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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
1155 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1156
1173 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1174
1188 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1189
1204 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1205
1221 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1222
1245 virtual void Delete(void) PURE_VIRTUAL;
1247
1252
1259 virtual void Reset() PURE_VIRTUAL;
1260
1270 virtual void Refresh() PURE_VIRTUAL;
1271
1279 virtual void Shutdown() PURE_VIRTUAL;
1280
1289 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1291
1296
1319 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1320
1335 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1336
1347 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1348
1352 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1353
1354
1356
1361
1362
1366 virtual CreationParameters CreationParametersGet() PURE_VIRTUAL;
1367
1390 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1391
1410 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1411
1412
1414 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1415
1417 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1418
1420 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1421
1422
1423
1424
1446 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1447
1472 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1473
1477 virtual double SampleRateGet() PURE_VIRTUAL;
1478
1496 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1497
1516 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1517
1520 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1521
1524 virtual bool IsLicensed() PURE_VIRTUAL;
1525
1527 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1528
1530 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1531
1533 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1534
1536 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1537
1562 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1563
1580 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1581
1607 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1608
1632 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1633
1636 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1637
1654 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1655
1670 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1672
1677
1695 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1696
1714 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1715
1717 virtual bool HasMechaWare() PURE_VIRTUAL;
1718
1742 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1743
1744
1762 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1763
1789 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1790
1805 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1806
1807
1808
1825 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1826
1852 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1853
1872 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1873
1874
1875
1876
1899 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1900
1901
1902
1925 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1926
1927
1928
1929
1938 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1939
1940
1941
1950 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1951
1966 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1967
1985 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1986
1987
2000 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2001
2006 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2007
2021 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2022
2023
2024
2040 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2042
2047
2049 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2050
2052 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2053
2056 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2057
2103 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2104
2125 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2126
2133 virtual void NetworkStart() PURE_VIRTUAL;
2134
2139 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2140
2147 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2148
2153 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2154
2165 virtual void NetworkShutdown() PURE_VIRTUAL;
2166
2169 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2170
2172 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2173
2175 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2176
2178 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2179
2183 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2184
2187 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2188
2191 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2192
2196 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2197
2198
2199
2203 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2204
2208 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2209
2212 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2213
2214
2218 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2219
2221 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2222
2224 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2225
2241 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2242
2259 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2260
2279 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2280
2285 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2286
2297 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2298
2310 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2311
2322 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2323
2324
2325
2326
2343 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2344
2357 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2358
2373 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2374
2378 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2379
2381 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2382
2387 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2388
2390 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2391
2393 virtual void NetworkTimingClear() PURE_VIRTUAL;
2394
2396 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2397
2399 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2400
2402 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2403
2405 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2406
2408 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2409
2411 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2412
2414 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2415
2417 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2419
2424
2441 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2442
2461 virtual void InterruptWake() PURE_VIRTUAL;
2462
2490 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2491
2517 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2518
2538 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2539
2541 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2542
2553 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2554
2556 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2557
2570 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2571
2582 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2583
2593 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2594
2621
2622 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2624
2629
2630
2631
2650 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2651
2669 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2670
2687 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2688
2690 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2691
2708 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2709
2711 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2712
2728 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2729
2731 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2732
2749 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2750
2752 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2753
2754
2760 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2761
2775
2781 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2782
2789 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2790
2796 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2797
2804 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2805
2812 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2813
2822 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2823
2839 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2840
2842 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2843
2860 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2861
2863 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2864
2878 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2879
2881 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2882
2897 virtual void RecorderStart() PURE_VIRTUAL;
2898
2900 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2901
2918 virtual void RecorderStop() PURE_VIRTUAL;
2919
2921 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2922
2923
2924
2940 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2941
2943 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2944
2959 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2960
2980 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2981
2983 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2984
3001 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3002
3004 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3005
3024 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3025
3027 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3028
3030 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3031
3050 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3051
3069 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3070
3072 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3073
3088 virtual void RecorderReset() PURE_VIRTUAL;
3089
3091 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3092
3104 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3105
3122 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3124
3129
3130
3131
3132
3157 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3158
3178 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3179
3190 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3191
3211 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3212
3226 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3227
3253 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;
3254
3284 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;
3285
3306 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;
3307
3328 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;
3329
3341 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3342
3354 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3355
3375 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3376
3377
3378
3379
3380
3381
3393
3394 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3395
3404 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3405
3410 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3411
3418 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3419
3421
3426
3446 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3447
3467 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3468
3488 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3489
3492 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3493
3495 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3496
3498 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3499
3501 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3502
3504 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3505
3507 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3508
3533 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3534
3556 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3557
3559 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3560
3562 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3563
3565 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3566
3568 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3569
3571 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3572
3574 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3575
3602 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3603
3606 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3607
3610 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3611
3614 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3615
3631 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3632
3634 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3635
3637 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3638
3640 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3641
3643 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3644
3646 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3647
3649 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3650
3652 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3653
3655 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3656
3658 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3659
3660
3662 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3663
3684 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3685
3706 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3707
3709 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3710
3725 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3726
3738 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3739
3748
3749 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3750
3768 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3769
3771 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3773
3774
3779
3789 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3790
3801 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3802
3821
3823 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3824
3826 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3827
3829 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3830
3832
3833
3838
3840 RapidCodeOS* OS;
3841
3843};
3844
3848class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3849public:
3850
3855
3857 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3858
3860
3861
3866
3868 virtual bool Exists() PURE_VIRTUAL;
3869
3871 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3872
3874 virtual bool IsEtherCAT() PURE_VIRTUAL;
3875
3877 virtual bool IsSynqNet() PURE_VIRTUAL;
3878
3880
3885
3893 virtual bool HasIO() PURE_VIRTUAL;
3894
3904 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3905
3915 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3916
3925 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3926
3936 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3937
3947 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3948
3957 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3958
3960
3964
3972 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3973
3981 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3982
3990 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3991
3999 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4000
4001
4003 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4004
4006 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4007
4009 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4010
4012 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4013
4015 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4016
4018 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4019
4032 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4033
4046 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4047
4060 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4061
4074 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4075
4087 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4088
4100 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4101
4113 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4114
4126 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4127
4141 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4142
4146 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4147
4160 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4161
4165 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4166
4177 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4178
4192 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4193
4194
4199 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4200
4212 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4213
4221 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4222
4231 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4232
4238 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4239
4241 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4242
4244 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4245
4258 virtual const char* const NameGet() PURE_VIRTUAL;
4259
4272 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4273
4286 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4287
4289 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4290
4292 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4293
4295 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4296
4298 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4299
4301 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4302
4304 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4305};
4306
4308
4311class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4312public:
4313
4315 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4316
4322
4324 MotionController* rsiControl;
4325
4327
4328
4332
4350 virtual int32_t NumberGet() PURE_VIRTUAL;
4351
4368 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4369
4373
4398 virtual void TriggeredModify() PURE_VIRTUAL;
4399
4426 virtual void Stop() PURE_VIRTUAL;
4427
4452 virtual void Resume() PURE_VIRTUAL;
4453
4478 virtual void EStop() PURE_VIRTUAL;
4479
4500 virtual void EStopAbort() PURE_VIRTUAL;
4501
4518 virtual void EStopModify() PURE_VIRTUAL;
4519
4522 virtual void EStopModifyAbort() PURE_VIRTUAL;
4523
4545 virtual void Abort() PURE_VIRTUAL;
4546
4573 virtual void ClearFaults() PURE_VIRTUAL;
4574
4613 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState = false) PURE_VIRTUAL;
4614
4625 virtual bool AmpEnableGet() PURE_VIRTUAL;
4626
4646
4647 virtual void Map() PURE_VIRTUAL;
4648
4666 virtual void Unmap() PURE_VIRTUAL;
4667
4672 virtual bool IsMapped() PURE_VIRTUAL;
4673
4690 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4691
4710 virtual double FeedRateGet() PURE_VIRTUAL;
4711
4715
4716
4717
4718
4738 virtual RSIState StateGet() PURE_VIRTUAL;
4739
4767 virtual RSISource SourceGet() PURE_VIRTUAL;
4768
4793 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4794
4817 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4818
4845 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4846
4867 virtual bool MotionDoneGet() PURE_VIRTUAL;
4868
4891 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4892
4907 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4908
4912
4941 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4942
4956 virtual void InterruptWake() PURE_VIRTUAL;
4957
4961
4977 virtual double StopTimeGet() PURE_VIRTUAL;
4978
4994 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4995
5011 virtual double EStopTimeGet() PURE_VIRTUAL;
5012
5028 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
5029
5046 virtual double MotionDelayGet() PURE_VIRTUAL;
5047
5068 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
5069
5090 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5091
5109 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5110
5112 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5113
5115 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5116
5131 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5132
5140 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5141
5161 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5162
5195 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5196
5208 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5209
5228
5229 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5230
5247 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5248
5267 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5268
5292 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5293
5316 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5317
5334 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5335
5352 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5353
5370
5371 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5372
5389 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5390
5392 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5393
5395 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5396
5413 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5414
5431 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5432
5448 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5449
5465 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5466
5482 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5483
5499 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5500
5502 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5503
5528
5529 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5530
5549 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5550
5567
5568 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5569
5573
5574
5575
5611 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;
5612
5650 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;
5651
5681 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;
5682
5719 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;
5720
5761 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;
5762
5767 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5768
5790 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5791
5796 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5797
5816 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5817
5833 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5834
5854 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5855};
5856
5857
5862class RSI_API Axis : public virtual RapidCodeMotion{
5863public:
5864
5865 friend class MotionController;
5866 friend class MultiAxis;
5867
5868
5873
5875 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5876
5878 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5879
5881
5882
5887
5892 RapidCodeNetworkNode* NetworkNode;
5893
5894
5896
5901
5939 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5940
5962 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5963
5986 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5987
5995
5996 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5997
6007 virtual void MoveSCurve(double position) PURE_VIRTUAL;
6008
6012 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6013
6017 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
6018
6053 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
6054
6092 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
6093
6135 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6136
6143 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
6144
6150 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6152
6157
6182 virtual void PositionSet(double position) PURE_VIRTUAL;
6183
6202 virtual double ActualPositionGet() PURE_VIRTUAL;
6203
6225 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6226
6243 virtual double CompensationPositionGet() PURE_VIRTUAL;
6244
6257 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6258
6270 virtual double TargetPositionGet() PURE_VIRTUAL;
6271
6291 virtual double CommandPositionGet() PURE_VIRTUAL;
6292
6324 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6325
6349 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6350
6367 virtual double OriginPositionGet() PURE_VIRTUAL;
6368
6391 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6392
6413 virtual double PositionErrorGet() PURE_VIRTUAL;
6414
6436 virtual double CommandVelocityGet() PURE_VIRTUAL;
6437
6460 virtual double ActualVelocityGet() PURE_VIRTUAL;
6461
6482 virtual double CommandAccelGet() PURE_VIRTUAL;
6483
6485 virtual double CommandJerkGet() PURE_VIRTUAL;
6486
6507 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6508
6530 virtual double UserUnitsGet() PURE_VIRTUAL;
6531
6554 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6555
6557 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6558
6560 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6561
6581 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6583
6588
6609
6610 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6611
6615 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6616
6635
6636 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6637
6656
6657 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6658
6679
6680 virtual double HomeOffsetGet() PURE_VIRTUAL;
6681
6726 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6727
6745
6746 virtual double HomeVelocityGet() PURE_VIRTUAL;
6747
6750 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6751
6772 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6773
6778 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6779
6795 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6796
6812 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6813
6831
6832 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6833
6836 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6837
6857
6858 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6859
6863 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6864
6881
6882 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6883
6886 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6887
6906
6907 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6908
6912 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6913
6931
6932 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6933
6936 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6937
6957 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6958
6963 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6964
6984 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6985
7004 virtual bool HomeStateGet() PURE_VIRTUAL;
7005
7018 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
7019
7024 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7025
7027 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7028
7030 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7031
7034 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7035
7057
7058 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
7059
7079 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
7080
7094 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
7095
7107 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
7109
7115
7117 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
7118
7120 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7122
7127 // reads active configuration to report state
7128
7152
7153 virtual bool NegativeLimitGet() PURE_VIRTUAL;
7154
7178 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7179
7208 virtual bool HomeLimitGet() PURE_VIRTUAL;
7209
7237 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7238
7259 virtual bool AmpFaultGet() PURE_VIRTUAL;
7260
7284 virtual bool AmpEnableGet() PURE_VIRTUAL;
7285
7310 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7311
7336 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7337
7360 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7361
7383 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7384
7407 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7408
7430 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7432
7437
7458 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7459
7477 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7478
7499 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7500
7518 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7519
7540
7541 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7542
7561 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7562
7581 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7582
7605 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7606
7625 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7626
7643 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7645
7650
7664 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7665
7680 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7681
7692 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7693
7711 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7712
7722 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7723
7741 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7742
7753 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7754
7772 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7773
7775 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7776
7778 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7779
7799 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7800
7821 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7823
7828
7830 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7831
7833 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7834
7836 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7837
7839 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7840
7842 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7843
7845 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7846
7848 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7849
7851 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7852
7854 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7855
7857 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7858
7860 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7861
7863 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7864
7866 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7867
7869 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7870
7872 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7873
7875 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7877
7881 // /@{
7882
7905 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7906
7929 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7930
7952 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7953
7975 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7976
7997 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7998
8019 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
8020
8045 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
8046
8070 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
8071
8097 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
8098
8119 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
8120
8142 virtual double HomeDurationGet() PURE_VIRTUAL;
8143
8166 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8167
8196 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8197
8224 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8225
8248 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8249
8271 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8272
8294 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8295
8318 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8319
8344 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8345
8370 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8371
8395 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8396
8420 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8421
8444 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8445
8468
8469 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8470
8495 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8496
8521 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8522
8543 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8544
8568 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8569
8592 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8593
8616 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8617
8643 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8644
8668 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8669
8692 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8693
8716 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8717
8741 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8742
8766 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8767
8790 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8791
8814 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8815
8841 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8842
8867 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8868
8892 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8893
8915 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8916
8938 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8939
8961 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8962
8964 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8965
8967 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8968
8984 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8985
8999 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
9000
9001 // common limit methods
9002
9004 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
9005
9007 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
9008
9010 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
9011
9013 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
9014
9016 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
9017
9019 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
9020
9022 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
9023
9025 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
9027
9032
9046 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
9047
9061 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
9062
9076 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
9077
9093
9094 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
9095
9109 virtual double VelocityToleranceGet() PURE_VIRTUAL;
9110
9124 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
9125
9140 virtual double SettlingTimeGet() PURE_VIRTUAL;
9141
9156 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9157
9174 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9175
9192
9193 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9194
9211 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9212
9228 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9229
9246 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9247
9263 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9265
9270
9287 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9288
9304 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9305
9322 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9323
9341 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9342
9360
9361 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9362
9378 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9379
9395 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9396
9397
9414 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9415
9431 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9432
9450 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9451
9453 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9454
9456 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9457
9459 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9460
9462 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9463
9465 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9466
9467
9469 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9470
9472 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9473
9491 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9492
9494 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9495
9497 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9498
9520 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9521
9523 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9524
9526 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9527
9529 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9530
9532 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9533
9535 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9536
9539 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9540
9542 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9543
9545 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9546
9560 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9561
9575 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9576
9596 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9597
9623 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9625
9630
9651 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9652
9656 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9657
9676 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9677
9694 virtual void GearingDisable() PURE_VIRTUAL;
9695
9697 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9698
9700 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9701
9703 virtual bool GearingEnableGet() PURE_VIRTUAL;
9704
9722 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9723
9736 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9738
9743
9760 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9761
9776 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9777
9794 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9795
9813 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9814
9832 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9833
9855 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9856
9886 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;
9887
9904
9905 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9907
9912
9925 virtual double BacklashWidthGet() PURE_VIRTUAL;
9926
9939 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9940
9953 virtual double BacklashRateGet() PURE_VIRTUAL;
9954
9967 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9968
9969
9980 virtual double BacklashValueGet() PURE_VIRTUAL;
9982
9987
10015 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
10016
10041 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
10042
10068 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10069
10092 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10093
10096 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10097
10101 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10102
10137 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10138
10167 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10168
10185 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10186
10188 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10189
10202 virtual double FilterLowPassGet() PURE_VIRTUAL;
10203
10219 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10220
10239 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10240
10241
10243 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10244
10245
10247 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10248
10250 virtual bool IsTuneable() PURE_VIRTUAL;
10251
10268 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10269
10285 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10286
10305 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10306
10322 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10323
10341 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10342
10361 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10362
10381 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10382
10398 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10399
10420 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10421
10423 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10424 //virtual RSIFilterPostFilterSection PostFilterSection;
10426
10431
10451 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10452
10473 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10475
10480
10502 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10503
10522 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10523
10543 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10544
10563 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10564
10584 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10585
10604 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10605
10626 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10628
10629
10654 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10655
10690 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10691
10699 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10700
10707 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10708
10732 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10733
10757 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10758
10767 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10768
10778 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10779
10786 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10787
10789};
10790
10794class RSI_API MultiAxis : public virtual RapidCodeMotion {
10795public:
10796
10800
10814 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10815
10818 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10819
10832 virtual void AxisRemoveAll() PURE_VIRTUAL;
10833
10837
10853 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10854
10874 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10875
10896 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10897
10901
10916 virtual double VectorVelocityGet() PURE_VIRTUAL;
10917
10933 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10934
10949 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10950
10973 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10974
10989 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10990
11013 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
11014
11029 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
11030
11053 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
11054
11078 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
11079
11082 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
11083
11087
11107
11108 virtual double PathTimeSliceGet() PURE_VIRTUAL;
11109
11130
11131 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
11132
11157 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
11158
11161 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
11162
11179 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11180
11189
11190 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11191
11200
11201 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11202
11221 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11222
11243 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11244
11264 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11265
11284 virtual void PathListEnd() PURE_VIRTUAL;
11285
11302 virtual void PathMotionStart() PURE_VIRTUAL;
11303
11307
11325 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11326
11329 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11330
11360 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;
11361
11372 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11373
11378 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;
11379
11394 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11395
11399 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11400
11422 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;
11423
11434 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11435
11440 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;
11441
11458 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11459
11476 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11477
11495 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11496
11498 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11499
11513 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11514
11528 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11529
11539 virtual bool AmpEnableGet() PURE_VIRTUAL;
11540
11541
11542};
11543
11549class RSI_API IOPoint : public virtual RapidCodeObject {
11550public:
11555
11572 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11573
11590 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11591
11607 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11608 // use NetworkNode*
11609 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11610
11621 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11622
11636 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11637
11655 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11656
11673 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11674
11690 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11691 // use NetworkNode*
11692 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11693
11694
11707 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11708
11722 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11723
11738 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11739 // use RapidCodeNetworkNode*
11740 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11741
11756 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11757 // use RapidCodeNetworkNode*
11758 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11759
11761
11765
11768 virtual uint64_t AddressGet() PURE_VIRTUAL;
11769
11772 virtual int32_t MaskGet() PURE_VIRTUAL;
11773
11776 virtual bool IsDigital() PURE_VIRTUAL;
11777
11778
11781 virtual bool IsOutput() PURE_VIRTUAL;
11782
11786
11790 virtual bool Get() PURE_VIRTUAL;
11791
11798 virtual void Set(bool state) PURE_VIRTUAL;
11799
11803
11807 virtual double ValueGet() PURE_VIRTUAL;
11808
11812 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11813};
11814
11818class RSI_API RTOS {
11819
11820public:
11821#if defined(_WIN32)
11826
11829 static INtimeStatus INtimeStatusGet();
11830
11835 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11836
11839 static INtimeStatus INtimeStart();
11840
11845 static INtimeStatus INtimeStart(const char* const nodeName);
11846
11849 static INtimeStatus INtimeStop();
11850
11855 static INtimeStatus INtimeStop(const char* const nodeName);
11856
11859 static INtimeStatus INtimeRestart();
11860
11865 static INtimeStatus INtimeRestart(const char* const nodeName);
11866
11869 static const char* const INtimeCatalogRMPGet();
11870
11873 static const char* const INtimeCatalogRMPNetworkGet();
11874
11877 static uint32_t INtimeNodeCountGet();
11878
11882 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11883
11887 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11889#endif // _WIN32
11890};
11891
11893class RSI_API Trace
11894{
11895public:
11900
11913 static void MaskSet(RSITrace mask);
11914
11930 static void MaskOnSet(RSITrace maskOn);
11931
11932
11952 static bool MaskOnGet(RSITrace maskOn);
11953
11969 static void MaskOffSet(RSITrace maskOff);
11970
11983 static void MaskClear();
11984
11999 static int32_t FileSet(const char* const fileName);
12000
12013 static void FileClose();
12014
12029 static void InjectMessage(RSITrace traceLevel, const char* const message);
12030
12032};
12033
12035
12037
12041class RSI_API IO : public virtual RapidCodeObject {
12042public:
12043
12044 friend class MotionController;
12045
12050
12052 RapidCodeNetworkNode* NetworkNode;
12054 MotionController* rsiControl;
12055
12057
12062
12063
12096 virtual bool IOExists() PURE_VIRTUAL;
12097
12114 virtual int32_t NumberGet() PURE_VIRTUAL;
12116
12121
12122
12123
12153 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
12154
12187 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
12188
12219 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12220
12243 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12244
12276 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12277
12309 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12311
12321 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12322
12329 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12330};
12331
12332#if defined(__cplusplus)
12333}
12334#endif
12335
12336template<typename ContainerClass>
12337class RSI_API RapidVectorIterator
12338{
12339public:
12341 typedef typename ContainerClass::ValueType ValueType;
12342
12344 typedef typename ContainerClass::PointerType PointerType;
12345
12348 ValueType& operator*();
12349
12352 const ValueType& operator*() const;
12353
12356 RapidVectorIterator& operator++();
12357
12360 RapidVectorIterator operator++(int);
12361
12364 bool operator==(const RapidVectorIterator&) const;
12365
12368 bool operator!=(const RapidVectorIterator&) const;
12369
12371 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12372
12374 RapidVectorIterator(const RapidVectorIterator&) = default;
12375
12377 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12378
12380 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12381
12383 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12384private:
12385 PointerType pointer;
12386 PointerType start, end;
12387 void VerifyPointer() const;
12388};
12389
12390// Forward declaration of the RapidVectorImplementation class.
12391template<typename Type>
12392class RapidVectorImplementation;
12393
12396
12409template<typename Type>
12410class RSI_API RapidVector
12411{
12412private:
12413 // The pointer to the implementation.
12414 RapidVectorImplementation<Type>* pImpl;
12415public:
12419 Type& operator[](const size_t index);
12420
12424 const Type& operator[](const size_t index) const;
12425
12429 Type& At(const size_t index);
12430
12434 const Type& At(const size_t index) const;
12435
12438 void PushBack(const Type& element);
12439
12442 void PushBack(Type&& element);
12443
12446 const size_t Size() const;
12447
12449 void Clear();
12450
12452 void PopBack();
12453
12456 Type& Front();
12457
12460 const Type& Front() const;
12461
12464 Type& Back();
12465
12468 const Type& Back() const;
12469
12472 void Reserve(const size_t capacity);
12473
12475 RapidVector();
12476
12478#if defined(SWIG) && defined(__linux__)
12479 // SWIG 4.3.0 on Linux cannot parse the complex SFINAE template syntax
12480 // This constructor is ignored via %ignore in the .i files anyway
12481 explicit RapidVector(const size_t size);
12482#elif defined(_WIN32)
12483 template<typename = typename std::enable_if_t<std::is_default_constructible_v<Type>>>
12484 explicit RapidVector(const size_t size);
12485#else
12486 template<typename UType = Type, typename Enable = typename std::enable_if<std::is_default_constructible<UType>::value>::type>
12487 explicit RapidVector(const size_t size);
12488#endif
12489
12491 RapidVector(RapidVectorImplementation<Type>*);
12492
12494 ~RapidVector();
12495
12497 RapidVector(const RapidVector& other);
12498
12500 RapidVector& operator=(const RapidVector& other);
12501
12503 RapidVector(RapidVector&& other) noexcept;
12504
12506 RapidVector& operator=(RapidVector&& other) noexcept;
12507
12508 typedef Type* PointerType;
12509 typedef Type ValueType;
12510
12512 typedef RapidVectorIterator<RapidVector> Iterator;
12513
12516 Iterator begin() noexcept;
12517
12520 Iterator begin() const noexcept;
12521
12525 Iterator end() const noexcept;
12526};
12527
12529
12530} // namespace RapidCode
12531
12532} // namespace RSI
12533
12534#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:5892
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:5862
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:12041
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:12052
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:12054
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:11549
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:3840
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:10794
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:11818
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:4311
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4324
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:12411
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:12512
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:11894
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1159
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1451
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1425
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1431
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:301
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1419
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:1146
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:540
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1249
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1139
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:1319
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:966
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1038
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:1265
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1115
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:1255
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1311
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:594
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:917
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1060
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:1168
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:633
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1412
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1357
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1095
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:284
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1299
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:397
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1325
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:1228
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1133
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:1014
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:889
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1153
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:911
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1331
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1054
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1352
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network PDO index types for configuring axis input/output mappings.
Definition rsienums.h:1390
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:580
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1189
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:879
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1218
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:3818
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3811
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3816
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:3817
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:3812
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:3813
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:3814
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:3815
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3819
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