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rsi.h
1#ifndef _RSI_H
2#define _RSI_H
3
4#include <stdlib.h>
5#include <vector>
6#include <stdio.h>
7#include <string.h>
8#include <math.h>
9#include <exception>
10#include <cstdint>
11#include <cstring>
12
13#include "rsienums.h"
14
15#if defined(_WIN32)
16# if !defined(__INTIME__)
17# define HAS_CARTESIAN_ROBOT 1
18# endif
19# if !defined(RSI_API)
20# if defined(RSIDLL)
21# define RSI_API __declspec(dllexport)
22# else
23# define RSI_API __declspec(dllimport)
24# endif
25# endif
26#elif defined(__linux__)
27# define HAS_CARTESIAN_ROBOT 1
28# if !defined(RSI_API)
29# define RSI_API __attribute__ ((visibility ("default")))
30# endif
31#endif
32
33// Macro for pure virtual definitions
34#define PURE_VIRTUAL = 0
35
37namespace RSI
38{
39
41namespace RapidCode
42{
43
44 // Forward declaration of the implementation class for RapidVector.
45 template<typename Type>
46 class RapidVector;
47
48#if defined(__cplusplus)
49extern "C"
50{
51#endif
52
53
54class MotionController;
55class Axis;
56class MultiAxis;
57class IO;
58class RapidCodeNetworkNode;
59class IOPoint;
60class RTOS;
61
63class StaticInstanceMediator
64{
65private:
66 bool isValid;
67public:
68
69 bool IsValid() { return isValid; }
70
71 void OnDelete() { isValid = false; }
72
73 void OnCreate() { isValid = true; }
74};
75
78
110class RsiError : public std::exception
111{
112public:
114 RSIErrorMessage number;
116 int32_t lineNumber;
118 int32_t objectIndex;
120 bool isWarning;
122 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
123 char text[RSI_ERROR_TEXT_SIZE];
125 char functionName[RSI_ERROR_TEXT_SIZE];
127 char shortText[RSI_ERROR_TEXT_SIZE];
129 char fileName[RSI_ERROR_TEXT_SIZE];
130
131 RsiError()
132 {
133 text[0] = '\0';
134 functionName[0] = '\0';
135 shortText[0] = '\0';
136 fileName[0] = '\0';
137 number = RSIErrorMessage::RSIMessageOK;
138 lineNumber = -1;
139 isWarning = false;
140 objectIndex = -1;
141 }
150 RsiError(const RsiError& copyFrom)
151 {
152#if defined(_WIN32)
153 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#elif defined(__linux__)
158 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
159 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
160 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
161 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
162#endif
163 number = copyFrom.number;
164 lineNumber = copyFrom.lineNumber;
165 isWarning = copyFrom.isWarning;
166 objectIndex = copyFrom.objectIndex;
167 }
168 ~RsiError()
169 {
170 }
171
173 virtual const char* what() const noexcept { return text; }
174};
175
184class RSI_API RapidCodeObject {
185public:
190
191
192
205 virtual const char* const VersionGet() PURE_VIRTUAL;
206
208 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
210 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
212 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
216 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
218 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
220 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
221
224 virtual int32_t NumberGet() PURE_VIRTUAL;
226
231
232
233
234
260 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
261
275 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
276
289 virtual void ErrorLogClear() PURE_VIRTUAL;
290
309 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
310
312 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
313
315 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
316
318 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
320
325
326
341 virtual void Trace(bool state) PURE_VIRTUAL;
342
357 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
358
359
380 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
381
397 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
398
412 virtual void TraceMaskClear() PURE_VIRTUAL;
413
428 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
429
442 virtual void TraceFileClose() PURE_VIRTUAL;
443
458 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
459
460
461
462
464};
465
467typedef union
468{
469 bool Bool;
470 int8_t Int8;
471 uint8_t UInt8;
472 int16_t Int16;
473 uint16_t UInt16;
474 int32_t Int32;
475 uint32_t UInt32;
476 float Float;
477 double Double;
478 int64_t Int64;
479 uint64_t UInt64;
480} FirmwareValue;
481
483
497class RSI_API RapidCodeOS {
498public:
499
504
517 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
518
537 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
538
548 virtual int32_t TimerCountGet() PURE_VIRTUAL;
549
558 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
559
560
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
573
585 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
586
588};
589
591
594class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
595public:
599
601 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
602
603
625 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
626
646 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
647
668 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
669
670
691 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
692
694 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
695
697 virtual void InterruptWake() PURE_VIRTUAL;
698
700 virtual void InterruptMaskClear() PURE_VIRTUAL;
701
703 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
704
706 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
707
709 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
710
712 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
713
714
727 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
728
729
741 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
742
748 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
749
785
787 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
788
794 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
795};
796
800class RSI_API MotionController : public virtual RapidCodeInterrupt {
801protected:
802 MotionController();
803 StaticInstanceMediator* _mediator;
804
805public:
806
807 // Static functions or attributes should be grouped together.
812
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
815
817 static inline constexpr uint32_t AxisCountMaximum = 64;
818
820 static inline constexpr uint32_t MotionCountMaximum = 64;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
833
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
836
843 static inline constexpr double SampleRateDefault = 1000.0;
844
854 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
855
857
858 // Static functions or attributes should be grouped together.
863
865 struct CreationParameters
866 {
871
876 static inline constexpr int32_t ControllerIndexDefault = 0;
877
882 static inline constexpr uint32_t PathLengthMaximum = 256;
883
889 static inline constexpr int32_t CpuAffinityDefault = -1;
890
895 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
896
901 static inline constexpr int32_t RmpThreadPriorityRange = 8;
902
907 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
908
913 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
914
919 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
921
922
927
932 CreationParameters()
933 {
934 ControllerIndex = ControllerIndexDefault;
935 std::memset(RmpPath, '\0', PathLengthMaximum);
936 std::memset(NicPrimary, '\0', PathLengthMaximum);
937 std::memset(NicSecondary, '\0', PathLengthMaximum);
938#if defined(_WIN32)
939 std::memset(NodeName, '\0', PathLengthMaximum);
940#elif defined(__linux__)
941 CpuAffinity = CpuAffinityDefault;
942 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
943#endif
944 }
946
951
956 int32_t ControllerIndex;
957
962 char RmpPath[PathLengthMaximum];
963
968 char NicPrimary[PathLengthMaximum];
969
974 char NicSecondary[PathLengthMaximum];
976
977 // Control which platform specific parameters are available
978#if defined(_WIN32) && defined(__linux__)
979 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
980#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
981 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
982#endif //defined(_WIN32) && defined(__linux__)
983#if defined(_WIN32) || defined(DOXYGEN)
984
989
994 char NodeName[PathLengthMaximum];
995
997#endif //defined(_WIN32)
998#if defined(__linux__) || defined(DOXYGEN)
999
1004
1014 int32_t CpuAffinity;
1015
1026 int32_t RmpThreadPriorityMax;
1027
1029# endif // defined(__linux__)
1030 };
1031
1042 static MotionController* Create(CreationParameters* creationParameters);
1043
1048 static MotionController* Get();
1049
1055 static MotionController* Get(int32_t controllerIndex);
1056
1057#if defined(_WIN32)
1084 static MotionController* CreateFromSoftware();
1085
1090 static MotionController* CreateFromSoftware(const char* const RtaPath);
1091
1097 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1098
1125 static MotionController* Create();
1126#endif // defined(_WIN32)
1127
1132 static MotionController* CreateFromFile(const char* const fileName);
1134
1139
1158 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1159
1176 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1177
1191 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1192
1207 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1208
1224 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1225
1248 virtual void Delete(void) PURE_VIRTUAL;
1250
1255
1265 virtual void Reset() PURE_VIRTUAL;
1266
1276 virtual void Refresh() PURE_VIRTUAL;
1277
1285 virtual void Shutdown() PURE_VIRTUAL;
1286
1295 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1297
1302
1325 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1326
1341 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1342
1353 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1354
1358 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1359
1360
1362
1367
1368
1372 virtual CreationParameters CreationParametersGet() PURE_VIRTUAL;
1373
1396 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1397
1416 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1417
1418
1420 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1421
1423 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1424
1426 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1427
1428
1429
1430
1452 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1453
1478 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1479
1483 virtual double SampleRateGet() PURE_VIRTUAL;
1484
1502 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1503
1522 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1523
1526 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1527
1530 virtual bool IsLicensed() PURE_VIRTUAL;
1531
1533 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1534
1536 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1537
1539 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1540
1542 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1543
1568 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1569
1586 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1587
1613 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1614
1638 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1639
1642 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1643
1660 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1661
1676 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1678
1683
1701 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1702
1720 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1721
1723 virtual bool HasMechaWare() PURE_VIRTUAL;
1724
1748 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1749
1750
1768 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1769
1795 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1796
1811 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1812
1813
1814
1831 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1832
1858 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1859
1878 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1879
1880
1881
1882
1905 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1906
1907
1908
1931 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1932
1933
1934
1935
1944 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1945
1946
1947
1956 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1957
1972 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1973
1991 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1992
1993
2006 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2007
2012 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2013
2027 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2028
2029
2030
2046 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2048
2053
2055 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2056
2058 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2059
2062 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2063
2109 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2110
2131 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2132
2139 virtual void NetworkStart() PURE_VIRTUAL;
2140
2145 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2146
2153 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2154
2159 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2160
2171 virtual void NetworkShutdown() PURE_VIRTUAL;
2172
2175 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2176
2178 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2179
2181 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2182
2184 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2185
2189 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2190
2193 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2194
2197 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2198
2202 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2203
2204
2205
2209 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2210
2214 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2215
2218 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2219
2220
2224 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2225
2227 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2228
2230 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2231
2247 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2248
2265 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2266
2285 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2286
2291 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2292
2303 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2304
2316 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2317
2328 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2329
2330
2331
2332
2349 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2350
2363 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2364
2379 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2380
2384 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2385
2387 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2388
2393 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2394
2396 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2397
2399 virtual void NetworkTimingClear() PURE_VIRTUAL;
2400
2402 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2403
2405 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2406
2408 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2409
2411 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2412
2414 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2415
2417 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2418
2420 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2421
2423 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2425
2430
2447 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2448
2467 virtual void InterruptWake() PURE_VIRTUAL;
2468
2496 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2497
2523 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2524
2544 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2545
2547 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2548
2559 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2560
2562 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2563
2576 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2577
2588 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2589
2599 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2600
2626
2627 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2629
2634
2635
2636
2655 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2656
2674 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2675
2692 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2693
2695 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2696
2713 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2714
2716 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2717
2733 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2734
2736 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2737
2754 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2755
2757 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2758
2759
2765 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2766
2780
2786 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2787
2794 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2795
2801 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2802
2809 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2810
2817 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2818
2827 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2828
2844 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2845
2847 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2848
2865 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2866
2868 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2869
2883 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2884
2886 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2887
2902 virtual void RecorderStart() PURE_VIRTUAL;
2903
2905 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2906
2923 virtual void RecorderStop() PURE_VIRTUAL;
2924
2926 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2927
2928
2929
2945 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2946
2948 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2949
2964 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2965
2985 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2986
2988 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2989
3006 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3007
3009 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3010
3029 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3030
3032 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3033
3035 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3036
3055 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3056
3074 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3075
3077 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3078
3093 virtual void RecorderReset() PURE_VIRTUAL;
3094
3096 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3097
3109 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3110
3127 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3129
3134
3135
3136
3137
3162 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3163
3183 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3184
3195 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3196
3216 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3217
3231 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3232
3258 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;
3259
3289 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;
3290
3311 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;
3312
3333 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;
3334
3346 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3347
3359 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3360
3380 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3381
3382
3383
3384
3385
3386
3398
3399 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3400
3409 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3410
3415 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3416
3423 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3424
3426
3431
3451 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3452
3472 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3473
3493 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3494
3497 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3498
3500 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3501
3503 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3504
3506 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3507
3509 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3510
3512 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3513
3538 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3539
3561 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3562
3564 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3565
3567 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3568
3570 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3571
3573 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3574
3576 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3577
3579 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3580
3607 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3608
3611 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3612
3615 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3616
3619 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3620
3636 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3637
3639 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3640
3642 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3643
3645 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3646
3648 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3649
3651 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3652
3654 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3655
3657 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3658
3660 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3661
3663 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3664
3665
3667 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3668
3689 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3690
3711 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3712
3714 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3715
3730 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3731
3743 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3744
3753
3754 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3755
3773 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3774
3776 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3778
3779
3784
3794 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3795
3806 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3807
3826
3828 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3829
3831 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3832
3834 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3835
3837
3838
3843
3845 RapidCodeOS* OS;
3846
3848};
3849
3853class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3854public:
3855
3860
3862 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3863
3865
3866
3871
3873 virtual bool Exists() PURE_VIRTUAL;
3874
3876 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3877
3879 virtual bool IsEtherCAT() PURE_VIRTUAL;
3880
3882 virtual bool IsSynqNet() PURE_VIRTUAL;
3883
3885
3890
3898 virtual bool HasIO() PURE_VIRTUAL;
3899
3909 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3910
3920 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3921
3930 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3931
3941 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3942
3952 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3953
3962 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3963
3965
3969
3977 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3978
3986 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3987
3995 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3996
4004 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4005
4006
4008 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4009
4011 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4012
4014 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4015
4017 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4018
4020 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4021
4023 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4024
4037 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4038
4051 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4052
4065 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4066
4079 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4080
4092 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4093
4105 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4106
4118 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4119
4131 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4132
4146 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4147
4151 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4152
4165 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4166
4170 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4171
4182 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4183
4197 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4198
4199
4204 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4205
4217 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4218
4226 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4227
4236 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4237
4243 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4244
4246 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4247
4249 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4250
4263 virtual const char* const NameGet() PURE_VIRTUAL;
4264
4277 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4278
4291 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4292
4294 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4295
4297 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4298
4300 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4301
4303 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4304
4306 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4307
4309 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4310};
4311
4313
4316class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4317public:
4318
4320 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4321
4327
4329 MotionController* rsiControl;
4330
4332
4333
4337
4355 virtual int32_t NumberGet() PURE_VIRTUAL;
4356
4373 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4374
4378
4403 virtual void TriggeredModify() PURE_VIRTUAL;
4404
4431 virtual void Stop() PURE_VIRTUAL;
4432
4457 virtual void Resume() PURE_VIRTUAL;
4458
4483 virtual void EStop() PURE_VIRTUAL;
4484
4505 virtual void EStopAbort() PURE_VIRTUAL;
4506
4523 virtual void EStopModify() PURE_VIRTUAL;
4524
4527 virtual void EStopModifyAbort() PURE_VIRTUAL;
4528
4550 virtual void Abort() PURE_VIRTUAL;
4551
4578 virtual void ClearFaults() PURE_VIRTUAL;
4579
4620 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState = false) PURE_VIRTUAL;
4621
4632 virtual bool AmpEnableGet() PURE_VIRTUAL;
4633
4653
4654 virtual void Map() PURE_VIRTUAL;
4655
4673 virtual void Unmap() PURE_VIRTUAL;
4674
4679 virtual bool IsMapped() PURE_VIRTUAL;
4680
4697 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4698
4717 virtual double FeedRateGet() PURE_VIRTUAL;
4718
4722
4723
4724
4725
4745 virtual RSIState StateGet() PURE_VIRTUAL;
4746
4774 virtual RSISource SourceGet() PURE_VIRTUAL;
4775
4800 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4801
4824 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4825
4852 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4853
4874 virtual bool MotionDoneGet() PURE_VIRTUAL;
4875
4898 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4899
4914 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4915
4919
4948 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4949
4963 virtual void InterruptWake() PURE_VIRTUAL;
4964
4968
4984 virtual double StopTimeGet() PURE_VIRTUAL;
4985
5001 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
5002
5018 virtual double EStopTimeGet() PURE_VIRTUAL;
5019
5035 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
5036
5053 virtual double MotionDelayGet() PURE_VIRTUAL;
5054
5075 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
5076
5097 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5098
5116 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5117
5119 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5120
5122 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5123
5138 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5139
5147 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5148
5168 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5169
5202 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5203
5215 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5216
5235
5236 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5237
5254 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5255
5274 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5275
5299 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5300
5323 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5324
5341 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5342
5359 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5360
5377
5378 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5379
5396 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5397
5399 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5400
5402 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5403
5420 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5421
5438 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5439
5455 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5456
5472 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5473
5489 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5490
5506 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5507
5509 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5510
5535
5536 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5537
5556 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5557
5574
5575 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5576
5580
5581
5582
5618 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;
5619
5657 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;
5658
5688 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;
5689
5694 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5695
5717 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5718
5723 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5724
5743 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5744
5760 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5761
5781 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5782};
5783
5784
5789class RSI_API Axis : public virtual RapidCodeMotion{
5790public:
5791
5792 friend class MotionController;
5793 friend class MultiAxis;
5794
5795
5800
5802 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5803
5805 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5806
5808
5809
5814
5819 RapidCodeNetworkNode* NetworkNode;
5820
5821
5823
5828
5866 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5867
5889 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5890
5913 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5914
5922
5923 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5924
5934 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5935
5939 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5940
5944 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5945
5980 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5981
6019 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
6020
6062 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6063
6070 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
6071
6077 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6079
6084
6109 virtual void PositionSet(double position) PURE_VIRTUAL;
6110
6129 virtual double ActualPositionGet() PURE_VIRTUAL;
6130
6152 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6153
6170 virtual double CompensationPositionGet() PURE_VIRTUAL;
6171
6184 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6185
6197 virtual double TargetPositionGet() PURE_VIRTUAL;
6198
6218 virtual double CommandPositionGet() PURE_VIRTUAL;
6219
6251 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6252
6276 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6277
6294 virtual double OriginPositionGet() PURE_VIRTUAL;
6295
6318 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6319
6340 virtual double PositionErrorGet() PURE_VIRTUAL;
6341
6363 virtual double CommandVelocityGet() PURE_VIRTUAL;
6364
6387 virtual double ActualVelocityGet() PURE_VIRTUAL;
6388
6409 virtual double CommandAccelGet() PURE_VIRTUAL;
6410
6412 virtual double CommandJerkGet() PURE_VIRTUAL;
6413
6434 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6435
6457 virtual double UserUnitsGet() PURE_VIRTUAL;
6458
6481 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6482
6484 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6485
6487 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6488
6508 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6510
6515
6536
6537 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6538
6542 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6543
6562
6563 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6564
6583
6584 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6585
6606
6607 virtual double HomeOffsetGet() PURE_VIRTUAL;
6608
6653 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6654
6672
6673 virtual double HomeVelocityGet() PURE_VIRTUAL;
6674
6677 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6678
6699 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6700
6705 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6706
6722 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6723
6739 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6740
6758
6759 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6760
6763 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6764
6784
6785 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6786
6790 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6791
6808
6809 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6810
6813 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6814
6833
6834 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6835
6839 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6840
6858
6859 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6860
6863 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6864
6884 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6885
6890 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6891
6911 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6912
6931 virtual bool HomeStateGet() PURE_VIRTUAL;
6932
6945 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6946
6951 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6952
6954 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6955
6957 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6958
6961 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6962
6984
6985 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6986
7006 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
7007
7021 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
7022
7034 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
7036
7042
7044 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
7045
7047 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7049
7054 // reads active configuration to report state
7055
7079
7080 virtual bool NegativeLimitGet() PURE_VIRTUAL;
7081
7105 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7106
7135 virtual bool HomeLimitGet() PURE_VIRTUAL;
7136
7164 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7165
7186 virtual bool AmpFaultGet() PURE_VIRTUAL;
7187
7211 virtual bool AmpEnableGet() PURE_VIRTUAL;
7212
7237 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7238
7263 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7264
7287 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7288
7310 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7311
7334 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7335
7357 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7359
7364
7385 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7386
7404 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7405
7426 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7427
7445 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7446
7467
7468 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7469
7488 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7489
7508 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7509
7532 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7533
7552 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7553
7570 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7572
7577
7591 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7592
7607 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7608
7619 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7620
7638 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7639
7649 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7650
7668 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7669
7680 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7681
7699 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7700
7702 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7703
7705 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7706
7726 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7727
7748 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7750
7755
7757 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7758
7760 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7761
7763 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7764
7766 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7767
7769 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7770
7772 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7773
7775 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7776
7778 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7779
7781 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7782
7784 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7785
7787 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7788
7790 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7791
7793 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7794
7796 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7797
7799 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7800
7802 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7804
7808 // /@{
7809
7832 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7833
7856 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7857
7879 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7880
7902 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7903
7924 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7925
7946 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7947
7972 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7973
7997 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7998
8024 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
8025
8046 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
8047
8069 virtual double HomeDurationGet() PURE_VIRTUAL;
8070
8093 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8094
8123 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8124
8151 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8152
8175 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8176
8198 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8199
8221 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8222
8245 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8246
8271 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8272
8297 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8298
8322 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8323
8347 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8348
8371 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8372
8395
8396 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8397
8422 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8423
8448 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8449
8470 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8471
8495 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8496
8519 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8520
8543 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8544
8570 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8571
8595 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8596
8619 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8620
8643 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8644
8668 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8669
8693 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8694
8717 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8718
8741 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8742
8768 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8769
8794 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8795
8819 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8820
8842 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8843
8865 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8866
8888 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8889
8891 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8892
8894 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8895
8911 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8912
8926 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8927
8928 // common limit methods
8929
8931 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8932
8934 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8935
8937 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8938
8940 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8941
8943 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8944
8946 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8947
8949 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8950
8952 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8954
8959
8973 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8974
8988 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8989
9003 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
9004
9020
9021 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
9022
9036 virtual double VelocityToleranceGet() PURE_VIRTUAL;
9037
9051 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
9052
9067 virtual double SettlingTimeGet() PURE_VIRTUAL;
9068
9083 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9084
9101 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9102
9119
9120 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9121
9138 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9139
9155 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9156
9173 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9174
9190 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9192
9197
9214 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9215
9231 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9232
9249 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9250
9268 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9269
9287
9288 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9289
9305 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9306
9322 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9323
9324
9341 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9342
9358 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9359
9377 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9378
9380 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9381
9383 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9384
9386 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9387
9389 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9390
9392 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9393
9394
9396 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9397
9399 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9400
9418 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9419
9421 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9422
9424 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9425
9447 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9448
9450 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9451
9453 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9454
9456 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9457
9459 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9460
9462 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9463
9466 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9467
9469 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9470
9472 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9473
9487 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9488
9502 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9503
9523 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9524
9550 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9552
9557
9579 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9580
9584 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9585
9604 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9605
9622 virtual void GearingDisable() PURE_VIRTUAL;
9623
9625 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9626
9628 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9629
9631 virtual bool GearingEnableGet() PURE_VIRTUAL;
9632
9650 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9651
9664 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9666
9671
9688 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9689
9704 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9705
9722 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9723
9741 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9742
9760 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9761
9784 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9785
9815 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;
9816
9833
9834 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9836
9841
9854 virtual double BacklashWidthGet() PURE_VIRTUAL;
9855
9868 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9869
9882 virtual double BacklashRateGet() PURE_VIRTUAL;
9883
9896 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9897
9898
9909 virtual double BacklashValueGet() PURE_VIRTUAL;
9911
9916
9944 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9945
9970 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9971
9997 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9998
10021 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10022
10025 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10026
10030 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10031
10066 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10067
10096 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10097
10114 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10115
10117 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10118
10131 virtual double FilterLowPassGet() PURE_VIRTUAL;
10132
10148 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10149
10168 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10169
10170
10172 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10173
10174
10176 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10177
10179 virtual bool IsTuneable() PURE_VIRTUAL;
10180
10197 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10198
10214 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10215
10234 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10235
10251 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10252
10270 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10271
10290 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10291
10310 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10311
10327 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10328
10349 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10350
10352 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10353 //virtual RSIFilterPostFilterSection PostFilterSection;
10355
10360
10380 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10381
10402 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10404
10409
10431 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10432
10451 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10452
10472 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10473
10492 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10493
10513 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10514
10533 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10534
10555 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10557
10558
10577 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10578
10597 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10598
10606 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10607
10614 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10615
10639 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10640
10664 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10665
10674 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10675
10685 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10686
10693 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10694
10696};
10697
10701class RSI_API MultiAxis : public virtual RapidCodeMotion {
10702public:
10703
10707
10721 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10722
10725 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10726
10739 virtual void AxisRemoveAll() PURE_VIRTUAL;
10740
10744
10760 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10761
10781 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10782
10803 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10804
10808
10823 virtual double VectorVelocityGet() PURE_VIRTUAL;
10824
10840 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10841
10856 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10857
10880 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10881
10896 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10897
10920 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10921
10936 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10937
10960 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10961
10985 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10986
10989 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10990
10994
11014
11015 virtual double PathTimeSliceGet() PURE_VIRTUAL;
11016
11037
11038 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
11039
11064 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
11065
11068 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
11069
11086 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11087
11096
11097 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11098
11107
11108 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11109
11128 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11129
11150 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11151
11171 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11172
11191 virtual void PathListEnd() PURE_VIRTUAL;
11192
11209 virtual void PathMotionStart() PURE_VIRTUAL;
11210
11214
11232 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11233
11236 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11237
11267 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;
11268
11279 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11280
11285 virtual void MoveSCurve(const double* const position, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct, const double* const finalVel) PURE_VIRTUAL;
11286
11301 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11302
11306 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11307
11329 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;
11330
11341 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11342
11347 virtual void MoveRelative(const double* const relativePosition, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct, const double* const finalVel) PURE_VIRTUAL;
11348
11365 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11366
11383 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11384
11402 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11403
11405 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11406
11420 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11421
11435 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11436
11446 virtual bool AmpEnableGet() PURE_VIRTUAL;
11447
11448
11449};
11450
11456class RSI_API IOPoint : public virtual RapidCodeObject {
11457public:
11462
11479 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11480
11497 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11498
11514 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11515 // use NetworkNode*
11516 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11517
11528 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11529
11543 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11544
11562 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11563
11580 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11581
11597 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11598 // use NetworkNode*
11599 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11600
11601
11614 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11615
11629 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11630
11645 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11646 // use RapidCodeNetworkNode*
11647 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11648
11663 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11664 // use RapidCodeNetworkNode*
11665 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11666
11668
11672
11675 virtual uint64_t AddressGet() PURE_VIRTUAL;
11676
11679 virtual int32_t MaskGet() PURE_VIRTUAL;
11680
11683 virtual bool IsDigital() PURE_VIRTUAL;
11684
11685
11688 virtual bool IsOutput() PURE_VIRTUAL;
11689
11693
11697 virtual bool Get() PURE_VIRTUAL;
11698
11705 virtual void Set(bool state) PURE_VIRTUAL;
11706
11710
11714 virtual double ValueGet() PURE_VIRTUAL;
11715
11719 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11720};
11721
11725class RSI_API RTOS {
11726
11727public:
11728#if defined(_WIN32)
11733
11736 static INtimeStatus INtimeStatusGet();
11737
11742 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11743
11746 static INtimeStatus INtimeStart();
11747
11752 static INtimeStatus INtimeStart(const char* const nodeName);
11753
11756 static INtimeStatus INtimeStop();
11757
11762 static INtimeStatus INtimeStop(const char* const nodeName);
11763
11766 static INtimeStatus INtimeRestart();
11767
11772 static INtimeStatus INtimeRestart(const char* const nodeName);
11773
11776 static const char* const INtimeCatalogRMPGet();
11777
11780 static const char* const INtimeCatalogRMPNetworkGet();
11781
11784 static uint32_t INtimeNodeCountGet();
11785
11789 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11790
11794 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11796#endif // _WIN32
11797};
11798
11800class RSI_API Trace
11801{
11802public:
11807
11820 static void MaskSet(RSITrace mask);
11821
11837 static void MaskOnSet(RSITrace maskOn);
11838
11839
11859 static bool MaskOnGet(RSITrace maskOn);
11860
11876 static void MaskOffSet(RSITrace maskOff);
11877
11890 static void MaskClear();
11891
11906 static int32_t FileSet(const char* const fileName);
11907
11920 static void FileClose();
11921
11936 static void InjectMessage(RSITrace traceLevel, const char* const message);
11937
11939};
11940
11942
11944
11948class RSI_API IO : public virtual RapidCodeObject {
11949public:
11950
11951 friend class MotionController;
11952
11957
11959 RapidCodeNetworkNode* NetworkNode;
11961 MotionController* rsiControl;
11962
11964
11969
11970
12003 virtual bool IOExists() PURE_VIRTUAL;
12004
12021 virtual int32_t NumberGet() PURE_VIRTUAL;
12023
12028
12029
12030
12060 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
12061
12094 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
12095
12126 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12127
12150 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12151
12183 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12184
12216 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12218
12228 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12229
12236 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12237};
12238
12239#if defined(__cplusplus)
12240}
12241#endif
12242
12243template<typename ContainerClass>
12244class RSI_API RapidVectorIterator
12245{
12246public:
12248 typedef typename ContainerClass::ValueType ValueType;
12249
12251 typedef typename ContainerClass::PointerType PointerType;
12252
12255 ValueType& operator*();
12256
12259 const ValueType& operator*() const;
12260
12263 RapidVectorIterator& operator++();
12264
12267 RapidVectorIterator operator++(int);
12268
12271 bool operator==(const RapidVectorIterator&) const;
12272
12275 bool operator!=(const RapidVectorIterator&) const;
12276
12278 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12279
12281 RapidVectorIterator(const RapidVectorIterator&) = default;
12282
12284 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12285
12287 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12288
12290 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12291private:
12292 PointerType pointer;
12293 PointerType start, end;
12294 void VerifyPointer() const;
12295};
12296
12297// Forward declaration of the RapidVectorImplementation class.
12298template<typename Type>
12299class RapidVectorImplementation;
12300
12303
12316template<typename Type>
12317class RSI_API RapidVector
12318{
12319private:
12320 // The pointer to the implementation.
12321 RapidVectorImplementation<Type>* pImpl;
12322public:
12326 Type& operator[](const size_t index);
12327
12331 const Type& operator[](const size_t index) const;
12332
12336 Type& At(const size_t index);
12337
12341 const Type& At(const size_t index) const;
12342
12345 void PushBack(const Type& element);
12346
12349 void PushBack(Type&& element);
12350
12353 const size_t Size() const;
12354
12356 void Clear();
12357
12359 void PopBack();
12360
12363 Type& Front();
12364
12367 const Type& Front() const;
12368
12371 Type& Back();
12372
12375 const Type& Back() const;
12376
12379 void Reserve(const size_t capacity);
12380
12382 RapidVector();
12383
12385#if defined(SWIG) && defined(__linux__)
12386 // SWIG 4.3.0 on Linux cannot parse the complex SFINAE template syntax
12387 // This constructor is ignored via %ignore in the .i files anyway
12388 explicit RapidVector(const size_t size);
12389#elif defined(_WIN32)
12390 template<typename = typename std::enable_if_t<std::is_default_constructible_v<Type>>>
12391 explicit RapidVector(const size_t size);
12392#else
12393 template<typename UType = Type, typename Enable = typename std::enable_if<std::is_default_constructible<UType>::value>::type>
12394 explicit RapidVector(const size_t size);
12395#endif
12396
12398 RapidVector(RapidVectorImplementation<Type>*);
12399
12401 ~RapidVector();
12402
12404 RapidVector(const RapidVector& other);
12405
12407 RapidVector& operator=(const RapidVector& other);
12408
12410 RapidVector(RapidVector&& other) noexcept;
12411
12413 RapidVector& operator=(RapidVector&& other) noexcept;
12414
12415 typedef Type* PointerType;
12416 typedef Type ValueType;
12417
12419 typedef RapidVectorIterator<RapidVector> Iterator;
12420
12423 Iterator begin() noexcept;
12424
12427 Iterator begin() const noexcept;
12428
12432 Iterator end() const noexcept;
12433};
12434
12436
12437} // namespace RapidCode
12438
12439} // namespace RSI
12440
12441#endif // _RSI_H
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position)
MoveSCurve with the Axis defaults trajectory values from DefaultVelocitySet, DefaultAccelerationSet,...
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition)
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:5819
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 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)
RSI::RapidCode::Axis
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5789
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:11948
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11959
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11961
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:11456
RSI::RapidCode::MotionController::AxisGet
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
RSI::RapidCode::MotionController::NetworkNodeGet
NetworkNode * NetworkNodeGet(int32_t nodeNumber)
NetworkNodeGet returns a pointer to a RapidCodeNetworkNode object using its node number and initializ...
RSI::RapidCode::MotionController::Reset
void Reset()
Reset the controller which stops and restarts the RMP firmware.
RSI::RapidCode::MotionController::Get
static MotionController * Get()
Get an already running RMP EtherCAT controller.
RSI::RapidCode::MotionController::Create
static MotionController * Create(CreationParameters *creationParameters)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::Create
static MotionController * Create()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CreateFromFile
static MotionController * CreateFromFile(const char *const fileName)
Create a MotionController from a memory-dumped file.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath, const char *const NodeName)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware()
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::Delete
void Delete(void)
Delete the MotionController and all its objects.
RSI::RapidCode::MotionController::CreateFromSoftware
static MotionController * CreateFromSoftware(const char *const RtaPath)
Initialize and start the RMP EtherCAT controller.
RSI::RapidCode::MotionController::IOGet
IO * IOGet(int32_t nodeNumber)
IOGet returns a pointer to an IO object using its node number and initializes its internals.
RSI::RapidCode::MotionController::Get
static MotionController * Get(int32_t controllerIndex)
Get an already running RMP EtherCAT controller.
RSI::RapidCode::MotionController::MultiAxisGet
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
RSI::RapidCode::MotionController::LoadExistingMultiAxis
MultiAxis * LoadExistingMultiAxis(int32_t motionSupervisorNumber)
Get/Create a MultiAxis object from one that already exists (previously setup) on the RMP motion contr...
RSI::RapidCode::MotionController
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:800
RSI::RapidCode::MotionController::MathBlockConfigGet
MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber)
Get a MathBlock configuration.
RSI::RapidCode::MotionController::OS
RapidCodeOS * OS
Provides access to operating system (Windows) features.
Definition rsi.h:3845
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:10701
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:11725
RSI::RapidCode::RapidCodeInterrupt::InterruptNameGet
const char *const InterruptNameGet()
Get the text name of an interrupt type.
RSI::RapidCode::RapidCodeInterrupt::InterruptWait
RSIEventType InterruptWait(int32_t milliseconds)
Suspend the current thread until an interrupt arrives from the controller.
RSI::RapidCode::RapidCodeInterrupt
Interface for objects which can use interrupts.
Definition rsi.h:594
RSI::RapidCode::RapidCodeInterrupt::InterruptEnableSet
void InterruptEnableSet(bool enable)
Enable or disable interrupts.
RSI::RapidCode::RapidCodeMotion::NumberGet
int32_t NumberGet()
Get the axis number.
RSI::RapidCode::RapidCodeMotion
The RapidCodeMotion interface is implemented by Axis and MultiAxis .
Definition rsi.h:4316
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4329
RSI::RapidCode::RapidCodeOS::Sleep
void Sleep(int32_t milliseconds)
Put the current thread to sleep.
RSI::RapidCode::RapidCodeOS::KeyGet
int32_t KeyGet(int32_t milliseconds)
Wait for a key to be pressed and return its value.
RSI::RapidCode::RapidCodeOS::TimerCountGet
int32_t TimerCountGet()
Gets the time since startup.
RSI::RapidCode::RapidCodeOS
The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionC...
Definition rsi.h:497
RSI::RapidCode::RapidCodeObject::VersionGet
const char *const VersionGet()
Get the RSI RapidCode version.
RSI::RapidCode::RapidCodeObject
The RapidCode base class. All non-error objects are derived from this class.
Definition rsi.h:184
RSI::RapidCode::RapidVector::Reserve
void Reserve(const size_t capacity)
Increases the size of the allocated storage of the vector to at least the specified size.
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::PushBack
void PushBack(Type &&element)
Appends the given element to the end of 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:12318
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:12419
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::RsiError::RsiError
RsiError(const RsiError &copyFrom)
Copy constructor for RsiError.
Definition rsi.h:150
RSI::RapidCode::RsiError
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:111
RSI::RapidCode::RsiError::fileName
char fileName[RSI_ERROR_TEXT_SIZE]
source file name
Definition rsi.h:129
RSI::RapidCode::RsiError::isWarning
bool isWarning
Whether the error is or is not a warning.
Definition rsi.h:120
RSI::RapidCode::RsiError::RSI_ERROR_TEXT_SIZE
static constexpr uint32_t RSI_ERROR_TEXT_SIZE
Error message text.
Definition rsi.h:122
RSI::RapidCode::RsiError::what
const char * what() const noexcept
Returns a null terminated character sequence that may be used to identify the exception.
Definition rsi.h:173
RSI::RapidCode::RsiError::shortText
char shortText[RSI_ERROR_TEXT_SIZE]
Error short text.
Definition rsi.h:127
RSI::RapidCode::RsiError::lineNumber
int32_t lineNumber
Source code line number.
Definition rsi.h:116
RSI::RapidCode::RsiError::functionName
char functionName[RSI_ERROR_TEXT_SIZE]
Function name of the raised the error.
Definition rsi.h:125
RSI::RapidCode::RsiError::number
RSIErrorMessage number
Error number.
Definition rsi.h:114
RSI::RapidCode::RsiError::objectIndex
int32_t objectIndex
Object index (0-based index of the object that has the error).
Definition rsi.h:118
RSI::RapidCode::Trace::MaskSet
static void MaskSet(RSITrace mask)
Sets the specified trace mask.
RSI::RapidCode::Trace::MaskOnSet
static void MaskOnSet(RSITrace maskOn)
Turn on a particular trace output mask.
RSI::RapidCode::Trace::InjectMessage
static void InjectMessage(RSITrace traceLevel, const char *const message)
Add a message to the Trace Log.
RSI::RapidCode::Trace::MaskOnGet
static bool MaskOnGet(RSITrace maskOn)
Check to see if a particular trace output mask is turned on.
RSI::RapidCode::Trace::MaskOffSet
static void MaskOffSet(RSITrace maskOff)
Turn off a particular trace output mask.
RSI::RapidCode::Trace::FileClose
static void FileClose()
Stops Logging to the file.
RSI::RapidCode::Trace::FileSet
static int32_t FileSet(const char *const fileName)
Channels Tracing messages to specified file.
RSI::RapidCode::Trace::MaskClear
static void MaskClear()
Clear the trace output mask.
RSI::RapidCode::Trace
Tracing allows for low level logs to be generated.
Definition rsi.h:11801
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1156
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1421
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1395
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1401
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:301
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1389
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:588
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1143
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:540
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1246
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1136
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:568
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:405
RSI::RapidCode::RSIMotorDisableAction
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1316
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:965
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1037
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:659
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:646
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1262
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1112
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:434
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:295
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1252
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1308
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:594
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:916
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1057
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:497
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1165
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:633
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1382
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1354
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1092
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:284
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1296
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:397
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1322
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:626
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1225
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1130
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:677
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:1013
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:888
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1150
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:910
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1328
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1051
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1349
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1362
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:580
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1186
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:878
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1215
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:956
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1014
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:1026
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:932
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:866
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3823
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3816
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3821
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:3822
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:3817
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:3818
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:3819
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:3820
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3824
RSI::RapidCode::FirmwareValue
Union representing a generic RMP firmware value with multiple data types, stored in 64-bits.
Definition rsi.h:468
RSI::RapidCode::FirmwareValue::Float
float Float
Single precision (32-bit) floating-point.
Definition rsi.h:476
RSI::RapidCode::FirmwareValue::Int64
int64_t Int64
64-bit signed integer.
Definition rsi.h:478
RSI::RapidCode::FirmwareValue::UInt8
uint8_t UInt8
8-bit unsigned integer.
Definition rsi.h:471
RSI::RapidCode::FirmwareValue::Int8
int8_t Int8
8-bit signed integer.
Definition rsi.h:470
RSI::RapidCode::FirmwareValue::Double
double Double
Double precision (64-bit) floating-point.
Definition rsi.h:477
RSI::RapidCode::FirmwareValue::Int32
int32_t Int32
32-bit signed integer.
Definition rsi.h:474
RSI::RapidCode::FirmwareValue::UInt16
uint16_t UInt16
16-bit unsigned integer.
Definition rsi.h:473
RSI::RapidCode::FirmwareValue::Int16
int16_t Int16
16-bit signed integer.
Definition rsi.h:472
RSI::RapidCode::FirmwareValue::Bool
bool Bool
Boolean value.
Definition rsi.h:469
RSI::RapidCode::FirmwareValue::UInt32
uint32_t UInt32
32-bit unsigned integer.
Definition rsi.h:475
RSI::RapidCode::FirmwareValue::UInt64
uint64_t UInt64
64-bit unsigned integer.
Definition rsi.h:479