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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
45 template<typename Type>
46 class RapidVector;
47
48#if defined(__cplusplus)
49extern "C"
50{
51#endif
52
53
54class MotionController;
55class Axis;
56class MultiAxis;
57class IO;
58class RapidCodeNetworkNode;
59class IOPoint;
60class RTOS;
61
63class StaticInstanceMediator
64{
65private:
66 bool isValid;
67public:
68
69 bool IsValid() { return isValid; }
70
71 void OnDelete() { isValid = false; }
72
73 void OnCreate() { isValid = true; }
74};
75
78
110class RsiError : public std::exception
111{
112public:
114 RSIErrorMessage number;
116 int32_t lineNumber;
118 int32_t objectIndex;
120 bool isWarning;
122 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
123 char text[RSI_ERROR_TEXT_SIZE];
125 char functionName[RSI_ERROR_TEXT_SIZE];
127 char shortText[RSI_ERROR_TEXT_SIZE];
129 char fileName[RSI_ERROR_TEXT_SIZE];
130
131 RsiError()
132 {
133 text[0] = '\0';
134 functionName[0] = '\0';
135 shortText[0] = '\0';
136 fileName[0] = '\0';
137 number = RSIErrorMessage::RSIMessageOK;
138 lineNumber = -1;
139 isWarning = false;
140 objectIndex = -1;
141 }
150 RsiError(const RsiError& copyFrom)
151 {
152#if defined(_WIN32)
153 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#elif defined(__linux__)
158 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
159 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
160 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
161 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
162#endif
163 number = copyFrom.number;
164 lineNumber = copyFrom.lineNumber;
165 isWarning = copyFrom.isWarning;
166 objectIndex = copyFrom.objectIndex;
167 }
168 ~RsiError()
169 {
170 }
171
173 virtual const char* what() const noexcept { return text; }
174};
175
184class RSI_API RapidCodeObject {
185public:
190
191
192
205 virtual const char* const VersionGet() PURE_VIRTUAL;
206
208 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
210 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
212 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
216 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
218 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
220 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
221
224 virtual int32_t NumberGet() PURE_VIRTUAL;
226
231
232
233
234
260 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
261
275 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
276
289 virtual void ErrorLogClear() PURE_VIRTUAL;
290
309 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
310
312 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
313
315 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
316
318 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
320
325
326
341 virtual void Trace(bool state) PURE_VIRTUAL;
342
357 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
358
359
380 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
381
397 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
398
412 virtual void TraceMaskClear() PURE_VIRTUAL;
413
428 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
429
442 virtual void TraceFileClose() PURE_VIRTUAL;
443
458 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
459
460
461
462
464};
465
467typedef union
468{
469 bool Bool;
470 int8_t Int8;
471 uint8_t UInt8;
472 int16_t Int16;
473 uint16_t UInt16;
474 int32_t Int32;
475 uint32_t UInt32;
476 float Float;
477 double Double;
478 int64_t Int64;
479 uint64_t UInt64;
480} FirmwareValue;
481
483
497class RSI_API RapidCodeOS {
498public:
499
504
517 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
518
537 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
538
548 virtual int32_t TimerCountGet() PURE_VIRTUAL;
549
558 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
559
560
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
573
585 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
586
588};
589
591
594class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
595public:
599
601 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
602
603
625 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
626
646 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
647
668 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
669
670
691 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
692
694 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
695
697 virtual void InterruptWake() PURE_VIRTUAL;
698
700 virtual void InterruptMaskClear() PURE_VIRTUAL;
701
703 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
704
706 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
707
709 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
710
712 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
713
714
727 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
728
729
741 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
742
748 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
749
785
787 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
788
794 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
795};
796
800class RSI_API MotionController : public virtual RapidCodeInterrupt {
801protected:
802 MotionController();
803 StaticInstanceMediator* _mediator;
804
805public:
806
807 // Static functions or attributes should be grouped together.
812
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
815
817 static inline constexpr uint32_t AxisCountMaximum = 64;
818
820 static inline constexpr uint32_t MotionCountMaximum = 64;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
833
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
836
838 static inline constexpr double SampleRateDefault = 1000.0;
839
849 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
850
852
853 // Static functions or attributes should be grouped together.
858
860 struct CreationParameters
861 {
866
871 static inline constexpr int32_t ControllerIndexDefault = 0;
872
877 static inline constexpr uint32_t PathLengthMaximum = 256;
878
884 static inline constexpr int32_t CpuAffinityDefault = -1;
885
890 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
891
896 static inline constexpr int32_t RmpThreadPriorityRange = 8;
897
902 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
903
908 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
909
914 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
916
917
922
927 CreationParameters()
928 {
929 ControllerIndex = ControllerIndexDefault;
930 std::memset(RmpPath, '\0', PathLengthMaximum);
931 std::memset(NicPrimary, '\0', PathLengthMaximum);
932 std::memset(NicSecondary, '\0', PathLengthMaximum);
933#if defined(_WIN32)
934 std::memset(NodeName, '\0', PathLengthMaximum);
935#elif defined(__linux__)
936 CpuAffinity = CpuAffinityDefault;
937 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
938#endif
939 }
941
946
951 int32_t ControllerIndex;
952
957 char RmpPath[PathLengthMaximum];
958
963 char NicPrimary[PathLengthMaximum];
964
969 char NicSecondary[PathLengthMaximum];
971
972 // Control which platform specific parameters are available
973#if defined(_WIN32) && defined(__linux__)
974 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
975#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
976 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
977#endif //defined(_WIN32) && defined(__linux__)
978#if defined(_WIN32) || defined(DOXYGEN)
979
984
989 char NodeName[PathLengthMaximum];
990
992#endif //defined(_WIN32)
993#if defined(__linux__) || defined(DOXYGEN)
994
999
1009 int32_t CpuAffinity;
1010
1021 int32_t RmpThreadPriorityMax;
1022
1024# endif // defined(__linux__)
1025 };
1026
1037 static MotionController* Create(CreationParameters* creationParameters);
1038
1043 static MotionController* Get();
1044
1049 static MotionController* Get(int32_t controllerIndex);
1050
1051#if defined(_WIN32)
1078 static MotionController* CreateFromSoftware();
1079
1084 static MotionController* CreateFromSoftware(const char* const RtaPath);
1085
1091 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1092
1119 static MotionController* Create();
1120#endif // defined(_WIN32)
1121
1126 static MotionController* CreateFromFile(const char* const fileName);
1128
1133
1152 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1153
1170 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1171
1185 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1186
1201 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1202
1218 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1219
1242 virtual void Delete(void) PURE_VIRTUAL;
1244
1249
1259 virtual void Reset() PURE_VIRTUAL;
1260
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
1363
1386 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1387
1406 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1407
1408
1410 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1411
1413 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1414
1416 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1417
1418
1419
1420
1442 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1443
1448 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1449
1452 virtual double SampleRateGet() PURE_VIRTUAL;
1453
1471 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1472
1491 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1492
1495 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1496
1499 virtual bool IsLicensed() PURE_VIRTUAL;
1500
1502 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1503
1505 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1506
1508 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1509
1511 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1512
1537 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1538
1555 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1556
1582 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1583
1607 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1608
1611 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1612
1629 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1630
1645 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1647
1652
1670 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1671
1689 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1690
1692 virtual bool HasMechaWare() PURE_VIRTUAL;
1693
1717 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1718
1719
1737 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1738
1764 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1765
1780 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1781
1782
1783
1800 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1801
1827 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1828
1847 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1848
1849
1850
1851
1874 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1875
1876
1877
1900 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1901
1902
1903
1904
1913 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1914
1915
1916
1925 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1926
1941 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1942
1960 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1961
1962
1975 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
1976
1981 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1982
1996 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1997
1998
1999
2015 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2017
2022
2024 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2025
2027 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2028
2031 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2032
2078 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2079
2100 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2101
2108 virtual void NetworkStart() PURE_VIRTUAL;
2109
2114 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2115
2122 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2123
2128 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2129
2131 virtual void NetworkShutdown() PURE_VIRTUAL;
2132
2135 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2136
2138 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2139
2141 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2142
2144 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2145
2149 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2150
2153 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2154
2157 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2158
2162 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2163
2164
2165
2169 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2170
2174 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2175
2178 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2179
2180
2184 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2185
2187 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2188
2190 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2191
2207 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2208
2225 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2226
2245 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2246
2251 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2252
2263 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2264
2276 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2277
2288 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2289
2290
2291
2292
2309 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2310
2323 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2324
2339 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2340
2344 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2345
2347 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2348
2353 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2354
2356 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2357
2359 virtual void NetworkTimingClear() PURE_VIRTUAL;
2360
2362 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2363
2365 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2366
2368 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2369
2371 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2372
2374 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2375
2377 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2378
2380 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2381
2383 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2385
2390
2407 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2408
2427 virtual void InterruptWake() PURE_VIRTUAL;
2428
2456 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2457
2483 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2484
2504 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2505
2507 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2508
2519 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2520
2522 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2523
2536 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2537
2548 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2549
2559 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2560
2586
2587 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2589
2594
2595
2596
2615 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2616
2634 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2635
2652 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2653
2655 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2656
2673 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2674
2676 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2677
2693 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2694
2696 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2697
2714 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2715
2717 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2718
2719
2725 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2726
2740
2746 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2747
2754 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2755
2761 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2762
2769 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2770
2777 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2778
2787 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2788
2804 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2805
2807 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2808
2825 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2826
2828 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2829
2843 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2844
2846 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2847
2862 virtual void RecorderStart() PURE_VIRTUAL;
2863
2865 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2866
2883 virtual void RecorderStop() PURE_VIRTUAL;
2884
2886 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2887
2888
2889
2905 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2906
2908 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2909
2924 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2925
2945 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2946
2948 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2949
2966 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2967
2969 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2970
2989 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2990
2992 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2993
2995 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2996
3015 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3016
3034 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3035
3037 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3038
3053 virtual void RecorderReset() PURE_VIRTUAL;
3054
3056 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3057
3069 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3070
3087 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3089
3094
3095
3096
3097
3122 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3123
3143 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3144
3155 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3156
3176 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3177
3191 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3192
3218 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;
3219
3249 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;
3250
3271 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;
3272
3293 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;
3294
3306 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3307
3319 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3320
3340 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3341
3342
3343
3344
3345
3346
3358
3359 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3360
3369 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3370
3375 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3376
3383 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3384
3386
3391
3411 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3412
3432 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3433
3453 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3454
3457 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3458
3460 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3461
3463 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3464
3466 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3467
3469 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3470
3472 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3473
3498 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3499
3521 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3522
3524 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3525
3527 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3528
3530 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3531
3533 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3534
3536 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3537
3539 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3540
3567 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3568
3571 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3572
3575 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3576
3579 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3580
3596 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3597
3599 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3600
3602 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3603
3605 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3606
3608 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3609
3611 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3612
3614 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3615
3617 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3618
3620 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3621
3623 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3624
3625
3627 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3628
3649 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3650
3671 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3672
3674 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3675
3690 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3691
3703 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3704
3713
3714 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3715
3733 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3734
3736 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3738
3739
3744
3754 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3755
3766 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3767
3786
3788 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3789
3791 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3792
3794 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3795
3797
3798
3803
3805 RapidCodeOS* OS;
3806
3808};
3809
3813class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3814public:
3815
3820
3822 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3823
3825
3826
3831
3833 virtual bool Exists() PURE_VIRTUAL;
3834
3836 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3837
3839 virtual bool IsEtherCAT() PURE_VIRTUAL;
3840
3842 virtual bool IsSynqNet() PURE_VIRTUAL;
3843
3845
3850
3852 virtual bool HasIO() PURE_VIRTUAL;
3853
3855 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3856
3858 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3859
3861 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3862
3864 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3865
3867 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3868
3870 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3871
3873
3877
3879 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3880
3882 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3883
3885 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3886
3888 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3889
3890
3892 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3893
3895 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3896
3898 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3899
3901 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3902
3904 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3905
3907 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3908
3921 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3922
3935 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3936
3949 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3950
3963 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3964
3976 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3977
3989 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3990
4002 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4003
4015 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4016
4030 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4031
4035 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4036
4049 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4050
4054 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4055
4066 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4067
4081 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4082
4083
4088 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4089
4101 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4102
4110 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4111
4120 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4121
4127 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4128
4130 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4131
4133 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4134
4147 virtual const char* const NameGet() PURE_VIRTUAL;
4148
4161 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4162
4175 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4176
4178 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4179
4181 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4182
4184 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4185
4187 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4188
4190 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4191
4193 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4194};
4195
4197
4200class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4201public:
4202
4208
4210 MotionController* rsiControl;
4211
4213
4214
4218
4236 virtual int32_t NumberGet() PURE_VIRTUAL;
4237
4254 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4255
4259
4284 virtual void TriggeredModify() PURE_VIRTUAL;
4285
4312 virtual void Stop() PURE_VIRTUAL;
4313
4338 virtual void Resume() PURE_VIRTUAL;
4339
4364 virtual void EStop() PURE_VIRTUAL;
4365
4386 virtual void EStopAbort() PURE_VIRTUAL;
4387
4404 virtual void EStopModify() PURE_VIRTUAL;
4405
4408 virtual void EStopModifyAbort() PURE_VIRTUAL;
4409
4431 virtual void Abort() PURE_VIRTUAL;
4432
4459 virtual void ClearFaults() PURE_VIRTUAL;
4460
4487 virtual void AmpEnableSet(bool enable) PURE_VIRTUAL;
4488
4518 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4519
4539
4540 virtual void Map() PURE_VIRTUAL;
4541
4559 virtual void Unmap() PURE_VIRTUAL;
4560
4565 virtual bool IsMapped() PURE_VIRTUAL;
4566
4583 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4584
4603 virtual double FeedRateGet() PURE_VIRTUAL;
4604
4608
4609
4610
4611
4631 virtual RSIState StateGet() PURE_VIRTUAL;
4632
4660 virtual RSISource SourceGet() PURE_VIRTUAL;
4661
4686 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4687
4710 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4711
4738 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4739
4760 virtual bool MotionDoneGet() PURE_VIRTUAL;
4761
4784 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4785
4800 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4801
4805
4834 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4835
4849 virtual void InterruptWake() PURE_VIRTUAL;
4850
4854
4870 virtual double StopTimeGet() PURE_VIRTUAL;
4871
4887 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4888
4904 virtual double EStopTimeGet() PURE_VIRTUAL;
4905
4921 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
4922
4939 virtual double MotionDelayGet() PURE_VIRTUAL;
4940
4961 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
4962
4983 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4984
5002 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5003
5005 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5006
5008 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5009
5024 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5025
5033 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5034
5054 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5055
5088 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5089
5101 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5102
5121
5122 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5123
5140 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5141
5160 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5161
5185 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5186
5209 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5210
5227 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5228
5245 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5246
5263
5264 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5265
5282 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5283
5285 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5286
5288 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5289
5306 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5307
5324 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5325
5341 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5342
5358 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5359
5375 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5376
5392 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5393
5395 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5396
5421
5422 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5423
5442 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5443
5460
5461 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5462
5466
5467
5468
5504 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;
5505
5543 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;
5544
5574 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;
5575
5580 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5581
5603 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5604
5609 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5610
5629 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5630
5646 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5647
5667 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5668};
5669
5670
5675class RSI_API Axis : public virtual RapidCodeMotion{
5676public:
5677
5678 friend class MotionController;
5679 friend class MultiAxis;
5680
5681
5686
5688 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5689
5691 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5692
5694
5695
5700
5705 RapidCodeNetworkNode* NetworkNode;
5706
5707
5709
5714
5752 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5753
5775 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5776
5799 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5800 //virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel, bool checkLimits) PURE_VIRTUAL;
5801
5840 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5841
5846 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5847
5857 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5858
5862 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5863
5898 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5899
5936 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
5937
5976 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5977
5981 virtual void MoveRelative(double releativePosition) PURE_VIRTUAL;
5982
5986 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5988
5993
6018 virtual void PositionSet(double position) PURE_VIRTUAL;
6019
6038 virtual double ActualPositionGet() PURE_VIRTUAL;
6039
6061 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6062
6079 virtual double CompensationPositionGet() PURE_VIRTUAL;
6080
6093 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6094
6106 virtual double TargetPositionGet() PURE_VIRTUAL;
6107
6127 virtual double CommandPositionGet() PURE_VIRTUAL;
6128
6160 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6161
6185 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6186
6203 virtual double OriginPositionGet() PURE_VIRTUAL;
6204
6227 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6228
6249 virtual double PositionErrorGet() PURE_VIRTUAL;
6250
6272 virtual double CommandVelocityGet() PURE_VIRTUAL;
6273
6296 virtual double ActualVelocityGet() PURE_VIRTUAL;
6297
6318 virtual double CommandAccelGet() PURE_VIRTUAL;
6319
6321 virtual double CommandJerkGet() PURE_VIRTUAL;
6322
6343 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6344
6366 virtual double UserUnitsGet() PURE_VIRTUAL;
6367
6390 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6391
6393 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6394
6396 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6397
6417 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6419
6424
6445
6446 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6447
6451 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6452
6471
6472 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6473
6492
6493 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6494
6515
6516 virtual double HomeOffsetGet() PURE_VIRTUAL;
6517
6536
6537 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6538
6556
6557 virtual double HomeVelocityGet() PURE_VIRTUAL;
6558
6561 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6562
6583 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6584
6589 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6590
6606 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6607
6623 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6624
6642
6643 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6644
6647 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6648
6668
6669 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6670
6674 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6675
6692
6693 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6694
6697 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6698
6717
6718 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6719
6723 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6724
6742
6743 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6744
6747 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6748
6768 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6769
6774 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6775
6795 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6796
6815 virtual bool HomeStateGet() PURE_VIRTUAL;
6816
6829 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6830
6835 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6836
6838 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6839
6841 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6842
6845 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6846
6868
6869 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6870
6890 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
6891
6905 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
6906
6918 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
6920
6926
6928 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
6929
6931 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6933
6938 // reads active configuration to report state
6939
6963
6964 virtual bool NegativeLimitGet() PURE_VIRTUAL;
6965
6989 virtual bool PositiveLimitGet() PURE_VIRTUAL;
6990
7019 virtual bool HomeLimitGet() PURE_VIRTUAL;
7020
7048 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7049
7070 virtual bool AmpFaultGet() PURE_VIRTUAL;
7071
7095 virtual bool AmpEnableGet() PURE_VIRTUAL;
7096
7121 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7122
7147 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7148
7171 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7172
7194 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7195
7218 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7219
7241 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7243
7248
7269 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7270
7288 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7289
7310 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7311
7329 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7330
7351
7352 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7353
7372 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7373
7392 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7393
7416 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7417
7436 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7437
7454 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7456
7461
7475 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7476
7491 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7492
7503 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7504
7522 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7523
7533 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7534
7552 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7553
7564 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7565
7583 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7584
7586 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7587
7589 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7590
7610 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7611
7632 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7634
7639
7641 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7642
7644 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7645
7647 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7648
7650 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7651
7653 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7654
7656 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7657
7659 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7660
7662 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7663
7665 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7666
7668 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7669
7671 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7672
7674 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7675
7677 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7678
7680 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7681
7683 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7684
7686 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7688
7692 // /@{
7693
7716 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7717
7740 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7741
7763 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7764
7786 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7787
7808 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7809
7830 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7831
7856 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7857
7881 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7882
7908 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
7909
7930 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
7931
7953 virtual double HomeDurationGet() PURE_VIRTUAL;
7954
7977 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
7978
8007 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8008
8035 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8036
8059 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8060
8082 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8083
8105 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8106
8129 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8130
8155 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8156
8181 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8182
8206 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8207
8231 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8232
8255 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8256
8279
8280 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8281
8306 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8307
8332 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8333
8354 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8355
8379 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8380
8403 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8404
8427 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8428
8454 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8455
8479 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8480
8503 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8504
8527 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8528
8552 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8553
8577 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8578
8601 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8602
8625 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8626
8652 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8653
8678 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8679
8703 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8704
8726 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8727
8749 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8750
8772 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8773
8775 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8776
8778 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8779
8795 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8796
8810 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8811
8812 // common limit methods
8813
8815 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8816
8818 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8819
8821 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8822
8824 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8825
8827 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8828
8830 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8831
8833 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8834
8836 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8838
8843
8857 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8858
8872 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8873
8887 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
8888
8904
8905 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
8906
8920 virtual double VelocityToleranceGet() PURE_VIRTUAL;
8921
8935 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
8936
8951 virtual double SettlingTimeGet() PURE_VIRTUAL;
8952
8967 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
8968
8985 virtual bool SettleOnStopGet() PURE_VIRTUAL;
8986
9003
9004 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9005
9022 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9023
9039 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9040
9057 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9058
9074 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9076
9081
9098 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9099
9115 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9116
9133 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9134
9150 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9151
9169
9170 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9171
9187 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9188
9204 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9205
9206
9223 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9224
9240 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9241
9259 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9260
9262 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9263
9265 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9266
9268 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9269
9271 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9272
9274 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9275
9276
9278 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9279
9281 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9282
9300 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9301
9303 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9304
9306 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9307
9329 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9330
9332 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9333
9335 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9336
9338 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9339
9341 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9342
9344 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9345
9348 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9349
9351 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9352
9354 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9355
9369 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9370
9384 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9385
9405 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9406
9432 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9434
9439
9461 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9462
9466 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9467
9486 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9487
9504 virtual void GearingDisable() PURE_VIRTUAL;
9505
9507 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9508
9510 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9511
9513 virtual bool GearingEnableGet() PURE_VIRTUAL;
9514
9532 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9533
9546 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9548
9553
9570 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9571
9586 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9587
9604 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9605
9623 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9624
9642 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9643
9666 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9667
9697 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;
9698
9715
9716 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9718
9723
9736 virtual double BacklashWidthGet() PURE_VIRTUAL;
9737
9750 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9751
9764 virtual double BacklashRateGet() PURE_VIRTUAL;
9765
9778 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9779
9780
9791 virtual double BacklashValueGet() PURE_VIRTUAL;
9793
9798
9826 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9827
9852 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9853
9879 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9880
9903 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9904
9907 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9908
9912 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9913
9948 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9949
9978 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
9979
9996 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
9997
9999 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10000
10013 virtual double FilterLowPassGet() PURE_VIRTUAL;
10014
10030 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10031
10050 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10051
10052
10054 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10055
10056
10058 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10059
10061 virtual bool IsTuneable() PURE_VIRTUAL;
10062
10079 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10080
10096 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10097
10116 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10117
10133 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10134
10152 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10153
10172 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10173
10192 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10193
10209 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10210
10231 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10232
10234 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10235 //virtual RSIFilterPostFilterSection PostFilterSection;
10237
10242
10262 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10263
10284 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10286
10291
10313 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10314
10333 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10334
10354 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10355
10374 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10375
10395 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10396
10415 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10416
10437 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10439
10440
10459 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10460
10479 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10480
10488 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10489
10496 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10497
10521 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10522
10546 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10547
10556 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10557
10567 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10568
10575 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10576
10578};
10579
10583class RSI_API MultiAxis : public virtual RapidCodeMotion {
10584public:
10585
10589
10603 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10604
10607 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10608
10621 virtual void AxisRemoveAll() PURE_VIRTUAL;
10622
10626
10642 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10643
10663 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10664
10685 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10686
10690
10705 virtual double VectorVelocityGet() PURE_VIRTUAL;
10706
10722 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10723
10738 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10739
10762 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10763
10778 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10779
10802 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10803
10818 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10819
10842 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10843
10867 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10868
10871 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10872
10876
10896
10897 virtual double PathTimeSliceGet() PURE_VIRTUAL;
10898
10919
10920 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
10921
10946 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
10947
10950 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
10951
10968 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
10969
10978
10979 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
10980
10989
10990 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
10991
11010 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11011
11032 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11033
11053 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11054
11073 virtual void PathListEnd() PURE_VIRTUAL;
11074
11091 virtual void PathMotionStart() PURE_VIRTUAL;
11092
11096
11114 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11115
11118 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11119
11146 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;
11147
11150 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11151
11166 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11167
11171 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11172
11191 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;
11192
11195 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11196
11212 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11213
11230 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11231
11249 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11250
11252 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11253
11267 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11268
11282 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11283
11293 virtual bool AmpEnableGet() PURE_VIRTUAL;
11294
11295
11296};
11297
11303class RSI_API IOPoint : public virtual RapidCodeObject {
11304public:
11309
11326 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11327
11344 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11345
11361 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11362 // use NetworkNode*
11363 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11364
11375 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11376
11390 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11391
11409 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11410
11427 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11428
11444 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11445 // use NetworkNode*
11446 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11447
11448
11461 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11462
11476 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11477
11492 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11493 // use RapidCodeNetworkNode*
11494 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11495
11510 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11511 // use RapidCodeNetworkNode*
11512 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11513
11515
11519
11522 virtual uint64_t AddressGet() PURE_VIRTUAL;
11523
11526 virtual int32_t MaskGet() PURE_VIRTUAL;
11527
11530 virtual bool IsDigital() PURE_VIRTUAL;
11531
11532
11535 virtual bool IsOutput() PURE_VIRTUAL;
11536
11540
11544 virtual bool Get() PURE_VIRTUAL;
11545
11552 virtual void Set(bool state) PURE_VIRTUAL;
11553
11557
11561 virtual double ValueGet() PURE_VIRTUAL;
11562
11566 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11567};
11568
11572class RSI_API RTOS {
11573
11574public:
11575#if defined(_WIN32)
11580
11583 static INtimeStatus INtimeStatusGet();
11584
11589 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11590
11593 static INtimeStatus INtimeStart();
11594
11599 static INtimeStatus INtimeStart(const char* const nodeName);
11600
11603 static INtimeStatus INtimeStop();
11604
11609 static INtimeStatus INtimeStop(const char* const nodeName);
11610
11613 static INtimeStatus INtimeRestart();
11614
11619 static INtimeStatus INtimeRestart(const char* const nodeName);
11620
11623 static const char* const INtimeCatalogRMPGet();
11624
11627 static const char* const INtimeCatalogRMPNetworkGet();
11628
11631 static uint32_t INtimeNodeCountGet();
11632
11636 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11637
11641 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11643#endif // _WIN32
11644};
11645
11647class RSI_API Trace
11648{
11649public:
11654
11667 static void MaskSet(RSITrace mask);
11668
11684 static void MaskOnSet(RSITrace maskOn);
11685
11686
11706 static bool MaskOnGet(RSITrace maskOn);
11707
11723 static void MaskOffSet(RSITrace maskOff);
11724
11737 static void MaskClear();
11738
11753 static int32_t FileSet(const char* const fileName);
11754
11767 static void FileClose();
11768
11783 static void InjectMessage(RSITrace traceLevel, const char* const message);
11784
11786};
11787
11789
11791
11795class RSI_API IO : public virtual RapidCodeObject {
11796public:
11797
11798 friend class MotionController;
11799
11804
11806 RapidCodeNetworkNode* NetworkNode;
11808 MotionController* rsiControl;
11809
11811
11816
11817
11850 virtual bool IOExists() PURE_VIRTUAL;
11851
11868 virtual int32_t NumberGet() PURE_VIRTUAL;
11870
11875
11876
11877
11907 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
11908
11941 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
11942
11973 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
11974
11997 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
11998
12030 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12031
12063 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12065
12075 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12076
12083 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12084};
12085
12086#if defined(__cplusplus)
12087}
12088#endif
12089
12090template<typename ContainerClass>
12091class RSI_API RapidVectorIterator
12092{
12093public:
12095 typedef typename ContainerClass::ValueType ValueType;
12096
12098 typedef typename ContainerClass::PointerType PointerType;
12099
12102 ValueType& operator*();
12103
12106 const ValueType& operator*() const;
12107
12110 RapidVectorIterator& operator++();
12111
12114 RapidVectorIterator operator++(int);
12115
12118 bool operator==(const RapidVectorIterator&) const;
12119
12122 bool operator!=(const RapidVectorIterator&) const;
12123
12125 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12126
12128 RapidVectorIterator(const RapidVectorIterator&) = default;
12129
12131 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12132
12134 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12135
12137 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12138private:
12139 PointerType pointer;
12140 PointerType start, end;
12141 void VerifyPointer() const;
12142};
12143
12145template<typename Type>
12146class RapidVectorImplementation;
12147
12150
12159template<typename Type>
12160class RSI_API RapidVector
12161{
12162private:
12163 // The pointer to the implementation.
12164 RapidVectorImplementation<Type>* pImpl;
12165public:
12169 Type& operator[](const size_t index);
12170
12174 const Type& operator[](const size_t index) const;
12175
12179 Type& At(const size_t index);
12180
12184 const Type& At(const size_t index) const;
12185
12188 void PushBack(const Type& element);
12189
12192 const size_t Size() const;
12193
12195 void Clear();
12196
12198 void PopBack();
12199
12202 Type& Front();
12203
12206 const Type& Front() const;
12207
12210 Type& Back();
12211
12214 const Type& Back() const;
12215
12217 RapidVector();
12218
12220 RapidVector(const size_t size);
12221
12223 RapidVector(RapidVectorImplementation<Type>*);
12224
12226 ~RapidVector();
12227
12229 RapidVector(const RapidVector& other);
12230
12232 RapidVector& operator=(const RapidVector& other);
12233
12235 RapidVector(RapidVector&& other) noexcept;
12236
12238 RapidVector& operator=(RapidVector&& other) noexcept;
12239
12240 typedef Type* PointerType;
12241 typedef Type ValueType;
12242
12244 typedef RapidVectorIterator<RapidVector> Iterator;
12245
12248 Iterator begin() noexcept;
12249
12252 Iterator begin() const noexcept;
12253
12257 Iterator end() const noexcept;
12258};
12259
12261
12262} // namespace RapidCode
12263
12264} // namespace RSI
12265
12266#endif // _RSI_H
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position)
RSI::RapidCode::Axis::MoveVelocitySCurve
void MoveVelocitySCurve(double velocity, double accel, double jerkPct)
Command a constant velocity move (jog) with non-constant acceleration.
RSI::RapidCode::Axis::NetworkNode
NetworkNode * NetworkNode
Gets the associated NetworkNode object.
Definition rsi.h:5705
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity)
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double releativePosition)
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::PositionSet
void PositionSet(double position)
Set the Command and Actual positions.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct)
Command a relative point-to-point S-Curve motion.
RSI::RapidCode::Axis::ActualPositionGet
double ActualPositionGet()
Get the current actual position.
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity, double accel)
Command a constant velocity move (jog).
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
Command a point-to-point S-Curve motion.
RSI::RapidCode::Axis
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5675
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:11795
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11806
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11808
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:11303
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:3805
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:10583
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:11572
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:4200
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4210
RSI::RapidCode::RapidCodeOS::Sleep
void Sleep(int32_t milliseconds)
Put the current thread to sleep.
RSI::RapidCode::RapidCodeOS::KeyGet
int32_t KeyGet(int32_t milliseconds)
Wait for a key to be pressed and return its value.
RSI::RapidCode::RapidCodeOS::TimerCountGet
int32_t TimerCountGet()
Gets the time since startup.
RSI::RapidCode::RapidCodeOS
The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionC...
Definition rsi.h:497
RSI::RapidCode::RapidCodeObject::VersionGet
const char *const VersionGet()
Get the RSI RapidCode version.
RSI::RapidCode::RapidCodeObject
The RapidCode base class. All non-error objects are derived from this class.
Definition rsi.h:184
RSI::RapidCode::RapidVector::Size
const size_t Size() const
Returns the number of elements in the vector.
RSI::RapidCode::RapidVector::operator[]
const Type & operator[](const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::Back
const Type & Back() const
Returns a const reference to the last element in the vector.
RSI::RapidCode::RapidVector::begin
Iterator begin() noexcept
Returns a RapidVectorIterator to the first element of the vector. The naming convention follows STL c...
RSI::RapidCode::RapidVector::Front
Type & Front()
Returns a reference to the first element in the vector.
RSI::RapidCode::RapidVector::Front
const Type & Front() const
Returns a const reference to the first element in the vector.
RSI::RapidCode::RapidVector::At
const Type & At(const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::PushBack
void PushBack(const Type &element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::Back
Type & Back()
Returns a reference to the last element in the vector.
RSI::RapidCode::RapidVector::operator[]
Type & operator[](const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::At
Type & At(const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector
Forward declaration of the implementation class for RapidVector.
Definition rsi.h:12161
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:12244
RSI::RapidCode::RapidVector::~RapidVector
~RapidVector()
Destructs the vector and deallocates used storage.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(const RapidVector &other)
Copy assignment operator. Replaces contents with the contents of the other RapidVector.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const RapidVector &other)
Copy constructor. Constructs a RapidVector as a deep-copy.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(RapidVectorImplementation< Type > *)
Constructs a RapidVector with the given implementation. Intended for RSI internal use only.
RSI::RapidCode::RapidVector::Clear
void Clear()
Erases all elements from the vector.
RSI::RapidCode::RapidVector::PopBack
void PopBack()
Removes the last element from the container. Calling PopBack() on an empty container results in undef...
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const size_t size)
Constructs a vector with the specified size.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(RapidVector &&other) noexcept
Move assignment operator. Replaces contents with those of the other RapidVector. The original content...
RSI::RapidCode::RapidVector::RapidVector
RapidVector()
Default constructor that constructs an empty vector.
RSI::RapidCode::RapidVectorImplementation
Forward declaration of the implementation class for RapidVector.
Definition rsi.h:12146
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:11648
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1119
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1384
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1358
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1364
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:300
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1352
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:587
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1106
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:539
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1209
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1099
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:567
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:404
RSI::RapidCode::RSIMotorDisableAction
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1279
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:928
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1000
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:654
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:641
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1225
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1075
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:433
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:294
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1215
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1271
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:593
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:879
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1020
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:496
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1128
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:628
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1345
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1317
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1055
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:283
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1259
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1285
RSI::RapidCode::RSIErrorMessage
RSIErrorMessage
All possible RSI Error Messages.
Definition rsienums.h:17
RSI::RapidCode::RSIErrorMessage::RSIMessageOK
@ RSIMessageOK
RSI::RapidCode::RSINetworkType
RSINetworkType
Type of Network topology.
Definition rsienums.h:621
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1188
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1093
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:671
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:976
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:851
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1113
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:873
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1291
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1014
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1312
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1325
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:579
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1149
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:841
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1178
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:951
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1009
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMax
int32_t RmpThreadPriorityMax
[Linux] The maximum thread priority. All threads of the RMP and RMPNetwork will be based off of this....
Definition rsi.h:1021
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:927
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:861
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3783
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3776
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3781
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:3782
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:3777
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:3778
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:3779
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:3780
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3784
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