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rsi.h
1#ifndef _RSI_H
2#define _RSI_H
3
4#include <stdlib.h>
5#include <vector>
6#include <stdio.h>
7#include <string.h>
8#include <math.h>
9#include <exception>
10#include <cstdint>
11#include <cstring>
12
13#include "rsienums.h"
14
15#if defined(_WIN32)
16# if !defined(__INTIME__)
17# define HAS_CARTESIAN_ROBOT 1
18# endif
19# if !defined(RSI_API)
20# if defined(RSIDLL)
21# define RSI_API __declspec(dllexport)
22# else
23# define RSI_API __declspec(dllimport)
24# endif
25# endif
26#elif defined(__linux__)
27# define HAS_CARTESIAN_ROBOT 1
28# if !defined(RSI_API)
29# define RSI_API __attribute__ ((visibility ("default")))
30# endif
31#endif
32
33// Macro for pure virtual definitions
34#define PURE_VIRTUAL = 0
35
37namespace RSI
38{
39
41namespace RapidCode
42{
43
44 // Forward declaration of the implementation class for RapidVector.
45 template<typename Type>
46 class RapidVector;
47
48#if defined(__cplusplus)
49extern "C"
50{
51#endif
52
53
54class MotionController;
55class Axis;
56class MultiAxis;
57class IO;
58class RapidCodeNetworkNode;
59class IOPoint;
60class RTOS;
61
63class StaticInstanceMediator
64{
65private:
66 bool isValid;
67public:
68
69 bool IsValid() { return isValid; }
70
71 void OnDelete() { isValid = false; }
72
73 void OnCreate() { isValid = true; }
74};
75
78
110class RsiError : public std::exception
111{
112public:
114 RSIErrorMessage number;
116 int32_t lineNumber;
118 int32_t objectIndex;
120 bool isWarning;
122 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
123 char text[RSI_ERROR_TEXT_SIZE];
125 char functionName[RSI_ERROR_TEXT_SIZE];
127 char shortText[RSI_ERROR_TEXT_SIZE];
129 char fileName[RSI_ERROR_TEXT_SIZE];
130
131 RsiError()
132 {
133 text[0] = '\0';
134 functionName[0] = '\0';
135 shortText[0] = '\0';
136 fileName[0] = '\0';
137 number = RSIErrorMessage::RSIMessageOK;
138 lineNumber = -1;
139 isWarning = false;
140 objectIndex = -1;
141 }
150 RsiError(const RsiError& copyFrom)
151 {
152#if defined(_WIN32)
153 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#elif defined(__linux__)
158 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
159 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
160 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
161 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
162#endif
163 number = copyFrom.number;
164 lineNumber = copyFrom.lineNumber;
165 isWarning = copyFrom.isWarning;
166 objectIndex = copyFrom.objectIndex;
167 }
168 ~RsiError()
169 {
170 }
171
173 virtual const char* what() const noexcept { return text; }
174};
175
184class RSI_API RapidCodeObject {
185public:
190
191
192
205 virtual const char* const VersionGet() PURE_VIRTUAL;
206
208 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
210 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
212 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
216 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
218 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
220 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
221
224 virtual int32_t NumberGet() PURE_VIRTUAL;
226
231
232
233
234
260 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
261
275 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
276
289 virtual void ErrorLogClear() PURE_VIRTUAL;
290
309 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
310
312 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
313
315 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
316
318 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
320
325
326
341 virtual void Trace(bool state) PURE_VIRTUAL;
342
357 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
358
359
380 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
381
397 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
398
412 virtual void TraceMaskClear() PURE_VIRTUAL;
413
428 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
429
442 virtual void TraceFileClose() PURE_VIRTUAL;
443
458 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
459
460
461
462
464};
465
467typedef union
468{
469 bool Bool;
470 int8_t Int8;
471 uint8_t UInt8;
472 int16_t Int16;
473 uint16_t UInt16;
474 int32_t Int32;
475 uint32_t UInt32;
476 float Float;
477 double Double;
478 int64_t Int64;
479 uint64_t UInt64;
480} FirmwareValue;
481
483
497class RSI_API RapidCodeOS {
498public:
499
504
517 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
518
537 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
538
548 virtual int32_t TimerCountGet() PURE_VIRTUAL;
549
558 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
559
560
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
573
585 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
586
588};
589
591
594class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
595public:
599
601 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
602
603
625 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
626
646 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
647
668 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
669
670
691 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
692
694 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
695
697 virtual void InterruptWake() PURE_VIRTUAL;
698
700 virtual void InterruptMaskClear() PURE_VIRTUAL;
701
703 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
704
706 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
707
709 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
710
712 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
713
714
727 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
728
729
741 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
742
748 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
749
785
787 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
788
794 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
795};
796
800class RSI_API MotionController : public virtual RapidCodeInterrupt {
801protected:
802 MotionController();
803 StaticInstanceMediator* _mediator;
804
805public:
806
807 // Static functions or attributes should be grouped together.
812
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
815
817 static inline constexpr uint32_t AxisCountMaximum = 64;
818
820 static inline constexpr uint32_t MotionCountMaximum = 64;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
833
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
836
843 static inline constexpr double SampleRateDefault = 1000.0;
844
854 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
855
857
858 // Static functions or attributes should be grouped together.
863
865 struct CreationParameters
866 {
871
876 static inline constexpr int32_t ControllerIndexDefault = 0;
877
882 static inline constexpr uint32_t PathLengthMaximum = 256;
883
889 static inline constexpr int32_t CpuAffinityDefault = -1;
890
895 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
896
901 static inline constexpr int32_t RmpThreadPriorityRange = 8;
902
907 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
908
913 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
914
919 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
921
922
927
932 CreationParameters()
933 {
934 ControllerIndex = ControllerIndexDefault;
935 std::memset(RmpPath, '\0', PathLengthMaximum);
936 std::memset(NicPrimary, '\0', PathLengthMaximum);
937 std::memset(NicSecondary, '\0', PathLengthMaximum);
938#if defined(_WIN32)
939 std::memset(NodeName, '\0', PathLengthMaximum);
940#elif defined(__linux__)
941 CpuAffinity = CpuAffinityDefault;
942 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
943#endif
944 }
946
951
956 int32_t ControllerIndex;
957
962 char RmpPath[PathLengthMaximum];
963
968 char NicPrimary[PathLengthMaximum];
969
974 char NicSecondary[PathLengthMaximum];
976
977 // Control which platform specific parameters are available
978#if defined(_WIN32) && defined(__linux__)
979 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
980#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
981 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
982#endif //defined(_WIN32) && defined(__linux__)
983#if defined(_WIN32) || defined(DOXYGEN)
984
989
994 char NodeName[PathLengthMaximum];
995
997#endif //defined(_WIN32)
998#if defined(__linux__) || defined(DOXYGEN)
999
1004
1014 int32_t CpuAffinity;
1015
1026 int32_t RmpThreadPriorityMax;
1027
1029# endif // defined(__linux__)
1030 };
1031
1042 static MotionController* Create(CreationParameters* creationParameters);
1043
1048 static MotionController* Get();
1049
1055 static MotionController* Get(int32_t controllerIndex);
1056
1057#if defined(_WIN32)
1084 static MotionController* CreateFromSoftware();
1085
1090 static MotionController* CreateFromSoftware(const char* const RtaPath);
1091
1097 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1098
1125 static MotionController* Create();
1126#endif // defined(_WIN32)
1127
1132 static MotionController* CreateFromFile(const char* const fileName);
1134
1139
1158 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1159
1176 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1177
1191 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1192
1207 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1208
1224 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1225
1248 virtual void Delete(void) PURE_VIRTUAL;
1250
1255
1265 virtual void Reset() PURE_VIRTUAL;
1266
1276 virtual void Refresh() PURE_VIRTUAL;
1277
1285 virtual void Shutdown() PURE_VIRTUAL;
1286
1295 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1297
1302
1325 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1326
1341 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1342
1353 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1354
1358 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1359
1360
1362
1367
1368
1372 virtual CreationParameters CreationParametersGet() PURE_VIRTUAL;
1373
1396 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1397
1416 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1417
1418
1420 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1421
1423 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1424
1426 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1427
1428
1429
1430
1452 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1453
1478 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1479
1483 virtual double SampleRateGet() PURE_VIRTUAL;
1484
1502 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1503
1522 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1523
1526 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1527
1530 virtual bool IsLicensed() PURE_VIRTUAL;
1531
1533 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1534
1536 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1537
1539 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1540
1542 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1543
1568 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1569
1586 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1587
1613 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1614
1638 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1639
1642 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1643
1660 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1661
1676 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1678
1683
1701 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1702
1720 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1721
1723 virtual bool HasMechaWare() PURE_VIRTUAL;
1724
1748 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1749
1750
1768 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1769
1795 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1796
1811 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1812
1813
1814
1831 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1832
1858 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1859
1878 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1879
1880
1881
1882
1905 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1906
1907
1908
1931 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1932
1933
1934
1935
1944 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1945
1946
1947
1956 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1957
1972 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1973
1991 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1992
1993
2006 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2007
2012 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2013
2027 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2028
2029
2030
2046 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2048
2053
2055 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2056
2058 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2059
2062 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2063
2109 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2110
2131 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2132
2139 virtual void NetworkStart() PURE_VIRTUAL;
2140
2145 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2146
2153 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2154
2159 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2160
2162 virtual void NetworkShutdown() PURE_VIRTUAL;
2163
2166 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2167
2169 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2170
2172 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2173
2175 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2176
2180 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2181
2184 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2185
2188 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2189
2193 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2194
2195
2196
2200 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2201
2205 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2206
2209 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2210
2211
2215 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2216
2218 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2219
2221 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2222
2238 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2239
2256 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2257
2276 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2277
2282 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2283
2294 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2295
2307 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2308
2319 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2320
2321
2322
2323
2340 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2341
2354 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2355
2370 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2371
2375 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2376
2378 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2379
2384 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2385
2387 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2388
2390 virtual void NetworkTimingClear() PURE_VIRTUAL;
2391
2393 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2394
2396 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2397
2399 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2400
2402 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2403
2405 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2406
2408 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2409
2411 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2412
2414 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2416
2421
2438 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2439
2458 virtual void InterruptWake() PURE_VIRTUAL;
2459
2487 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2488
2514 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2515
2535 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2536
2538 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2539
2550 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2551
2553 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2554
2567 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2568
2579 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2580
2590 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2591
2617
2618 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2620
2625
2626
2627
2646 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2647
2665 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2666
2683 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2684
2686 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2687
2704 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2705
2707 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2708
2724 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2725
2727 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2728
2745 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2746
2748 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2749
2750
2756 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2757
2771
2777 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2778
2785 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2786
2792 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2793
2800 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2801
2808 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2809
2818 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2819
2835 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2836
2838 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2839
2856 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2857
2859 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2860
2874 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2875
2877 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2878
2893 virtual void RecorderStart() PURE_VIRTUAL;
2894
2896 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2897
2914 virtual void RecorderStop() PURE_VIRTUAL;
2915
2917 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2918
2919
2920
2936 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2937
2939 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2940
2955 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2956
2976 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2977
2979 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2980
2997 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2998
3000 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3001
3020 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3021
3023 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3024
3026 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3027
3046 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3047
3065 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3066
3068 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3069
3084 virtual void RecorderReset() PURE_VIRTUAL;
3085
3087 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3088
3100 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3101
3118 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3120
3125
3126
3127
3128
3153 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3154
3174 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3175
3186 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3187
3207 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3208
3222 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3223
3249 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;
3250
3280 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;
3281
3302 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;
3303
3324 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;
3325
3337 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3338
3350 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3351
3371 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3372
3373
3374
3375
3376
3377
3389
3390 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3391
3400 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3401
3406 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3407
3414 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3415
3417
3422
3442 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3443
3463 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3464
3484 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3485
3488 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3489
3491 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3492
3494 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3495
3497 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3498
3500 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3501
3503 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3504
3529 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3530
3552 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3553
3555 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3556
3558 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3559
3561 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3562
3564 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3565
3567 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3568
3570 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3571
3598 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3599
3602 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3603
3606 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3607
3610 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3611
3627 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3628
3630 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3631
3633 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3634
3636 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3637
3639 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3640
3642 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3643
3645 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3646
3648 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3649
3651 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3652
3654 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3655
3656
3658 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3659
3680 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3681
3702 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3703
3705 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3706
3721 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3722
3734 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3735
3744
3745 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3746
3764 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3765
3767 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3769
3770
3775
3785 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3786
3797 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3798
3817
3819 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3820
3822 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3823
3825 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3826
3828
3829
3834
3836 RapidCodeOS* OS;
3837
3839};
3840
3844class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3845public:
3846
3851
3853 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3854
3856
3857
3862
3864 virtual bool Exists() PURE_VIRTUAL;
3865
3867 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3868
3870 virtual bool IsEtherCAT() PURE_VIRTUAL;
3871
3873 virtual bool IsSynqNet() PURE_VIRTUAL;
3874
3876
3881
3883 virtual bool HasIO() PURE_VIRTUAL;
3884
3886 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3887
3889 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3890
3892 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3893
3895 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3896
3898 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3899
3901 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3902
3904
3908
3910 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3911
3913 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3914
3916 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3917
3919 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3920
3921
3923 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3924
3926 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3927
3929 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3930
3932 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3933
3935 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3936
3938 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3939
3952 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3953
3966 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3967
3980 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3981
3994 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3995
4007 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4008
4020 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4021
4033 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4034
4046 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4047
4061 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4062
4066 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4067
4080 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4081
4085 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4086
4097 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4098
4112 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4113
4114
4119 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4120
4132 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4133
4141 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4142
4151 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4152
4158 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4159
4161 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4162
4164 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4165
4178 virtual const char* const NameGet() PURE_VIRTUAL;
4179
4192 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4193
4206 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4207
4209 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4210
4212 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4213
4215 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4216
4218 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4219
4221 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4222
4224 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4225};
4226
4228
4231class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4232public:
4233
4239
4241 MotionController* rsiControl;
4242
4244
4245
4249
4267 virtual int32_t NumberGet() PURE_VIRTUAL;
4268
4285 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4286
4290
4315 virtual void TriggeredModify() PURE_VIRTUAL;
4316
4343 virtual void Stop() PURE_VIRTUAL;
4344
4369 virtual void Resume() PURE_VIRTUAL;
4370
4395 virtual void EStop() PURE_VIRTUAL;
4396
4417 virtual void EStopAbort() PURE_VIRTUAL;
4418
4435 virtual void EStopModify() PURE_VIRTUAL;
4436
4439 virtual void EStopModifyAbort() PURE_VIRTUAL;
4440
4462 virtual void Abort() PURE_VIRTUAL;
4463
4490 virtual void ClearFaults() PURE_VIRTUAL;
4491
4518 virtual void AmpEnableSet(bool enable) PURE_VIRTUAL;
4519
4549 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4550
4570
4571 virtual void Map() PURE_VIRTUAL;
4572
4590 virtual void Unmap() PURE_VIRTUAL;
4591
4596 virtual bool IsMapped() PURE_VIRTUAL;
4597
4614 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4615
4634 virtual double FeedRateGet() PURE_VIRTUAL;
4635
4639
4640
4641
4642
4662 virtual RSIState StateGet() PURE_VIRTUAL;
4663
4691 virtual RSISource SourceGet() PURE_VIRTUAL;
4692
4717 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4718
4741 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4742
4769 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4770
4791 virtual bool MotionDoneGet() PURE_VIRTUAL;
4792
4815 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4816
4831 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4832
4836
4865 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4866
4880 virtual void InterruptWake() PURE_VIRTUAL;
4881
4885
4901 virtual double StopTimeGet() PURE_VIRTUAL;
4902
4918 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
4919
4935 virtual double EStopTimeGet() PURE_VIRTUAL;
4936
4952 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
4953
4970 virtual double MotionDelayGet() PURE_VIRTUAL;
4971
4992 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
4993
5014 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5015
5033 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5034
5036 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5037
5039 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5040
5055 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5056
5064 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5065
5085 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5086
5119 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5120
5132 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5133
5152
5153 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5154
5171 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5172
5191 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5192
5216 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5217
5240 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5241
5258 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5259
5276 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5277
5294
5295 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5296
5313 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5314
5316 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5317
5319 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5320
5337 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5338
5355 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5356
5372 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5373
5389 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5390
5406 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5407
5423 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5424
5426 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5427
5452
5453 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5454
5473 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5474
5491
5492 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5493
5497
5498
5499
5535 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;
5536
5574 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;
5575
5605 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;
5606
5611 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5612
5634 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5635
5640 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5641
5660 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5661
5677 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5678
5698 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5699};
5700
5701
5706class RSI_API Axis : public virtual RapidCodeMotion{
5707public:
5708
5709 friend class MotionController;
5710 friend class MultiAxis;
5711
5712
5717
5719 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5720
5722 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5723
5725
5726
5731
5736 RapidCodeNetworkNode* NetworkNode;
5737
5738
5740
5745
5783 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5784
5806 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5807
5830 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5831
5839
5840 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5841
5851 virtual void MoveSCurve(double position) PURE_VIRTUAL;
5852
5856 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5857
5861 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
5862
5897 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
5898
5936 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
5937
5979 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
5980
5987 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
5988
5994 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
5996
6001
6026 virtual void PositionSet(double position) PURE_VIRTUAL;
6027
6046 virtual double ActualPositionGet() PURE_VIRTUAL;
6047
6069 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6070
6087 virtual double CompensationPositionGet() PURE_VIRTUAL;
6088
6101 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6102
6114 virtual double TargetPositionGet() PURE_VIRTUAL;
6115
6135 virtual double CommandPositionGet() PURE_VIRTUAL;
6136
6168 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6169
6193 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6194
6211 virtual double OriginPositionGet() PURE_VIRTUAL;
6212
6235 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6236
6257 virtual double PositionErrorGet() PURE_VIRTUAL;
6258
6280 virtual double CommandVelocityGet() PURE_VIRTUAL;
6281
6304 virtual double ActualVelocityGet() PURE_VIRTUAL;
6305
6326 virtual double CommandAccelGet() PURE_VIRTUAL;
6327
6329 virtual double CommandJerkGet() PURE_VIRTUAL;
6330
6351 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6352
6374 virtual double UserUnitsGet() PURE_VIRTUAL;
6375
6398 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6399
6401 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6402
6404 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6405
6425 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6427
6432
6453
6454 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6455
6459 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6460
6479
6480 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6481
6500
6501 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6502
6523
6524 virtual double HomeOffsetGet() PURE_VIRTUAL;
6525
6570 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6571
6589
6590 virtual double HomeVelocityGet() PURE_VIRTUAL;
6591
6594 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6595
6616 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6617
6622 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6623
6639 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6640
6656 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6657
6675
6676 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6677
6680 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6681
6701
6702 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6703
6707 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6708
6725
6726 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6727
6730 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6731
6750
6751 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6752
6756 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6757
6775
6776 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6777
6780 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6781
6801 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6802
6807 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6808
6828 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6829
6848 virtual bool HomeStateGet() PURE_VIRTUAL;
6849
6862 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
6863
6868 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6869
6871 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6872
6874 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6875
6878 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6879
6901
6902 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
6903
6923 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
6924
6938 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
6939
6951 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
6953
6959
6961 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
6962
6964 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
6966
6971 // reads active configuration to report state
6972
6996
6997 virtual bool NegativeLimitGet() PURE_VIRTUAL;
6998
7022 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7023
7052 virtual bool HomeLimitGet() PURE_VIRTUAL;
7053
7081 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7082
7103 virtual bool AmpFaultGet() PURE_VIRTUAL;
7104
7128 virtual bool AmpEnableGet() PURE_VIRTUAL;
7129
7154 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7155
7180 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7181
7204 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7205
7227 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7228
7251 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7252
7274 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7276
7281
7302 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7303
7321 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7322
7343 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7344
7362 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7363
7384
7385 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7386
7405 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7406
7425 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7426
7449 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7450
7469 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7470
7487 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7489
7494
7508 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7509
7524 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7525
7536 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7537
7555 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7556
7566 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7567
7585 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7586
7597 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7598
7616 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7617
7619 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7620
7622 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7623
7643 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7644
7665 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7667
7672
7674 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7675
7677 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7678
7680 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7681
7683 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7684
7686 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7687
7689 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7690
7692 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7693
7695 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7696
7698 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7699
7701 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7702
7704 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7705
7707 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7708
7710 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7711
7713 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7714
7716 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7717
7719 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7721
7725 // /@{
7726
7749 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7750
7773 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7774
7796 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7797
7819 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7820
7841 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
7842
7863 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
7864
7889 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
7890
7914 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
7915
7941 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
7942
7963 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
7964
7986 virtual double HomeDurationGet() PURE_VIRTUAL;
7987
8010 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8011
8040 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8041
8068 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8069
8092 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8093
8115 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8116
8138 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8139
8162 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8163
8188 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8189
8214 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8215
8239 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8240
8264 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8265
8288 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8289
8312
8313 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8314
8339 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8340
8365 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8366
8387 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8388
8412 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8413
8436 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8437
8460 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8461
8487 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8488
8512 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8513
8536 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8537
8560 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8561
8585 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8586
8610 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8611
8634 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8635
8658 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8659
8685 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8686
8711 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8712
8736 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8737
8759 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8760
8782 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8783
8805 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8806
8808 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8809
8811 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8812
8828 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8829
8843 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
8844
8845 // common limit methods
8846
8848 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
8849
8851 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
8852
8854 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
8855
8857 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
8858
8860 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
8861
8863 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
8864
8866 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
8867
8869 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
8871
8876
8890 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
8891
8905 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
8906
8920 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
8921
8937
8938 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
8939
8953 virtual double VelocityToleranceGet() PURE_VIRTUAL;
8954
8968 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
8969
8984 virtual double SettlingTimeGet() PURE_VIRTUAL;
8985
9000 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9001
9018 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9019
9036
9037 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9038
9055 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9056
9072 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9073
9090 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9091
9107 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9109
9114
9131 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9132
9148 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9149
9166 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9167
9183 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9184
9202
9203 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9204
9220 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9221
9237 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9238
9239
9256 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9257
9273 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9274
9292 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9293
9295 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9296
9298 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9299
9301 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9302
9304 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9305
9307 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9308
9309
9311 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9312
9314 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9315
9333 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9334
9336 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9337
9339 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9340
9362 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9363
9365 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9366
9368 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9369
9371 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9372
9374 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9375
9377 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9378
9381 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9382
9384 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9385
9387 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9388
9402 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9403
9417 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9418
9438 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9439
9465 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9467
9472
9494 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9495
9499 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9500
9519 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9520
9537 virtual void GearingDisable() PURE_VIRTUAL;
9538
9540 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9541
9543 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9544
9546 virtual bool GearingEnableGet() PURE_VIRTUAL;
9547
9565 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9566
9579 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9581
9586
9603 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9604
9619 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9620
9637 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9638
9656 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9657
9675 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9676
9699 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9700
9730 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;
9731
9748
9749 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9751
9756
9769 virtual double BacklashWidthGet() PURE_VIRTUAL;
9770
9783 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9784
9797 virtual double BacklashRateGet() PURE_VIRTUAL;
9798
9811 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9812
9813
9824 virtual double BacklashValueGet() PURE_VIRTUAL;
9826
9831
9859 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
9860
9885 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
9886
9912 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9913
9936 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9937
9940 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
9941
9945 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
9946
9981 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
9982
10011 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10012
10029 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10030
10032 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10033
10046 virtual double FilterLowPassGet() PURE_VIRTUAL;
10047
10063 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10064
10083 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10084
10085
10087 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10088
10089
10091 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10092
10094 virtual bool IsTuneable() PURE_VIRTUAL;
10095
10112 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10113
10129 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10130
10149 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10150
10166 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10167
10185 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10186
10205 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10206
10225 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10226
10242 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10243
10264 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10265
10267 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10268 //virtual RSIFilterPostFilterSection PostFilterSection;
10270
10275
10295 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10296
10317 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10319
10324
10346 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10347
10366 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10367
10387 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10388
10407 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10408
10428 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10429
10448 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10449
10470 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10472
10473
10492 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10493
10512 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10513
10521 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10522
10529 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10530
10554 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10555
10579 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10580
10589 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10590
10600 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10601
10608 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10609
10611};
10612
10616class RSI_API MultiAxis : public virtual RapidCodeMotion {
10617public:
10618
10622
10636 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10637
10640 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10641
10654 virtual void AxisRemoveAll() PURE_VIRTUAL;
10655
10659
10675 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10676
10696 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10697
10718 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10719
10723
10738 virtual double VectorVelocityGet() PURE_VIRTUAL;
10739
10755 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10756
10771 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10772
10795 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10796
10811 virtual double VectorDecelerationGet() PURE_VIRTUAL;
10812
10835 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
10836
10851 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
10852
10875 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
10876
10900 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
10901
10904 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
10905
10909
10929
10930 virtual double PathTimeSliceGet() PURE_VIRTUAL;
10931
10952
10953 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
10954
10979 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
10980
10983 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
10984
11001 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11002
11011
11012 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11013
11022
11023 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11024
11043 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11044
11065 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11066
11086 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11087
11106 virtual void PathListEnd() PURE_VIRTUAL;
11107
11124 virtual void PathMotionStart() PURE_VIRTUAL;
11125
11129
11147 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11148
11151 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11152
11182 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;
11183
11194 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11195
11210 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11211
11215 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11216
11238 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;
11239
11250 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11251
11268 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11269
11286 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11287
11305 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11306
11308 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11309
11323 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11324
11338 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11339
11349 virtual bool AmpEnableGet() PURE_VIRTUAL;
11350
11351
11352};
11353
11359class RSI_API IOPoint : public virtual RapidCodeObject {
11360public:
11365
11382 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11383
11400 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11401
11417 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11418 // use NetworkNode*
11419 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11420
11431 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11432
11446 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11447
11465 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11466
11483 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11484
11500 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11501 // use NetworkNode*
11502 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11503
11504
11517 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11518
11532 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11533
11548 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11549 // use RapidCodeNetworkNode*
11550 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11551
11566 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11567 // use RapidCodeNetworkNode*
11568 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11569
11571
11575
11578 virtual uint64_t AddressGet() PURE_VIRTUAL;
11579
11582 virtual int32_t MaskGet() PURE_VIRTUAL;
11583
11586 virtual bool IsDigital() PURE_VIRTUAL;
11587
11588
11591 virtual bool IsOutput() PURE_VIRTUAL;
11592
11596
11600 virtual bool Get() PURE_VIRTUAL;
11601
11608 virtual void Set(bool state) PURE_VIRTUAL;
11609
11613
11617 virtual double ValueGet() PURE_VIRTUAL;
11618
11622 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11623};
11624
11628class RSI_API RTOS {
11629
11630public:
11631#if defined(_WIN32)
11636
11639 static INtimeStatus INtimeStatusGet();
11640
11645 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11646
11649 static INtimeStatus INtimeStart();
11650
11655 static INtimeStatus INtimeStart(const char* const nodeName);
11656
11659 static INtimeStatus INtimeStop();
11660
11665 static INtimeStatus INtimeStop(const char* const nodeName);
11666
11669 static INtimeStatus INtimeRestart();
11670
11675 static INtimeStatus INtimeRestart(const char* const nodeName);
11676
11679 static const char* const INtimeCatalogRMPGet();
11680
11683 static const char* const INtimeCatalogRMPNetworkGet();
11684
11687 static uint32_t INtimeNodeCountGet();
11688
11692 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11693
11697 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11699#endif // _WIN32
11700};
11701
11703class RSI_API Trace
11704{
11705public:
11710
11723 static void MaskSet(RSITrace mask);
11724
11740 static void MaskOnSet(RSITrace maskOn);
11741
11742
11762 static bool MaskOnGet(RSITrace maskOn);
11763
11779 static void MaskOffSet(RSITrace maskOff);
11780
11793 static void MaskClear();
11794
11809 static int32_t FileSet(const char* const fileName);
11810
11823 static void FileClose();
11824
11839 static void InjectMessage(RSITrace traceLevel, const char* const message);
11840
11842};
11843
11845
11847
11851class RSI_API IO : public virtual RapidCodeObject {
11852public:
11853
11854 friend class MotionController;
11855
11860
11862 RapidCodeNetworkNode* NetworkNode;
11864 MotionController* rsiControl;
11865
11867
11872
11873
11906 virtual bool IOExists() PURE_VIRTUAL;
11907
11924 virtual int32_t NumberGet() PURE_VIRTUAL;
11926
11931
11932
11933
11963 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
11964
11997 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
11998
12029 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12030
12053 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12054
12086 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12087
12119 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12121
12131 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12132
12139 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12140};
12141
12142#if defined(__cplusplus)
12143}
12144#endif
12145
12146template<typename ContainerClass>
12147class RSI_API RapidVectorIterator
12148{
12149public:
12151 typedef typename ContainerClass::ValueType ValueType;
12152
12154 typedef typename ContainerClass::PointerType PointerType;
12155
12158 ValueType& operator*();
12159
12162 const ValueType& operator*() const;
12163
12166 RapidVectorIterator& operator++();
12167
12170 RapidVectorIterator operator++(int);
12171
12174 bool operator==(const RapidVectorIterator&) const;
12175
12178 bool operator!=(const RapidVectorIterator&) const;
12179
12181 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12182
12184 RapidVectorIterator(const RapidVectorIterator&) = default;
12185
12187 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12188
12190 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12191
12193 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12194private:
12195 PointerType pointer;
12196 PointerType start, end;
12197 void VerifyPointer() const;
12198};
12199
12200// Forward declaration of the RapidVectorImplementation class.
12201template<typename Type>
12202class RapidVectorImplementation;
12203
12206
12219template<typename Type>
12220class RSI_API RapidVector
12221{
12222private:
12223 // The pointer to the implementation.
12224 RapidVectorImplementation<Type>* pImpl;
12225public:
12229 Type& operator[](const size_t index);
12230
12234 const Type& operator[](const size_t index) const;
12235
12239 Type& At(const size_t index);
12240
12244 const Type& At(const size_t index) const;
12245
12248 void PushBack(const Type& element);
12249
12252 const size_t Size() const;
12253
12255 void Clear();
12256
12258 void PopBack();
12259
12262 Type& Front();
12263
12266 const Type& Front() const;
12267
12270 Type& Back();
12271
12274 const Type& Back() const;
12275
12277 RapidVector();
12278
12280 RapidVector(const size_t size);
12281
12283 RapidVector(RapidVectorImplementation<Type>*);
12284
12286 ~RapidVector();
12287
12289 RapidVector(const RapidVector& other);
12290
12292 RapidVector& operator=(const RapidVector& other);
12293
12295 RapidVector(RapidVector&& other) noexcept;
12296
12298 RapidVector& operator=(RapidVector&& other) noexcept;
12299
12300 typedef Type* PointerType;
12301 typedef Type ValueType;
12302
12304 typedef RapidVectorIterator<RapidVector> Iterator;
12305
12308 Iterator begin() noexcept;
12309
12312 Iterator begin() const noexcept;
12313
12317 Iterator end() const noexcept;
12318};
12319
12321
12322} // namespace RapidCode
12323
12324} // namespace RSI
12325
12326#endif // _RSI_H
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position)
MoveSCurve with the Axis defaults trajectory values from DefaultVelocitySet, DefaultAccelerationSet,...
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition)
RSI::RapidCode::Axis::MoveVelocitySCurve
void MoveVelocitySCurve(double velocity, double accel, double jerkPct)
Command a constant velocity move (jog) with non-constant acceleration.
RSI::RapidCode::Axis::NetworkNode
NetworkNode * NetworkNode
Gets the associated NetworkNode object.
Definition rsi.h:5736
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity)
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::MoveTrapezoidal
void MoveTrapezoidal(double position, double vel, double accel, double decel)
Point-to-point trapezoidal move.
RSI::RapidCode::Axis::PositionSet
void PositionSet(double position)
Set the Command and Actual positions.
RSI::RapidCode::Axis::MoveRelative
void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct)
Command a relative point-to-point S-Curve motion.
RSI::RapidCode::Axis::ActualPositionGet
double ActualPositionGet()
Get the current actual position.
RSI::RapidCode::Axis::MoveVelocity
void MoveVelocity(double velocity, double accel)
Command a constant velocity move (jog).
RSI::RapidCode::Axis::MoveSCurve
void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct)
RSI::RapidCode::Axis
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5706
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:11851
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:11862
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:11864
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:11359
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:3836
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:10616
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:11628
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:4231
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4241
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
A wrapper class for the C++ STL vector class that aims to maintain application binary interface....
Definition rsi.h:12221
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:12304
RSI::RapidCode::RapidVector::~RapidVector
~RapidVector()
Destructs the vector and deallocates used storage.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(const RapidVector &other)
Copy assignment operator. Replaces contents with the contents of the other RapidVector.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const RapidVector &other)
Copy constructor. Constructs a RapidVector as a deep-copy.
RSI::RapidCode::RapidVector::RapidVector
RapidVector(RapidVectorImplementation< Type > *)
Constructs a RapidVector with the given implementation. Intended for RSI internal use only.
RSI::RapidCode::RapidVector::Clear
void Clear()
Erases all elements from the vector.
RSI::RapidCode::RapidVector::PopBack
void PopBack()
Removes the last element from the container. Calling PopBack() on an empty container results in undef...
RSI::RapidCode::RapidVector::RapidVector
RapidVector(const size_t size)
Constructs a vector with the specified size.
RSI::RapidCode::RapidVector::operator=
RapidVector & operator=(RapidVector &&other) noexcept
Move assignment operator. Replaces contents with those of the other RapidVector. The original content...
RSI::RapidCode::RapidVector::RapidVector
RapidVector()
Default constructor that constructs an empty vector.
RSI::RapidCode::RsiError::RsiError
RsiError(const RsiError &copyFrom)
Copy constructor for RsiError.
Definition rsi.h:150
RSI::RapidCode::RsiError
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:111
RSI::RapidCode::RsiError::fileName
char fileName[RSI_ERROR_TEXT_SIZE]
source file name
Definition rsi.h:129
RSI::RapidCode::RsiError::isWarning
bool isWarning
Whether the error is or is not a warning.
Definition rsi.h:120
RSI::RapidCode::RsiError::RSI_ERROR_TEXT_SIZE
static constexpr uint32_t RSI_ERROR_TEXT_SIZE
Error message text.
Definition rsi.h:122
RSI::RapidCode::RsiError::what
const char * what() const noexcept
Returns a null terminated character sequence that may be used to identify the exception.
Definition rsi.h:173
RSI::RapidCode::RsiError::shortText
char shortText[RSI_ERROR_TEXT_SIZE]
Error short text.
Definition rsi.h:127
RSI::RapidCode::RsiError::lineNumber
int32_t lineNumber
Source code line number.
Definition rsi.h:116
RSI::RapidCode::RsiError::functionName
char functionName[RSI_ERROR_TEXT_SIZE]
Function name of the raised the error.
Definition rsi.h:125
RSI::RapidCode::RsiError::number
RSIErrorMessage number
Error number.
Definition rsi.h:114
RSI::RapidCode::RsiError::objectIndex
int32_t objectIndex
Object index (0-based index of the object that has the error).
Definition rsi.h:118
RSI::RapidCode::Trace::MaskSet
static void MaskSet(RSITrace mask)
Sets the specified trace mask.
RSI::RapidCode::Trace::MaskOnSet
static void MaskOnSet(RSITrace maskOn)
Turn on a particular trace output mask.
RSI::RapidCode::Trace::InjectMessage
static void InjectMessage(RSITrace traceLevel, const char *const message)
Add a message to the Trace Log.
RSI::RapidCode::Trace::MaskOnGet
static bool MaskOnGet(RSITrace maskOn)
Check to see if a particular trace output mask is turned on.
RSI::RapidCode::Trace::MaskOffSet
static void MaskOffSet(RSITrace maskOff)
Turn off a particular trace output mask.
RSI::RapidCode::Trace::FileClose
static void FileClose()
Stops Logging to the file.
RSI::RapidCode::Trace::FileSet
static int32_t FileSet(const char *const fileName)
Channels Tracing messages to specified file.
RSI::RapidCode::Trace::MaskClear
static void MaskClear()
Clear the trace output mask.
RSI::RapidCode::Trace
Tracing allows for low level logs to be generated.
Definition rsi.h:11704
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1124
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1389
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1363
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1369
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:300
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1357
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:1111
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:539
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1214
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1104
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:1284
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:933
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1005
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:657
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:644
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1230
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1080
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:1220
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1276
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:593
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:884
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1025
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:1133
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:631
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1350
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1322
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1060
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:283
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1264
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1290
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:624
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1193
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1098
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:674
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:981
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:856
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1118
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:878
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1296
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1019
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1317
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network index types for Axis.
Definition rsienums.h:1330
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:579
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1154
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:846
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1183
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:956
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1014
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMax
int32_t RmpThreadPriorityMax
[Linux] The maximum thread priority. All threads of the RMP and RMPNetwork will be based off of this....
Definition rsi.h:1026
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:932
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:866
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3814
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3807
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3812
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:3813
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:3808
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:3809
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:3810
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:3811
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3815
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