803 StaticInstanceMediator* _mediator;
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
817 static inline constexpr uint32_t AxisCountMaximum = 64;
820 static inline constexpr uint32_t MotionCountMaximum = 64;
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
843 static inline constexpr double SampleRateDefault = 1000.0;
854 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
876 static inline constexpr int32_t ControllerIndexDefault = 0;
882 static inline constexpr uint32_t PathLengthMaximum = 256;
889 static inline constexpr int32_t CpuAffinityDefault = -1;
895 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
901 static inline constexpr int32_t RmpThreadPriorityRange = 8;
907 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
913 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
919 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
934 ControllerIndex = ControllerIndexDefault;
935 std::memset(RmpPath,
'\0', PathLengthMaximum);
936 std::memset(NicPrimary,
'\0', PathLengthMaximum);
937 std::memset(NicSecondary,
'\0', PathLengthMaximum);
939 std::memset(NodeName,
'\0', PathLengthMaximum);
940#elif defined(__linux__)
941 CpuAffinity = CpuAffinityDefault;
942 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
962 char RmpPath[PathLengthMaximum];
968 char NicPrimary[PathLengthMaximum];
974 char NicSecondary[PathLengthMaximum];
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");
983#if defined(_WIN32) || defined(DOXYGEN)
994 char NodeName[PathLengthMaximum];
998#if defined(__linux__) || defined(DOXYGEN)
1224 virtual IO*
IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1276 virtual
void Refresh() PURE_VIRTUAL;
1285 virtual
void Shutdown() PURE_VIRTUAL;
1295 virtual
void MemoryToFile(const
char* const fileName) PURE_VIRTUAL;
1325 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1341 virtual
double ProcessorUsageGet() PURE_VIRTUAL;
1353 virtual
void ProcessorUsageClear() PURE_VIRTUAL;
1358 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1396 virtual uint32_t SerialNumberGet(
void) PURE_VIRTUAL;
1416 virtual
void SampleWait(uint32_t samples) PURE_VIRTUAL;
1423 virtual const
char* const ServerNameGet() PURE_VIRTUAL;
1426 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1478 virtual
void SampleRateSet(
double sampleRate) PURE_VIRTUAL;
1483 virtual
double SampleRateGet() PURE_VIRTUAL;
1502 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1522 virtual
void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1526 virtual
void AxisCountSet(int32_t axisCount,
bool setMotorFilterSupervisor) PURE_VIRTUAL;
1530 virtual
bool IsLicensed() PURE_VIRTUAL;
1533 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1536 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1539 virtual
bool MechaWareLicenseGet() PURE_VIRTUAL;
1542 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1568 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1586 virtual
void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1613 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1638 virtual
void UserVersionSet(int32_t version) PURE_VIRTUAL;
1642 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1660 virtual
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1676 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1701 virtual const
char* const FirmwareVersionGet() PURE_VIRTUAL;
1720 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1723 virtual
bool HasMechaWare() PURE_VIRTUAL;
1748 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1768 virtual
double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1795 virtual
void MemoryBlockGet(uint64_t address,
void* dataStart, int32_t size) PURE_VIRTUAL;
1811 virtual
void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1831 virtual
void MemoryDoubleSet(uint64_t address,
double dataDouble) PURE_VIRTUAL;
1858 virtual
void MemoryBlockSet(uint64_t address, const
void* const dataStart, int32_t size) PURE_VIRTUAL;
1878 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1905 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1931 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1944 virtual uint64_t AddressFromStringGet(const
char* const addressName) PURE_VIRTUAL;
1956 virtual const
char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
2027 virtual
bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2046 virtual
void MotionHoldGateSet(int32_t gateNumber,
bool hold) PURE_VIRTUAL;
2062 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2131 virtual const
char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2139 virtual
void NetworkStart() PURE_VIRTUAL;
2171 virtual
void NetworkShutdown() PURE_VIRTUAL;
2178 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2181 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2184 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2189 virtual const
char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2193 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2197 virtual const
char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2202 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2209 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2214 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2218 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2224 virtual const
char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2227 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2230 virtual const
char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2247 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2265 virtual
void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2285 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2303 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2316 virtual
void NetworkOutputOverrideSet(int32_t index,
bool outputOverride) PURE_VIRTUAL;
2328 virtual
bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2349 virtual
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2363 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2379 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2384 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2393 virtual const
char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2396 virtual
void NetworkTimingEnableSet(
bool enable) PURE_VIRTUAL;
2399 virtual
void NetworkTimingClear() PURE_VIRTUAL;
2402 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2405 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2408 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2411 virtual
void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2414 virtual
void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2417 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2420 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2423 virtual
bool NetworkSynchronizedGet() PURE_VIRTUAL;
2447 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
2467 virtual
void InterruptWake() PURE_VIRTUAL;
2496 virtual
void SyncInterruptEnableSet(
bool enable) PURE_VIRTUAL;
2523 virtual
void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2544 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2547 virtual
bool ServiceThreadStateGet() PURE_VIRTUAL;
2559 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2562 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2576 virtual
void SyncInterruptHostProcessFlagSet(
bool hostProcessFlag) PURE_VIRTUAL;
2588 virtual
bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2599 virtual
void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2628 virtual
void ServiceThreadEnableSet(
bool enable) PURE_VIRTUAL;
2656 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2675 virtual
void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2693 virtual
void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2696 virtual
void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2714 virtual
void RecorderCircularBufferSet(
bool enable) PURE_VIRTUAL;
2717 virtual
void RecorderCircularBufferSet(int32_t recorderNumber,
bool enable) PURE_VIRTUAL;
2734 virtual
void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2737 virtual
void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2755 virtual
void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2758 virtual
void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2766 virtual
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2787 virtual
void RecorderConfigureToTriggerOnMotion(
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2795 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2802 virtual
void RecorderConfigureToTriggerOnMotion(
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2810 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2818 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber,
bool triggerOnMotion) PURE_VIRTUAL;
2828 virtual
bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2845 virtual
bool RecorderEnabledGet() PURE_VIRTUAL;
2848 virtual
bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2866 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2869 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2884 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2887 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2903 virtual
void RecorderStart() PURE_VIRTUAL;
2906 virtual
void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2924 virtual
void RecorderStop() PURE_VIRTUAL;
2927 virtual
void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2946 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2949 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2965 virtual
void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2986 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2989 virtual
void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
3007 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3010 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3030 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3033 virtual
double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3036 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3056 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3075 virtual
void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3078 virtual
void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3094 virtual
void RecorderReset() PURE_VIRTUAL;
3097 virtual
void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3110 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3128 virtual
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3163 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3184 virtual
void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3196 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3217 virtual
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3232 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3259 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;
3290 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;
3312 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;
3334 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;
3347 virtual
void CompensatorTableSet(int32_t compensatorNumber, const
double* const table) PURE_VIRTUAL;
3360 virtual
void CompensatorTableGet(int32_t compensatorNumber,
double* table) PURE_VIRTUAL;
3381 virtual
double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3400 virtual
void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3410 virtual
void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3416 virtual
void CompensatorDisable(int32_t compensatorNumber,
bool force) PURE_VIRTUAL;
3424 virtual
void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3452 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3473 virtual
void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3504 virtual
RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3507 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3510 virtual
double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3513 virtual
bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3539 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3562 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfDouble,
double limitValueDouble) PURE_VIRTUAL;
3565 virtual
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3568 virtual
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3571 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3574 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3577 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3580 virtual
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3608 virtual
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3612 virtual
void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3616 virtual
void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3620 virtual
void UserLimitOutputSet(int32_t number,
double limitValueDouble, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3637 virtual
void UserLimitOutputSet(int32_t number,
RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3640 virtual
bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3643 virtual
RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3646 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3649 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3652 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3655 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3658 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3661 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3664 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3668 virtual
double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3690 virtual
bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3712 virtual
bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3715 virtual
void UserLimitEnableSet(int32_t number,
bool enable) PURE_VIRTUAL;
3731 virtual
void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3744 virtual
void UserLimitReset(int32_t number) PURE_VIRTUAL;
3755 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3774 virtual
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3777 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3795 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3807 virtual
void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3863 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3880 virtual
bool IsEtherCAT() PURE_VIRTUAL;
3883 virtual
bool IsSynqNet() PURE_VIRTUAL;
3899 virtual
bool HasIO() PURE_VIRTUAL;
3910 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3921 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3931 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool state) PURE_VIRTUAL;
3942 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3953 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3963 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3978 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3987 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3996 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
4005 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4009 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4012 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4015 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4018 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4021 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4024 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4038 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4052 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4066 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4080 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4093 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4106 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4119 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4132 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4147 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4152 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4166 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4171 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4183 virtual
RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4198 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4205 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4218 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue) PURE_VIRTUAL;
4227 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4237 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount,
RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4244 virtual
char* AKDASCIICommand(const
char* const command) PURE_VIRTUAL;
4247 virtual
void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4250 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4264 virtual const
char* const NameGet() PURE_VIRTUAL;
4278 virtual const
char* const ProductNameGet() PURE_VIRTUAL;
4292 virtual const
char* const VendorNameGet() PURE_VIRTUAL;
4295 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4298 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4301 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4304 virtual const
char* const SerialNumberGet() PURE_VIRTUAL;
4307 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4310 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4321 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4374 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4404 virtual
void TriggeredModify() PURE_VIRTUAL;
4432 virtual
void Stop() PURE_VIRTUAL;
4458 virtual
void Resume() PURE_VIRTUAL;
4484 virtual
void EStop() PURE_VIRTUAL;
4506 virtual
void EStopAbort() PURE_VIRTUAL;
4524 virtual
void EStopModify() PURE_VIRTUAL;
4528 virtual
void EStopModifyAbort() PURE_VIRTUAL;
4551 virtual
void Abort() PURE_VIRTUAL;
4579 virtual
void ClearFaults() PURE_VIRTUAL;
4621 virtual int32_t AmpEnableSet(
bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault,
bool overrideRestrictedState = false) PURE_VIRTUAL;
4633 virtual
bool AmpEnableGet() PURE_VIRTUAL;
4655 virtual
void Map() PURE_VIRTUAL;
4674 virtual
void Unmap() PURE_VIRTUAL;
4680 virtual
bool IsMapped() PURE_VIRTUAL;
4698 virtual
void FeedRateSet(
double rate) PURE_VIRTUAL;
4718 virtual
double FeedRateGet() PURE_VIRTUAL;
4801 virtual const
char* const SourceNameGet(
RSISource source) PURE_VIRTUAL;
4825 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4853 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4875 virtual
bool MotionDoneGet() PURE_VIRTUAL;
4915 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4949 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
4964 virtual
void InterruptWake() PURE_VIRTUAL;
4985 virtual
double StopTimeGet() PURE_VIRTUAL;
5002 virtual
void StopTimeSet(
double seconds) PURE_VIRTUAL;
5019 virtual
double EStopTimeGet() PURE_VIRTUAL;
5036 virtual
void EStopTimeSet(
double seconds) PURE_VIRTUAL;
5054 virtual
double MotionDelayGet() PURE_VIRTUAL;
5076 virtual
void MotionDelaySet(
double seconds) PURE_VIRTUAL;
5098 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5117 virtual
void MotionIdSet(uint16_t
id) PURE_VIRTUAL;
5120 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5123 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5139 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
5148 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
5216 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5237 virtual
void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5255 virtual
double MotionHoldTimeoutGet() PURE_VIRTUAL;
5275 virtual
void MotionHoldTimeoutSet(
double seconds) PURE_VIRTUAL;
5300 virtual
bool MotionHoldGateGet() PURE_VIRTUAL;
5324 virtual
void MotionHoldGateSet(
bool hold) PURE_VIRTUAL;
5342 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5360 virtual
void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5379 virtual
double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5397 virtual
void MotionHoldAxisPositionSet(
double position) PURE_VIRTUAL;
5421 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5439 virtual
void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5456 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5473 virtual
void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5490 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5507 virtual
void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5510 virtual
void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5619 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;
5658 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;
5689 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;
5727 virtual
void MovePTF(const
double* const position, const
double* const time, const
double* const feedforward, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5769 virtual
void MovePVTF(const
double* const position, const
double* const velocity, const
double* const time, const
double* const feedforward, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5775 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5798 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5804 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on) PURE_VIRTUAL;
5824 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5841 virtual
void StreamingOutputsClear() PURE_VIRTUAL;
5862 virtual
void StreamingOutputsEnableSet(
bool enable) PURE_VIRTUAL;
5883 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5886 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5947 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel) PURE_VIRTUAL;
5970 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel,
double finalVel) PURE_VIRTUAL;
6004 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6020 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6143 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
6158 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6233 virtual
void ActualPositionSet(
double position) PURE_VIRTUAL;
6251 virtual
double CompensationPositionGet() PURE_VIRTUAL;
6265 virtual
void CompensationPositionSet(
double position) PURE_VIRTUAL;
6278 virtual
double TargetPositionGet() PURE_VIRTUAL;
6299 virtual
double CommandPositionGet() PURE_VIRTUAL;
6332 virtual
void CommandPositionSet(
double position) PURE_VIRTUAL;
6357 virtual
void CommandPositionDirectSet(
double position) PURE_VIRTUAL;
6375 virtual
double OriginPositionGet() PURE_VIRTUAL;
6399 virtual
void OriginPositionSet(
double position) PURE_VIRTUAL;
6421 virtual
double PositionErrorGet() PURE_VIRTUAL;
6444 virtual
double CommandVelocityGet() PURE_VIRTUAL;
6468 virtual
double ActualVelocityGet() PURE_VIRTUAL;
6490 virtual
double CommandAccelGet() PURE_VIRTUAL;
6493 virtual
double CommandJerkGet() PURE_VIRTUAL;
6538 virtual
double UserUnitsGet() PURE_VIRTUAL;
6562 virtual
void UserUnitsSet(
double countsPerUserUnit) PURE_VIRTUAL;
6565 virtual
double UserUnitsToCounts(
double userUnits) PURE_VIRTUAL;
6568 virtual
double CountsToUserUnits(
double counts) PURE_VIRTUAL;
6589 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6618 virtual
void Home() PURE_VIRTUAL;
6623 virtual
void Home(
bool moveToZero) PURE_VIRTUAL;
6688 virtual
double HomeOffsetGet() PURE_VIRTUAL;
6734 virtual
void HomeOffsetSet(
double offset) PURE_VIRTUAL;
6754 virtual
double HomeVelocityGet() PURE_VIRTUAL;
6780 virtual
void HomeVelocitySet(
double velocity) PURE_VIRTUAL;
6786 virtual
void HomeVelocitySet(
RSIHomeStage homeStage,
double velocity) PURE_VIRTUAL;
6803 virtual
double HomeSlowVelocityGet() PURE_VIRTUAL;
6820 virtual
void HomeSlowVelocitySet(
double velocity) PURE_VIRTUAL;
6840 virtual
double HomeAccelerationGet() PURE_VIRTUAL;
6866 virtual
void HomeAccelerationSet(
double accel) PURE_VIRTUAL;
6871 virtual
void HomeAccelerationSet(
RSIHomeStage homeStage,
double accel) PURE_VIRTUAL;
6890 virtual
double HomeDecelerationGet() PURE_VIRTUAL;
6915 virtual
void HomeDecelerationSet(
double decel) PURE_VIRTUAL;
6920 virtual
void HomeDecelerationSet(
RSIHomeStage homeStage,
double decel) PURE_VIRTUAL;
6940 virtual
double HomeJerkPercentGet() PURE_VIRTUAL;
6965 virtual
void HomeJerkPercentSet(
double percent) PURE_VIRTUAL;
6971 virtual
void HomeJerkPercentSet(
RSIHomeStage homeStage,
double percent) PURE_VIRTUAL;
6992 virtual
void HomeCancelSet(
bool cancel) PURE_VIRTUAL;
7012 virtual
bool HomeStateGet() PURE_VIRTUAL;
7026 virtual
void HomeStateSet(
bool homed) PURE_VIRTUAL;
7032 virtual
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7035 virtual
void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7038 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7042 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7066 virtual
void HomeTravelDistanceSet(
RSIHomeStage stage,
double distanceToTravel) PURE_VIRTUAL;
7102 virtual
void HomeBehaviorSet(
RSIAction behavior) PURE_VIRTUAL;
7128 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7161 virtual
bool NegativeLimitGet() PURE_VIRTUAL;
7186 virtual
bool PositiveLimitGet() PURE_VIRTUAL;
7216 virtual
bool HomeLimitGet() PURE_VIRTUAL;
7245 virtual
bool HomeSwitchGet() PURE_VIRTUAL;
7267 virtual
bool AmpFaultGet() PURE_VIRTUAL;
7292 virtual
bool AmpEnableGet() PURE_VIRTUAL;
7391 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7438 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7485 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7526 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7651 virtual
double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7672 virtual
double EStopDecelerationGet() PURE_VIRTUAL;
7688 virtual
void EStopDecelerationSet(
double decel) PURE_VIRTUAL;
7700 virtual
double EStopJerkPercentGet() PURE_VIRTUAL;
7719 virtual
void EStopJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7730 virtual
double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7749 virtual
void TriggeredModifyDecelerationSet(
double decel) PURE_VIRTUAL;
7761 virtual
double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7780 virtual
void TriggeredModifyJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7783 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7786 virtual
void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7807 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7829 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7838 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
7841 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
7844 virtual
double DefaultVelocityGet() PURE_VIRTUAL;
7847 virtual
void DefaultVelocitySet(
double velocity) PURE_VIRTUAL;
7850 virtual
double DefaultAccelerationGet() PURE_VIRTUAL;
7853 virtual
void DefaultAccelerationSet(
double acceleration) PURE_VIRTUAL;
7856 virtual
double DefaultDecelerationGet() PURE_VIRTUAL;
7859 virtual
void DefaultDecelerationSet(
double deceleration) PURE_VIRTUAL;
7862 virtual
double DefaultJerkPercentGet() PURE_VIRTUAL;
7865 virtual
void DefaultJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
7868 virtual
double DefaultPosition1Get() PURE_VIRTUAL;
7871 virtual
void DefaultPosition1Set(
double position1) PURE_VIRTUAL;
7874 virtual
double DefaultPosition2Get() PURE_VIRTUAL;
7877 virtual
void DefaultPosition2Set(
double position2) PURE_VIRTUAL;
7880 virtual
double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7883 virtual
void DefaultRelativeIncrementSet(
double relativeIncrement) PURE_VIRTUAL;
7937 virtual
void AmpFaultActionSet(
RSIAction action) PURE_VIRTUAL;
7960 virtual
bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7983 virtual
void AmpFaultTriggerStateSet(
bool state) PURE_VIRTUAL;
8005 virtual
double AmpFaultDurationGet() PURE_VIRTUAL;
8027 virtual
void AmpFaultDurationSet(
double seconds) PURE_VIRTUAL;
8105 virtual
bool HomeTriggerStateGet() PURE_VIRTUAL;
8127 virtual
void HomeTriggerStateSet(
bool state) PURE_VIRTUAL;
8150 virtual
double HomeDurationGet() PURE_VIRTUAL;
8174 virtual
void HomeDurationSet(
double seconds) PURE_VIRTUAL;
8204 virtual
RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8232 virtual
void ErrorLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8256 virtual
double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8279 virtual
void ErrorLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8302 virtual
double ErrorLimitDurationGet() PURE_VIRTUAL;
8326 virtual
void ErrorLimitDurationSet(
double seconds) PURE_VIRTUAL;
8352 virtual
RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8378 virtual
void HardwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8403 virtual
bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8428 virtual
void HardwareNegLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8452 virtual
double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8477 virtual
void HardwareNegLimitDurationSet(
double seconds) PURE_VIRTUAL;
8503 virtual
RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8529 virtual
void HardwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8551 virtual
bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8576 virtual
void HardwarePosLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8600 virtual
double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8624 virtual
void HardwarePosLimitDurationSet(
double seconds) PURE_VIRTUAL;
8651 virtual
RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8676 virtual
void SoftwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8700 virtual
double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8724 virtual
void SoftwareNegLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8749 virtual
RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8774 virtual
void SoftwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8798 virtual
double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8822 virtual
void SoftwarePosLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8849 virtual
RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8875 virtual
void EncoderFaultActionSet(
RSIAction action) PURE_VIRTUAL;
8946 virtual
double EncoderFaultDurationGet() PURE_VIRTUAL;
8969 virtual
void EncoderFaultDurationSet(
double seconds) PURE_VIRTUAL;
8972 virtual
RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8975 virtual
void NodeFailureActionSet(
RSIAction action) PURE_VIRTUAL;
9018 virtual
bool LimitTriggerStateGet(
RSIEventType limit) PURE_VIRTUAL;
9021 virtual
void LimitTriggerStateSet(
RSIEventType limit,
bool triggerState) PURE_VIRTUAL;
9024 virtual
double LimitTriggerValueGet(
RSIEventType limit) PURE_VIRTUAL;
9027 virtual
void LimitTriggerValueSet(
RSIEventType limit,
double triggerValue) PURE_VIRTUAL;
9030 virtual
double LimitDurationGet(
RSIEventType limit) PURE_VIRTUAL;
9033 virtual
void LimitDurationSet(
RSIEventType limit,
double seconds) PURE_VIRTUAL;
9054 virtual
double PositionToleranceFineGet() PURE_VIRTUAL;
9069 virtual
void PositionToleranceFineSet(
double tolerance) PURE_VIRTUAL;
9084 virtual
double PositionToleranceCoarseGet() PURE_VIRTUAL;
9102 virtual
void PositionToleranceCoarseSet(
double tolerance) PURE_VIRTUAL;
9117 virtual
double VelocityToleranceGet() PURE_VIRTUAL;
9132 virtual
void VelocityToleranceSet(
double tolerance) PURE_VIRTUAL;
9148 virtual
double SettlingTimeGet() PURE_VIRTUAL;
9164 virtual
void SettlingTimeSet(
double time) PURE_VIRTUAL;
9182 virtual
bool SettleOnStopGet() PURE_VIRTUAL;
9201 virtual
void SettleOnStopSet(
bool state) PURE_VIRTUAL;
9219 virtual
bool SettleOnEStopGet() PURE_VIRTUAL;
9236 virtual
void SettleOnEStopSet(
bool state) PURE_VIRTUAL;
9254 virtual
bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9271 virtual
void SettleOnEStopCmdEqActSet(
bool state) PURE_VIRTUAL;
9312 virtual
void MotorTypeSet(
RSIMotorType type) PURE_VIRTUAL;
9403 virtual
double BrakeApplyDelayGet() PURE_VIRTUAL;
9422 virtual
void BrakeApplyDelaySet(
double seconds) PURE_VIRTUAL;
9439 virtual
double BrakeReleaseDelayGet() PURE_VIRTUAL;
9458 virtual
void BrakeReleaseDelaySet(
double seconds) PURE_VIRTUAL;
9461 virtual
void ClosedLoopStepperSet(
bool enable) PURE_VIRTUAL;
9464 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9470 virtual
void EncoderPointerSet(
RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9477 virtual
void FeedbackDeltaPointerSet(
RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9502 virtual int32_t EncoderRatioNumeratorGet(
RSIMotorFeedback encoder) PURE_VIRTUAL;
9505 virtual int32_t EncoderRatioDenominatorGet(
RSIMotorFeedback encoder) PURE_VIRTUAL;
9528 virtual
void EncoderRatioSet(
RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9531 virtual const
char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9534 virtual
void EncoderRatioPrimarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9537 virtual const
char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9540 virtual
void EncoderRatioSecondarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9543 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9547 virtual
void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9604 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9631 virtual
void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9660 virtual
void GearingEnable(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9665 virtual
void GearingEnable(
Axis* masterAxis,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9685 virtual
void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9703 virtual
void GearingDisable() PURE_VIRTUAL;
9706 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9709 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9712 virtual
bool GearingEnableGet() PURE_VIRTUAL;
9731 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9769 virtual
double MotionCamMasterStartGet(
Axis* master) PURE_VIRTUAL;
9785 virtual
void MotionCamMasterStartSet(
Axis* master,
double startPosition) PURE_VIRTUAL;
9803 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9822 virtual
void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9841 virtual
void MotionCamRepeatStop() PURE_VIRTUAL;
9865 virtual
void MoveCamLinear(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9896 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;
9915 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9935 virtual
double BacklashWidthGet() PURE_VIRTUAL;
9949 virtual
void BacklashWidthSet(
double width) PURE_VIRTUAL;
9963 virtual
double BacklashRateGet() PURE_VIRTUAL;
9977 virtual
void BacklashRateSet(
double rate) PURE_VIRTUAL;
9990 virtual
double BacklashValueGet() PURE_VIRTUAL;
10111 virtual
void FilterCoeffSet(
RSIFilterGainPIVCoeff coeff, int32_t gainTable,
double coeffValue) PURE_VIRTUAL;
10147 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10177 virtual
void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10195 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10198 virtual
double FilterOutputGet(
void) PURE_VIRTUAL;
10212 virtual
double FilterLowPassGet() PURE_VIRTUAL;
10229 virtual
void FilterLowPassSet(
double frequency) PURE_VIRTUAL;
10253 virtual
bool FilterGainSchedulingGet() PURE_VIRTUAL;
10257 virtual
void FilterGainSchedulingSet(
bool enable) PURE_VIRTUAL;
10260 virtual
bool IsTuneable() PURE_VIRTUAL;
10278 virtual
void PostFilterLowPassSet(int32_t sectionNumber,
double frequency) PURE_VIRTUAL;
10295 virtual
void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10315 virtual
void PostFilterSingleOrderSet(int32_t sectionNumber,
double aOne,
double bZero,
double bOne) PURE_VIRTUAL;
10332 virtual
void PostFilterHighPassSet(int32_t sectionNumber,
double cornerFreq) PURE_VIRTUAL;
10351 virtual
void PostFilterNotchSet(int32_t sectionNumber,
double centerFreq,
double bandwidth) PURE_VIRTUAL;
10371 virtual
void PostFilterResonatorSet(int32_t sectionNumber,
double centerFreq,
double bandwidth,
double gain) PURE_VIRTUAL;
10391 virtual
void PostFilterLeadLagSet(int32_t sectionNumber,
double lowGain,
double highGain,
double centerFreq) PURE_VIRTUAL;
10408 virtual
void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10430 virtual
void PostFilterBiquadSet(int32_t sectionNumber,
double aOne,
double aTwo,
double bZero,
double bOne,
double bTwo) PURE_VIRTUAL;
10433 virtual const
char* const PostFilterInfoGet() PURE_VIRTUAL;
10461 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
10483 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
10512 virtual
void PostTrajectoryGearingEnableSet(
bool enable) PURE_VIRTUAL;
10532 virtual
bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10553 virtual
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10573 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10594 virtual
void PostTrajectoryGearingMultiplierSet(
double multiplier) PURE_VIRTUAL;
10614 virtual
double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10636 virtual
double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10700 virtual
void NetworkIndexSet(
RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10709 virtual
double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10717 virtual
void BacklashHysteresisLimitSet(
double hysteresisLimit) PURE_VIRTUAL;
10742 virtual
bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10767 virtual
void StepperMotorLoopbackSet(
bool loopback) PURE_VIRTUAL;
10796 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;