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rsi.h
1#ifndef _RSI_H
2#define _RSI_H
3
4#include <stdlib.h>
5#include <vector>
6#include <stdio.h>
7#include <string.h>
8#include <math.h>
9#include <exception>
10#include <cstdint>
11#include <cstring>
12
13#include "rsienums.h"
14
15#if defined(_WIN32)
16# if !defined(__INTIME__)
17# define HAS_CARTESIAN_ROBOT 1
18# endif
19# if !defined(RSI_API)
20# if defined(RSIDLL)
21# define RSI_API __declspec(dllexport)
22# else
23# define RSI_API __declspec(dllimport)
24# endif
25# endif
26#elif defined(__linux__)
27# if !defined(RSI_API)
28# define RSI_API __attribute__ ((visibility ("default")))
29# endif
30#endif
31
32// Macro for pure virtual definitions
33#define PURE_VIRTUAL = 0
34
36namespace RSI
37{
38
40namespace RapidCode
41{
42
43#if defined(__cplusplus)
44extern "C"
45{
46#endif
47
48
49class MotionController;
50class Axis;
51class MultiAxis;
52class IO;
53class RapidCodeNetworkNode;
54class IOPoint;
55class RTOS;
56
58class StaticInstanceMediator
59{
60private:
61 bool isValid;
62public:
63
64 bool IsValid() { return isValid; }
65
66 void OnDelete() { isValid = false; }
67
68 void OnCreate() { isValid = true; }
69};
70
73
105class RsiError : public std::exception
106{
107public:
109 RSIErrorMessage number;
111 int32_t lineNumber;
113 int32_t objectIndex;
115 bool isWarning;
117 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
118 char text[RSI_ERROR_TEXT_SIZE];
120 char functionName[RSI_ERROR_TEXT_SIZE];
122 char shortText[RSI_ERROR_TEXT_SIZE];
124 char fileName[RSI_ERROR_TEXT_SIZE];
125
126 RsiError()
127 {
128 text[0] = '\0';
129 functionName[0] = '\0';
130 shortText[0] = '\0';
131 fileName[0] = '\0';
132 number = RSIErrorMessage::RSIMessageOK;
133 lineNumber = -1;
134 isWarning = false;
135 objectIndex = -1;
136 }
145 RsiError(const RsiError& copyFrom)
146 {
147#if defined(_WIN32)
148 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
149 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
150 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
151 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
152#elif defined(__linux__)
153 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#endif
158 number = copyFrom.number;
159 lineNumber = copyFrom.lineNumber;
160 isWarning = copyFrom.isWarning;
161 objectIndex = copyFrom.objectIndex;
162 }
163 ~RsiError()
164 {
165 }
166
168 virtual const char* what() const noexcept { return text; }
169};
170
179class RSI_API RapidCodeObject {
180public:
185
186
187
200 virtual const char* const VersionGet() PURE_VIRTUAL;
201
203 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
205 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
207 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
209 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
211 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
213 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
215 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
216
219 virtual int32_t NumberGet() PURE_VIRTUAL;
221
226
227
228
229
255 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
256
270 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
271
284 virtual void ErrorLogClear() PURE_VIRTUAL;
285
304 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
305
307 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
308
310 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
311
313 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
315
320
321
336 virtual void Trace(bool state) PURE_VIRTUAL;
337
352 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
353
354
375 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
376
392 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
393
407 virtual void TraceMaskClear() PURE_VIRTUAL;
408
423 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
424
437 virtual void TraceFileClose() PURE_VIRTUAL;
438
453 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
454
455
456
457
459};
460
462typedef union
463{
464 bool Bool;
465 int8_t Int8;
466 uint8_t UInt8;
467 int16_t Int16;
468 uint16_t UInt16;
469 int32_t Int32;
470 uint32_t UInt32;
471 float Float;
472 double Double;
473 int64_t Int64;
474 uint64_t UInt64;
475} FirmwareValue;
476
478
492class RSI_API RapidCodeOS {
493public:
494
499
512 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
513
532 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
533
543 virtual int32_t TimerCountGet() PURE_VIRTUAL;
544
553 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
554
555
567 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
568
580 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
581
583};
584
586
589class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
590public:
594
596 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
597
598
620 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
621
641 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
642
663 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
664
665
686 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
687
689 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
690
692 virtual void InterruptWake() PURE_VIRTUAL;
693
695 virtual void InterruptMaskClear() PURE_VIRTUAL;
696
698 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
699
701 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
702
704 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
705
707 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
708
709
722 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
723
724
736 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
737
743 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
744
780
782 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
783
789 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
790};
791
795class RSI_API MotionController : public virtual RapidCodeInterrupt {
796protected:
797 MotionController();
798 StaticInstanceMediator* _mediator;
799
800public:
801
802 // Static functions or attributes should be grouped together.
807
809 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
810
812 static inline constexpr uint32_t AxisCountMaximum = 64;
813
815 static inline constexpr uint32_t MotionCountMaximum = 64;
816
818 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
819
821 static inline constexpr uint32_t RecorderCountMaximum = 64;
822
824 static inline constexpr uint32_t CompensatorCountMaximum = 64;
825
827 static inline constexpr uint32_t MathBlockCountMaximum = 64;
828
830 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
831
833 static inline constexpr double SampleRateDefault = 1000.0;
834
844 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
845
847
848 // Static functions or attributes should be grouped together.
853
855 struct CreationParameters
856 {
861
866 static inline constexpr uint32_t PathLengthMaximum = 256;
867
873 static inline constexpr int32_t CpuAffinityDefault = -1;
874
879 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
880
885 static inline constexpr int32_t RmpThreadPriorityRange = 8;
886
891 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
892
897 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
898
903 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
905
906
911
916 CreationParameters()
917 {
918 std::memset(RmpPath, '\0', PathLengthMaximum);
919 std::memset(NicPrimary, '\0', PathLengthMaximum);
920 std::memset(NicSecondary, '\0', PathLengthMaximum);
921#if defined(_WIN32)
922 std::memset(NodeName, '\0', PathLengthMaximum);
923#elif defined(__linux__)
924 CpuAffinity = CpuAffinityDefault;
925 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
926#endif
927 }
929
934
939 char RmpPath[PathLengthMaximum];
940
945 char NicPrimary[PathLengthMaximum];
946
951 char NicSecondary[PathLengthMaximum];
953
954 // Control which platform specific parameters are available
955#if defined(_WIN32) && defined(__linux__)
956 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
957#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
958 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
959#endif //defined(_WIN32) && defined(__linux__)
960#if defined(_WIN32) || defined(DOXYGEN)
961
966
971 char NodeName[PathLengthMaximum];
972
974#endif //defined(_WIN32)
975#if defined(__linux__) || defined(DOXYGEN)
976
981
991 int32_t CpuAffinity;
992
1003 int32_t RmpThreadPriorityMax;
1004
1006# endif // defined(__linux__)
1007 };
1008
1019 static MotionController* Create(CreationParameters* creationParameters);
1020
1021#if defined(_WIN32)
1048 static MotionController* CreateFromSoftware();
1049
1054 static MotionController* CreateFromSoftware(const char* const RtaPath);
1055
1061 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1062
1089 static MotionController* Create();
1090#endif // defined(_WIN32)
1091
1096 static MotionController* CreateFromFile(const char* const fileName);
1098
1103
1122 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1123
1140 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1141
1155 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1156
1171 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1172
1188 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1189
1212 virtual void Delete(void) PURE_VIRTUAL;
1214
1219
1229 virtual void Reset() PURE_VIRTUAL;
1230
1235 virtual void Refresh() PURE_VIRTUAL;
1236
1244 virtual void Shutdown() PURE_VIRTUAL;
1245
1254 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1256
1261
1284 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1285
1300 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1301
1312 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1313
1317 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1318
1319
1321
1326
1327
1328
1351 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1352
1371 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1372
1373
1375 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1376
1378 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1379
1381 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1382
1383
1384
1385
1407 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1408
1413 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1414
1417 virtual double SampleRateGet() PURE_VIRTUAL;
1418
1436 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1437
1456 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1457
1460 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1461
1464 virtual bool IsLicensed() PURE_VIRTUAL;
1465
1467 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1468
1470 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1471
1473 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1474
1476 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1477
1502 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1503
1520 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1521
1547 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1548
1572 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1573
1576 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1577
1594 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1595
1610 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1612
1617
1635 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1636
1654 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1655
1657 virtual bool HasMechaWare() PURE_VIRTUAL;
1658
1682 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1683
1684
1702 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1703
1729 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1730
1745 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1746
1747
1748
1765 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1766
1792 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1793
1812 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1813
1814
1815
1816
1839 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1840
1841
1842
1865 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1866
1867
1868
1869
1878 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1879
1880
1881
1890 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1891
1906 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1907
1925 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1926
1927
1940 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
1941
1946 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1947
1961 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1962
1963
1964
1980 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
1982
1987
1989 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
1990
1992 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
1993
1996 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
1997
1999 virtual void NetworkStart() PURE_VIRTUAL;
2000
2009 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2010
2014 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2015
2020 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2021
2023 virtual void NetworkShutdown() PURE_VIRTUAL;
2024
2027 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2028
2030 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2031
2033 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2034
2036 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2037
2041 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2042
2045 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2046
2049 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2050
2054 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2055
2056
2057
2061 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2062
2066 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2067
2070 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2071
2072
2076 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2077
2079 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2080
2082 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2083
2099 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2100
2117 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2118
2137 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2138
2143 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2144
2155 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2156
2168 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2169
2180 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2181
2182
2183
2184
2201 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2202
2215 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2216
2231 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2232
2236 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2237
2239 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2240
2245 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2246
2248 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2249
2251 virtual void NetworkTimingClear() PURE_VIRTUAL;
2252
2254 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2255
2257 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2258
2260 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2261
2263 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2264
2266 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2267
2269 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2270
2272 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2273
2275 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2277
2282
2299 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2300
2319 virtual void InterruptWake() PURE_VIRTUAL;
2320
2348 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2349
2375 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2376
2396 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2397
2399 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2400
2411 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2412
2414 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2415
2428 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2429
2440 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2441
2451 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2452
2478
2479 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2481
2486
2487
2488
2507 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2508
2526 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2527
2544 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2545
2547 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2548
2565 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2566
2568 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2569
2585 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2586
2588 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2589
2606 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2607
2609 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2610
2611
2617 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2618
2632
2638 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2639
2646 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2647
2653 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2654
2661 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2662
2669 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2670
2679 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2680
2696 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2697
2699 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2700
2717 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2718
2720 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2721
2735 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2736
2738 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2739
2754 virtual void RecorderStart() PURE_VIRTUAL;
2755
2757 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2758
2775 virtual void RecorderStop() PURE_VIRTUAL;
2776
2778 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2779
2780
2781
2797 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2798
2800 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2801
2816 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2817
2837 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2838
2840 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2841
2858 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2859
2861 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2862
2881 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2882
2884 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2885
2887 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2888
2907 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2908
2926 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
2927
2929 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
2930
2945 virtual void RecorderReset() PURE_VIRTUAL;
2946
2948 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
2949
2961 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
2962
2979 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
2981
2986
2987
2988
2989
3014 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3015
3035 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3036
3047 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3048
3068 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3069
3083 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3084
3110 virtual void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, int32_t secondInputAxisNumber, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3111
3141 virtual void CompensatorConfigSet(int32_t compensatorNumber, Axis* firstInputAxis, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, Axis* secondInputAxis, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, Axis* outputAxis, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3142
3163 virtual void CompensatorConfigSet(int32_t compensatorNumber, int32_t inputAxisNumber, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3164
3185 virtual void CompensatorConfigSet(int32_t compensatorNumber, Axis* inputAxis, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, Axis* outputAxis, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3186
3198 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3199
3211 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3212
3232 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3233
3234
3235
3236
3237
3238
3250
3251 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3252
3261 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3262
3267 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3268
3275 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3276
3278
3283
3303 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3304
3324 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3325
3345 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3346
3349 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3350
3352 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3353
3355 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3356
3358 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3359
3361 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3362
3364 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3365
3390 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3391
3413 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3414
3416 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3417
3419 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3420
3422 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3423
3425 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3426
3428 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3429
3431 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3432
3459 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3460
3463 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3464
3467 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3468
3471 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3472
3488 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3489
3491 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3492
3494 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3495
3497 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3498
3500 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3501
3503 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3504
3506 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3507
3509 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3510
3512 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3513
3515 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3516
3517
3519 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3520
3541 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3542
3563 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3564
3566 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3567
3582 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3583
3595 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3596
3605
3606 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3607
3625 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3626
3628 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3630
3631
3636
3646 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3647
3658 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3659
3678
3680 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3681
3683 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3684
3686 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3687
3689
3690
3695
3697 RapidCodeOS* OS;
3698
3700};
3701
3705class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3706public:
3707
3712
3714 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3715
3717
3718
3723
3725 virtual bool Exists() PURE_VIRTUAL;
3726
3728 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3729
3731 virtual bool IsEtherCAT() PURE_VIRTUAL;
3732
3734 virtual bool IsSynqNet() PURE_VIRTUAL;
3735
3737
3742
3744 virtual bool HasIO() PURE_VIRTUAL;
3745
3747 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3748
3750 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3751
3753 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3754
3756 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3757
3759 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3760
3762 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3763
3765
3769
3771 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3772
3774 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3775
3777 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3778
3780 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3781
3782
3784 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3785
3787 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3788
3790 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3791
3793 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3794
3796 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3797
3799 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3800
3813 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3814
3827 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3828
3841 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3842
3855 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3856
3868 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3869
3881 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3882
3894 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3895
3907 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
3908
3920 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3921
3925 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3926
3939 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3940
3944 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3945
3961 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
3962
3963
3968 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3969
3982 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
3983
3991 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3992
3998 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
3999
4001 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4002
4004 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4005
4018 virtual const char* const NameGet() PURE_VIRTUAL;
4019
4032 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4033
4046 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4047
4049 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4050
4052 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4053
4055 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4056
4058 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4059
4061 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4062
4064 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4065};
4066
4068
4071class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4072public:
4073
4079
4081 MotionController* rsiControl;
4082
4084
4085
4089
4107 virtual int32_t NumberGet() PURE_VIRTUAL;
4108
4125 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4126
4130
4155 virtual void TriggeredModify() PURE_VIRTUAL;
4156
4183 virtual void Stop() PURE_VIRTUAL;
4184
4209 virtual void Resume() PURE_VIRTUAL;
4210
4235 virtual void EStop() PURE_VIRTUAL;
4236
4257 virtual void EStopAbort() PURE_VIRTUAL;
4258
4275 virtual void EStopModify() PURE_VIRTUAL;
4276
4279 virtual void EStopModifyAbort() PURE_VIRTUAL;
4280
4302 virtual void Abort() PURE_VIRTUAL;
4303
4330 virtual void ClearFaults() PURE_VIRTUAL;
4331
4358 virtual void AmpEnableSet(bool enable) PURE_VIRTUAL;
4359
4389 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4390
4410
4411 virtual void Map() PURE_VIRTUAL;
4412
4430 virtual void Unmap() PURE_VIRTUAL;
4431
4436 virtual bool IsMapped() PURE_VIRTUAL;
4437
4454 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4455
4474 virtual double FeedRateGet() PURE_VIRTUAL;
4475
4479
4480
4481
4482
4502 virtual RSIState StateGet() PURE_VIRTUAL;
4503
4515
4536 virtual RSISource SourceGet() PURE_VIRTUAL;
4537
4567 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4568
4591 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4592
4619 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4620
4641 virtual bool MotionDoneGet() PURE_VIRTUAL;
4642
4665 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4666
4681 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4682
4686
4715 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4716
4730 virtual void InterruptWake() PURE_VIRTUAL;
4731
4735
4751 virtual double StopTimeGet() PURE_VIRTUAL;
4752
4768 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4769
4785 virtual double EStopTimeGet() PURE_VIRTUAL;
4786
4802 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
4803
4820 virtual double MotionDelayGet() PURE_VIRTUAL;
4821
4842 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
4843
4864 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4865
4883 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
4884
4886 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
4887
4889 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
4890
4905 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
4906
4914 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
4915
4935 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
4936
4969 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
4970
4982 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
4983
5002
5003 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5004
5021 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5022
5041 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5042
5066 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5067
5090 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5091
5108 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5109
5126 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5127
5144
5145 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5146
5163 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5164
5166 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5167
5169 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5170
5187 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5188
5205 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5206
5222 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5223
5239 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5240
5256 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5257
5273 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5274
5276 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5277
5302
5303 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5304
5323 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5324
5341
5342 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5343
5347
5348
5349
5385 virtual void MovePT(RSIMotionType type, const double* const position, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5386
5424 virtual void MovePVT(const double* const position, const double* const velocity, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5425
5455 virtual void MovePVAJT(const double* const position, const double* const velocity, const double* const acceleration, const double* const jerk, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5456
5461 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5462
5484 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5485
5490 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5491
5510 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5511
5527 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5528
5548 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5549};
5550
5551
5556class RSI_API Axis : public virtual RapidCodeMotion{
5557public:
5558
5559 friend class MotionController;
5560 friend class MultiAxis;
5561
5562
5567
5569 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5570
5572 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5573
5575
5576
5581
5586 RapidCodeNetworkNode* NetworkNode;
5587
5588
5590
5595
5633 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5634
5656 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5657
5680 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5681 //virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel, bool checkLimits) PURE_VIRTUAL;
5682
5721 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5722
5727 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5728
5738 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5739
5743 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5744
5779 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5780
5817 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
5818
5857 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5858
5862 virtual void MoveRelative(double releativePosition) PURE_VIRTUAL;
5863
5867 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5869
5874
5899 virtual void PositionSet(double position) PURE_VIRTUAL;
5900
5919 virtual double ActualPositionGet() PURE_VIRTUAL;
5920
5942 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
5943
5960 virtual double CompensationPositionGet() PURE_VIRTUAL;
5961
5974 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
5975
5987 virtual double TargetPositionGet() PURE_VIRTUAL;
5988
6008 virtual double CommandPositionGet() PURE_VIRTUAL;
6009
6041 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6042
6066 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6067
6084 virtual double OriginPositionGet() PURE_VIRTUAL;
6085
6108 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6109
6130 virtual double PositionErrorGet() PURE_VIRTUAL;
6131
6153 virtual double CommandVelocityGet() PURE_VIRTUAL;
6154
6177 virtual double ActualVelocityGet() PURE_VIRTUAL;
6178
6199 virtual double CommandAccelGet() PURE_VIRTUAL;
6200
6202 virtual double CommandJerkGet() PURE_VIRTUAL;
6203
6224 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6225
6247 virtual double UserUnitsGet() PURE_VIRTUAL;
6248
6271 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6272
6274 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6275
6277 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6278
6298 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6300
6305
6326
6327 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6328
6332 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6333
6352
6353 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6354
6373
6374 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6375
6396
6397 virtual double HomeOffsetGet() PURE_VIRTUAL;
6398
6417
6418 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6419
6437
6438 virtual double HomeVelocityGet() PURE_VIRTUAL;
6439
6442 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6443
6464 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6465
6470 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6471
6487 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6488
6504 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6505
6523
6524 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6525
6528 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6529
6549
6550 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6551
6555 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6556
6573
6574 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6575
6578 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6579
6598
6599 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6600
6604 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6605
6623
6624 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6625
6628 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6629
6649 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6650
6655 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6656
6676 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6677
6696 virtual bool HomeStateGet() PURE_VIRTUAL;
6697
6710 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6711
6716 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6717
6719 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6720
6722 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6723
6726 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6727
6749
6750 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6751
6771 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
6772
6786 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
6787
6799 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
6801
6807
6809 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
6810
6812 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6814
6819 // reads active configuration to report state
6820
6844
6845 virtual bool NegativeLimitGet() PURE_VIRTUAL;
6846
6870 virtual bool PositiveLimitGet() PURE_VIRTUAL;
6871
6900 virtual bool HomeLimitGet() PURE_VIRTUAL;
6901
6929 virtual bool HomeSwitchGet() PURE_VIRTUAL;
6930
6951 virtual bool AmpFaultGet() PURE_VIRTUAL;
6952
6976 virtual bool AmpEnableGet() PURE_VIRTUAL;
6977
7002 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7003
7028 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7029
7052 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7053
7076 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7078
7083
7104 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7105
7126 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7127
7148
7149 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7150
7169 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7170
7189 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7190
7213 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7214
7233 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7234
7251 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7253
7258
7272 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7273
7288 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7289
7300 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7301
7319 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7320
7330 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7331
7349 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7350
7361 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7362
7380 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7381
7383 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7384
7386 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7387
7407 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7408
7429 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7431
7436
7438 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7439
7441 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7442
7444 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7445
7447 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7448
7450 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7451
7453 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7454
7456 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7457
7459 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7460
7462 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7463
7465 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7466
7468 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7469
7471 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7472
7474 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7475
7477 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7478
7480 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7481
7483 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7485
7489 // /@{
7490
7513 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7514
7537 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7538
7560 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7561
7583 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7584
7605 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7606
7627 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7628
7653 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7654
7678 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7679
7705 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
7706
7727 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
7728
7750 virtual double HomeDurationGet() PURE_VIRTUAL;
7751
7774 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
7775
7804 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
7805
7832 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
7833
7856 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
7857
7879 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
7880
7902 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
7903
7926 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
7927
7952 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
7953
7978 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
7979
8003 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8004
8028 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8029
8052 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8053
8076
8077 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8078
8103 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8104
8129 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8130
8151 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8152
8176 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8177
8200 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8201
8224 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8225
8251 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8252
8276 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8277
8300 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8301
8324 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8325
8349 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8350
8374 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8375
8398 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8399
8422 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8423
8449 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8450
8475 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8476
8500 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8501
8523 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8524
8546 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8547
8569 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8570
8572 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8573
8575 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8576
8592 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8593
8607 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8608
8609 // common limit methods
8610
8612 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8613
8615 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8616
8618 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8619
8621 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8622
8624 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8625
8627 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8628
8630 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8631
8633 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8635
8640
8654 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8655
8669 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8670
8684 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
8685
8701
8702 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
8703
8717 virtual double VelocityToleranceGet() PURE_VIRTUAL;
8718
8732 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
8733
8748 virtual double SettlingTimeGet() PURE_VIRTUAL;
8749
8764 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
8765
8782 virtual bool SettleOnStopGet() PURE_VIRTUAL;
8783
8800
8801 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
8802
8819 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
8820
8836 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
8837
8854 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
8855
8871 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
8873
8878
8895 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
8896
8912 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
8913
8930 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
8931
8947 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
8948
8966
8967 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
8968
8984 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
8985
9001 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9002
9003
9020 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9021
9037 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9038
9056 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9057
9059 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9060
9062 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9063
9065 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9066
9068 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9069
9071 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9072
9073
9075 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9076
9078 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9079
9097 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9098
9100 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9101
9103 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9104
9126 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9127
9129 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9130
9132 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9133
9135 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9136
9138 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9139
9141 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9142
9145 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9146
9148 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9149
9151 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9152
9166 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9167
9181 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9182
9202 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9203
9229 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9231
9236
9258 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9259
9263 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9264
9283 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9284
9301 virtual void GearingDisable() PURE_VIRTUAL;
9302
9304 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9305
9307 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9308
9310 virtual bool GearingEnableGet() PURE_VIRTUAL;
9311
9329 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9330
9343 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9345
9350
9367 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9368
9383 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9384
9401 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9402
9420 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9421
9439 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9440
9463 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9464
9494 virtual void MoveCamCubic(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, const double* const gearRatios, int32_t pointCount) PURE_VIRTUAL;
9495
9512
9513 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9515
9520
9533 virtual double BacklashWidthGet() PURE_VIRTUAL;
9534
9547 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9548
9561 virtual double BacklashRateGet() PURE_VIRTUAL;
9562
9575 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9576
9577
9588 virtual double BacklashValueGet() PURE_VIRTUAL;
9590
9595
9623 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9624
9649 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9650
9676 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9677
9700 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9701
9704 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9705
9709 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9710
9745 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9746
9775 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
9776
9793 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
9794
9796 virtual double FilterOutputGet(void) PURE_VIRTUAL;
9797
9810 virtual double FilterLowPassGet() PURE_VIRTUAL;
9811
9827 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
9828
9847 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
9848
9849
9851 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
9852
9853
9855 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
9856
9858 virtual bool IsTuneable() PURE_VIRTUAL;
9859
9876 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
9877
9893 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
9894
9913 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
9914
9930 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
9931
9949 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
9950
9969 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
9970
9989 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
9990
10006 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10007
10028 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10029
10031 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10032 //virtual RSIFilterPostFilterSection PostFilterSection;
10034
10039
10059 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10060
10081 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10083
10088
10090 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10091
10093 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10094
10096 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10097
10099 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10100
10102 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10103
10105 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10106
10124 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10125
10144 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10146
10148
10156 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10157
10164 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10165
10189 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10190
10214 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10215
10224 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10225
10235 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10236
10243 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10244
10246};
10247
10251class RSI_API MultiAxis : public virtual RapidCodeMotion {
10252public:
10253
10257
10271 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10272
10275 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10276
10289 virtual void AxisRemoveAll() PURE_VIRTUAL;
10290
10294
10310 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10311
10331 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10332
10353 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10354
10358
10373 virtual double VectorVelocityGet() PURE_VIRTUAL;
10374
10390 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10391
10406 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10407
10430 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10431
10446 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10447
10470 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10471
10486 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10487
10510 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10511
10535 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10536
10539 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10540
10544
10564
10565 virtual double PathTimeSliceGet() PURE_VIRTUAL;
10566
10587
10588 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
10589
10614 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
10615
10618 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
10619
10636 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
10637
10646
10647 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
10648
10657
10658 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
10659
10678 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
10679
10700 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
10701
10721 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
10722
10741 virtual void PathListEnd() PURE_VIRTUAL;
10742
10759 virtual void PathMotionStart() PURE_VIRTUAL;
10760
10764
10782 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
10783
10786 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
10787
10814 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;
10815
10818 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
10819
10834 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
10835
10839 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
10840
10859 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;
10860
10863 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
10864
10880 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
10881
10898 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
10899
10917 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
10918
10920 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
10921
10935 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
10936
10950 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
10951
10961 virtual bool AmpEnableGet() PURE_VIRTUAL;
10962
10963
10964};
10965
10971class RSI_API IOPoint : public virtual RapidCodeObject {
10972public:
10977
10994 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
10995
11012 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11013
11029 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11030 // use NetworkNode*
11031 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11032
11043 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11044
11058 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11059
11077 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11078
11095 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11096
11112 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11113 // use NetworkNode*
11114 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11115
11116
11129 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11130
11144 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11145
11160 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11161 // use RapidCodeNetworkNode*
11162 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11163
11178 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11179 // use RapidCodeNetworkNode*
11180 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11181
11183
11187
11190 virtual uint64_t AddressGet() PURE_VIRTUAL;
11191
11194 virtual int32_t MaskGet() PURE_VIRTUAL;
11195
11198 virtual bool IsDigital() PURE_VIRTUAL;
11199
11200
11203 virtual bool IsOutput() PURE_VIRTUAL;
11204
11208
11212 virtual bool Get() PURE_VIRTUAL;
11213
11220 virtual void Set(bool state) PURE_VIRTUAL;
11221
11225
11229 virtual double ValueGet() PURE_VIRTUAL;
11230
11234 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11235};
11236
11240class RSI_API RTOS {
11241
11242public:
11243#if defined(_WIN32)
11248
11251 static INtimeStatus INtimeStatusGet();
11252
11257 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11258
11261 static INtimeStatus INtimeStart();
11262
11267 static INtimeStatus INtimeStart(const char* const nodeName);
11268
11271 static INtimeStatus INtimeStop();
11272
11277 static INtimeStatus INtimeStop(const char* const nodeName);
11278
11281 static INtimeStatus INtimeRestart();
11282
11287 static INtimeStatus INtimeRestart(const char* const nodeName);
11288
11291 static const char* const INtimeCatalogRMPGet();
11292
11295 static const char* const INtimeCatalogRMPNetworkGet();
11296
11299 static uint32_t INtimeNodeCountGet();
11300
11304 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11305
11309 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11311#endif // _WIN32
11312};
11313
11315class RSI_API Trace
11316{
11317public:
11322
11335 static void MaskSet(RSITrace mask);
11336
11352 static void MaskOnSet(RSITrace maskOn);
11353
11354
11374 static bool MaskOnGet(RSITrace maskOn);
11375
11391 static void MaskOffSet(RSITrace maskOff);
11392
11405 static void MaskClear();
11406
11421 static int32_t FileSet(const char* const fileName);
11422
11435 static void FileClose();
11436
11451 static void InjectMessage(RSITrace traceLevel, const char* const message);
11452
11454};
11455
11457
11459
11463class RSI_API IO : public virtual RapidCodeObject {
11464public:
11465
11466 friend class MotionController;
11467
11472
11474 RapidCodeNetworkNode* NetworkNode;
11476 MotionController* rsiControl;
11477
11479
11484
11485
11518 virtual bool IOExists() PURE_VIRTUAL;
11519
11536 virtual int32_t NumberGet() PURE_VIRTUAL;
11538
11543
11544
11545
11575 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
11576
11609 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
11610
11641 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
11642
11665 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
11666
11698 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
11699
11731 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
11733
11743 virtual const char* const UserLabelGet() PURE_VIRTUAL;
11744
11751 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
11752};
11753
11754#if defined(__cplusplus)
11755}
11756#endif
11757
11758template<typename ContainerClass>
11759class RSI_API RapidVectorIterator
11760{
11761public:
11763 typedef typename ContainerClass::ValueType ValueType;
11764
11766 typedef typename ContainerClass::PointerType PointerType;
11767
11770 ValueType& operator*();
11771
11774 const ValueType& operator*() const;
11775
11778 RapidVectorIterator& operator++();
11779
11782 RapidVectorIterator operator++(int);
11783
11786 bool operator==(const RapidVectorIterator&) const;
11787
11790 bool operator!=(const RapidVectorIterator&) const;
11791
11793 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
11794
11796 RapidVectorIterator(const RapidVectorIterator&) = default;
11797
11799 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
11800
11802 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
11803
11805 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
11806private:
11807 PointerType pointer;
11808 PointerType start, end;
11809 void VerifyPointer() const;
11810};
11811
11813template<typename Type>
11814class RapidVectorImplementation;
11815
11818
11827template<typename Type>
11828class RSI_API RapidVector
11829{
11830private:
11831 // The pointer to the implementation.
11832 RapidVectorImplementation<Type>* pImpl;
11833public:
11837 Type& operator[](const size_t index);
11838
11842 const Type& operator[](const size_t index) const;
11843
11847 Type& At(const size_t index);
11848
11852 const Type& At(const size_t index) const;
11853
11856 void PushBack(const Type& element);
11857
11860 const size_t Size() const;
11861
11863 void Clear();
11864
11866 void PopBack();
11867
11870 Type& Front();
11871
11874 const Type& Front() const;
11875
11878 Type& Back();
11879
11882 const Type& Back() const;
11883
11885 RapidVector();
11886
11888 RapidVector(const size_t size);
11889
11891 RapidVector(RapidVectorImplementation<Type>*);
11892
11894 ~RapidVector();
11895
11897 RapidVector(const RapidVector& other);
11898
11900 RapidVector& operator=(const RapidVector& other);
11901
11903 RapidVector(RapidVector&& other) noexcept;
11904
11906 RapidVector& operator=(RapidVector&& other) noexcept;
11907
11908 typedef Type* PointerType;
11909 typedef Type ValueType;
11910
11912 typedef RapidVectorIterator<RapidVector> Iterator;
11913
11916 Iterator begin() noexcept;
11917
11920 Iterator begin() const noexcept;
11921
11925 Iterator end() const noexcept;
11926};
11927
11929
11930} // namespace RapidCode
11931
11932} // namespace RSI
11933
11934#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:5586
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:5556
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:11463
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11474
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11476
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:10971
RSI::RapidCode::MotionController::AxisGet
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
RSI::RapidCode::MotionController::NetworkNodeGet
NetworkNode * NetworkNodeGet(int32_t nodeNumber)
NetworkNodeGet returns a pointer to a RapidCodeNetworkNode object using its node number and initializ...
RSI::RapidCode::MotionController::Reset
void Reset()
Reset the controller which stops and restarts the RMP firmware.
RSI::RapidCode::MotionController::Create
static MotionController * Create(CreationParameters *creationParameters)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::Create
static MotionController * Create()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CreateFromFile
static MotionController * CreateFromFile(const char *const fileName)
Create a MotionController from a memory-dumped file.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath, const char *const NodeName)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::Delete
void Delete(void)
Delete the MotionController and all its objects.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::IOGet
IO * IOGet(int32_t nodeNumber)
IOGet returns a pointer to an IO object using its node number and initializes its internals.
RSI::RapidCode::MotionController::MultiAxisGet
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
RSI::RapidCode::MotionController::LoadExistingMultiAxis
MultiAxis * LoadExistingMultiAxis(int32_t motionSupervisorNumber)
Get/Create a MultiAxis object from one that already exists (previously setup) on the RMP motion contr...
RSI::RapidCode::MotionController
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:795
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:3697
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:10251
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:11240
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:589
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:4071
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4081
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:492
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:179
RSI::RapidCode::RapidVector::Size
const size_t Size() const
Returns the number of elements in the vector.
RSI::RapidCode::RapidVector::operator[]
const Type & operator[](const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::Back
const Type & Back() const
Returns a const reference to the last element in the vector.
RSI::RapidCode::RapidVector::begin
Iterator begin() noexcept
Returns a RapidVectorIterator to the first element of the vector. The naming convention follows STL c...
RSI::RapidCode::RapidVector::Front
Type & Front()
Returns a reference to the first element in the vector.
RSI::RapidCode::RapidVector::Front
const Type & Front() const
Returns a const reference to the first element in the vector.
RSI::RapidCode::RapidVector::At
const Type & At(const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::PushBack
void PushBack(const Type &element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::Back
Type & Back()
Returns a reference to the last element in the vector.
RSI::RapidCode::RapidVector::operator[]
Type & operator[](const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::At
Type & At(const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector
A wrapper class for the C++ STL vector class that aims to maintain application binary interface....
Definition rsi.h:11829
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:11912
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:11814
RSI::RapidCode::RsiError::RsiError
RsiError(const RsiError &copyFrom)
Copy constructor for RsiError.
Definition rsi.h:145
RSI::RapidCode::RsiError
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:106
RSI::RapidCode::RsiError::fileName
char fileName[RSI_ERROR_TEXT_SIZE]
source file name
Definition rsi.h:124
RSI::RapidCode::RsiError::isWarning
bool isWarning
Whether the error is or is not a warning.
Definition rsi.h:115
RSI::RapidCode::RsiError::RSI_ERROR_TEXT_SIZE
static constexpr uint32_t RSI_ERROR_TEXT_SIZE
Error message text.
Definition rsi.h:117
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:168
RSI::RapidCode::RsiError::shortText
char shortText[RSI_ERROR_TEXT_SIZE]
Error short text.
Definition rsi.h:122
RSI::RapidCode::RsiError::lineNumber
int32_t lineNumber
Source code line number.
Definition rsi.h:111
RSI::RapidCode::RsiError::functionName
char functionName[RSI_ERROR_TEXT_SIZE]
Function name of the raised the error.
Definition rsi.h:120
RSI::RapidCode::RsiError::number
RSIErrorMessage number
Error number.
Definition rsi.h:109
RSI::RapidCode::RsiError::objectIndex
int32_t objectIndex
Object index (0-based index of the object that has the error).
Definition rsi.h:113
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:11316
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1109
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1348
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1354
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:300
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1342
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:585
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1096
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:537
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1199
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1089
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:565
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:1269
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:920
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:992
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:652
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:639
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1215
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1065
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:1205
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1261
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:591
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:871
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1010
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:495
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1118
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:626
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1335
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1307
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1045
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:283
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1249
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1275
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:619
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1178
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1083
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:669
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:968
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:843
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1103
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:865
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1281
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1004
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1302
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1315
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:577
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1139
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:833
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1168
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:991
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:1003
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:916
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:856
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3675
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3668
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3673
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:3674
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:3669
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:3670
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:3671
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:3672
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3676
RSI::RapidCode::FirmwareValue
Union representing a generic RMP firmware value with multiple data types, stored in 64-bits.
Definition rsi.h:463
RSI::RapidCode::FirmwareValue::Float
float Float
Single precision (32-bit) floating-point.
Definition rsi.h:471
RSI::RapidCode::FirmwareValue::Int64
int64_t Int64
64-bit signed integer.
Definition rsi.h:473
RSI::RapidCode::FirmwareValue::UInt8
uint8_t UInt8
8-bit unsigned integer.
Definition rsi.h:466
RSI::RapidCode::FirmwareValue::Int8
int8_t Int8
8-bit signed integer.
Definition rsi.h:465
RSI::RapidCode::FirmwareValue::Double
double Double
Double precision (64-bit) floating-point.
Definition rsi.h:472
RSI::RapidCode::FirmwareValue::Int32
int32_t Int32
32-bit signed integer.
Definition rsi.h:469
RSI::RapidCode::FirmwareValue::UInt16
uint16_t UInt16
16-bit unsigned integer.
Definition rsi.h:468
RSI::RapidCode::FirmwareValue::Int16
int16_t Int16
16-bit signed integer.
Definition rsi.h:467
RSI::RapidCode::FirmwareValue::Bool
bool Bool
Boolean value.
Definition rsi.h:464
RSI::RapidCode::FirmwareValue::UInt32
uint32_t UInt32
32-bit unsigned integer.
Definition rsi.h:470
RSI::RapidCode::FirmwareValue::UInt64
uint64_t UInt64
64-bit unsigned integer.
Definition rsi.h:474