUAL;
9969
9986 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
9987
10003 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10004
10023 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10024
10040 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10041
10059 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10060
10079 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10080
10099 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10100
10116 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10117
10138 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10139
10141 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10142 //virtual RSIFilterPostFilterSection PostFilterSection;
10144
10149
10169 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10170
10191 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10193
10198
10200 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10201
10203 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10204
10206 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10207
10209 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10210
10212 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10213
10215 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10216
10234 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10235
10254 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10256
10258
10266 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10267
10274 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10275
10299 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10300
10324 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10325
10334 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10335
10345 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10346
10353 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10354
10356};
10357
10361class RSI_API MultiAxis : public virtual RapidCodeMotion {
10362public:
10363
10367
10381 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10382
10385 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10386
10399 virtual void AxisRemoveAll() PURE_VIRTUAL;
10400
10404
10420 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10421
10441 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10442
10463 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10464
10468
10483 virtual double VectorVelocityGet() PURE_VIRTUAL;
10484
10500 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10501
10516 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10517
10540 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10541
10556 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10557
10580 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10581
10596 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10597
10620 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10621
10645 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10646
10649 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10650
10654
10674
10675 virtual double PathTimeSliceGet() PURE_VIRTUAL;
10676
10697
10698 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
10699
10724 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
10725
10728 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
10729
10746 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
10747
10756
10757 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
10758
10767
10768 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
10769
10788 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
10789
10810 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
10811
10831 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
10832
10851 virtual void PathListEnd() PURE_VIRTUAL;
10852
10869 virtual void PathMotionStart() PURE_VIRTUAL;
10870
10874
10892 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
10893
10896 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
10897
10924 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;
10925
10928 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
10929
10944 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
10945
10949 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
10950
10969 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;
10970
10973 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
10974
10990 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
10991
11008 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11009
11027 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11028
11030 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11031
11045 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11046
11060 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11061
11071 virtual bool AmpEnableGet() PURE_VIRTUAL;
11072
11073
11074};
11075
11081class RSI_API IOPoint : public virtual RapidCodeObject {
11082public:
11087
11104 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11105
11122 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11123
11139 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11140 // use NetworkNode*
11141 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11142
11153 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11154
11168 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11169
11187 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11188
11205 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11206
11222 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11223 // use NetworkNode*
11224 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11225
11226
11239 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11240
11254 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11255
11270 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11271 // use RapidCodeNetworkNode*
11272 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11273
11288 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11289 // use RapidCodeNetworkNode*
11290 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11291
11293
11297
11300 virtual uint64_t AddressGet() PURE_VIRTUAL;
11301
11304 virtual int32_t MaskGet() PURE_VIRTUAL;
11305
11308 virtual bool IsDigital() PURE_VIRTUAL;
11309
11310
11313 virtual bool IsOutput() PURE_VIRTUAL;
11314
11318
11322 virtual bool Get() PURE_VIRTUAL;
11323
11330 virtual void Set(bool state) PURE_VIRTUAL;
11331
11335
11339 virtual double ValueGet() PURE_VIRTUAL;
11340
11344 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11345};
11346
11350class RSI_API RTOS {
11351
11352public:
11353#if defined(_WIN32)
11358
11361 static INtimeStatus INtimeStatusGet();
11362
11367 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11368
11371 static INtimeStatus INtimeStart();
11372
11377 static INtimeStatus INtimeStart(const char* const nodeName);
11378
11381 static INtimeStatus INtimeStop();
11382
11387 static INtimeStatus INtimeStop(const char* const nodeName);
11388
11391 static INtimeStatus INtimeRestart();
11392
11397 static INtimeStatus INtimeRestart(const char* const nodeName);
11398
11401 static const char* const INtimeCatalogRMPGet();
11402
11405 static const char* const INtimeCatalogRMPNetworkGet();
11406
11409 static uint32_t INtimeNodeCountGet();
11410
11414 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11415
11419 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11421#endif // _WIN32
11422};
11423
11425class RSI_API Trace
11426{
11427public:
11432
11445 static void MaskSet(RSITrace mask);
11446
11462 static void MaskOnSet(RSITrace maskOn);
11463
11464
11484 static bool MaskOnGet(RSITrace maskOn);
11485
11501 static void MaskOffSet(RSITrace maskOff);
11502
11515 static void MaskClear();
11516
11531 static int32_t FileSet(const char* const fileName);
11532
11545 static void FileClose();
11546
11561 static void InjectMessage(RSITrace traceLevel, const char* const message);
11562
11564};
11565
11567
11569
11573class RSI_API IO : public virtual RapidCodeObject {
11574public:
11575
11576 friend class MotionController;
11577
11582
11584 RapidCodeNetworkNode* NetworkNode;
11586 MotionController* rsiControl;
11587
11589
11594
11595
11628 virtual bool IOExists() PURE_VIRTUAL;
11629
11646 virtual int32_t NumberGet() PURE_VIRTUAL;
11648
11653
11654
11655
11685 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
11686
11719 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
11720
11751 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
11752
11775 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
11776
11808 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
11809
11841 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
11843
11853 virtual const char* const UserLabelGet() PURE_VIRTUAL;
11854
11861 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
11862};
11863
11864#if defined(__cplusplus)
11865}
11866#endif
11867
11868template<typename ContainerClass>
11869class RSI_API RapidVectorIterator
11870{
11871public:
11873 typedef typename ContainerClass::ValueType ValueType;
11874
11876 typedef typename ContainerClass::PointerType PointerType;
11877
11880 ValueType& operator*();
11881
11884 const ValueType& operator*() const;
11885
11888 RapidVectorIterator& operator++();
11889
11892 RapidVectorIterator operator++(int);
11893
11896 bool operator==(const RapidVectorIterator&) const;
11897
11900 bool operator!=(const RapidVectorIterator&) const;
11901
11903 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
11904
11906 RapidVectorIterator(const RapidVectorIterator&) = default;
11907
11909 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
11910
11912 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
11913
11915 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
11916private:
11917 PointerType pointer;
11918 PointerType start, end;
11919 void VerifyPointer() const;
11920};
11921
11923template<typename Type>
11924class RapidVectorImplementation;
11925
11928
11937template<typename Type>
11938class RSI_API RapidVector
11939{
11940private:
11941 // The pointer to the implementation.
11942 RapidVectorImplementation<Type>* pImpl;
11943public:
11947 Type& operator[](const size_t index);
11948
11952 const Type& operator[](const size_t index) const;
11953
11957 Type& At(const size_t index);
11958
11962 const Type& At(const size_t index) const;
11963
11966 void PushBack(const Type& element);
11967
11970 const size_t Size() const;
11971
11973 void Clear();
11974
11976 void PopBack();
11977
11980 Type& Front();
11981
11984 const Type& Front() const;
11985
11988 Type& Back();
11989
11992 const Type& Back() const;
11993
11995 RapidVector();
11996
11998 RapidVector(const size_t size);
11999
12001 RapidVector(RapidVectorImplementation<Type>*);
12002
12004 ~RapidVector();
12005
12007 RapidVector(const RapidVector& other);
12008
12010 RapidVector& operator=(const RapidVector& other);
12011
12013 RapidVector(RapidVector&& other) noexcept;
12014
12016 RapidVector& operator=(RapidVector&& other) noexcept;
12017
12018 typedef Type* PointerType;
12019 typedef Type ValueType;
12020
12022 typedef RapidVectorIterator<RapidVector> Iterator;
12023
12026 Iterator begin() noexcept;
12027
12030 Iterator begin() const noexcept;
12031
12035 Iterator end() const noexcept;
12036};
12037
12039
12040} // namespace RapidCode
12041
12042} // namespace RSI
12043
12044#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:5696
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:5666
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:11573
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11584
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11586
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:11081
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:800
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:3796
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:10361
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:11350
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:594
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:4191
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4201
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:497
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:184
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
Forward declaration of the implementation class for RapidVector.
Definition rsi.h:11939
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:12022
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:11924
RSI::RapidCode::RsiError::RsiError
RsiError(const RsiError &copyFrom)
Copy constructor for RsiError.
Definition rsi.h:150
RSI::RapidCode::RsiError
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:111
RSI::RapidCode::RsiError::fileName
char fileName[RSI_ERROR_TEXT_SIZE]
source file name
Definition rsi.h:129
RSI::RapidCode::RsiError::isWarning
bool isWarning
Whether the error is or is not a warning.
Definition rsi.h:120
RSI::RapidCode::RsiError::RSI_ERROR_TEXT_SIZE
static constexpr uint32_t RSI_ERROR_TEXT_SIZE
Error message text.
Definition rsi.h:122
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:173
RSI::RapidCode::RsiError::shortText
char shortText[RSI_ERROR_TEXT_SIZE]
Error short text.
Definition rsi.h:127
RSI::RapidCode::RsiError::lineNumber
int32_t lineNumber
Source code line number.
Definition rsi.h:116
RSI::RapidCode::RsiError::functionName
char functionName[RSI_ERROR_TEXT_SIZE]
Function name of the raised the error.
Definition rsi.h:125
RSI::RapidCode::RsiError::number
RSIErrorMessage number
Error number.
Definition rsi.h:114
RSI::RapidCode::RsiError::objectIndex
int32_t objectIndex
Object index (0-based index of the object that has the error).
Definition rsi.h:118
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:11426
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1119
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1384
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1358
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1364
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:300
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1352
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:1106
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:539
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1209
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1099
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:1279
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:928
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1000
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:1225
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1075
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:1215
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1271
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:593
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:879
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1020
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:1128
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:628
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1345
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1317
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1055
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:283
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1259
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1285
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:1188
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1093
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:976
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:851
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1113
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:873
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1291
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1014
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1312
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1325
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:579
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1149
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:841
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1178
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:951
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1009
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:1021
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:927
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:861
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3774
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3767
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3772
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:3773
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:3768
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:3769
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:3770
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:3771
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3775
RSI::RapidCode::FirmwareValue
Union representing a generic RMP firmware value with multiple data types, stored in 64-bits.
Definition rsi.h:468
RSI::RapidCode::FirmwareValue::Float
float Float
Single precision (32-bit) floating-point.
Definition rsi.h:476
RSI::RapidCode::FirmwareValue::Int64
int64_t Int64
64-bit signed integer.
Definition rsi.h:478
RSI::RapidCode::FirmwareValue::UInt8
uint8_t UInt8
8-bit unsigned integer.
Definition rsi.h:471
RSI::RapidCode::FirmwareValue::Int8
int8_t Int8
8-bit signed integer.
Definition rsi.h:470
RSI::RapidCode::FirmwareValue::Double
double Double
Double precision (64-bit) floating-point.
Definition rsi.h:477
RSI::RapidCode::FirmwareValue::Int32
int32_t Int32
32-bit signed integer.
Definition rsi.h:474
RSI::RapidCode::FirmwareValue::UInt16
uint16_t UInt16
16-bit unsigned integer.
Definition rsi.h:473
RSI::RapidCode::FirmwareValue::Int16
int16_t Int16
16-bit signed integer.
Definition rsi.h:472
RSI::RapidCode::FirmwareValue::Bool
bool Bool
Boolean value.
Definition rsi.h:469
RSI::RapidCode::FirmwareValue::UInt32
uint32_t UInt32
32-bit unsigned integer.
Definition rsi.h:475
RSI::RapidCode::FirmwareValue::UInt64
uint64_t UInt64
64-bit unsigned integer.
Definition rsi.h:479