APIs, concepts, guides, and more
rsi.h
1#ifndef _RSI_H
2#define _RSI_H
3
4#include <stdlib.h>
5#include <vector>
6#include <stdio.h>
7#include <string.h>
8#include <math.h>
9#include <exception>
10#include <cstdint>
11#include <cstring>
12
13#include "rsienums.h"
14
15#if defined(_WIN32)
16# if !defined(__INTIME__)
17# define HAS_CARTESIAN_ROBOT 1
18# endif
19# if !defined(RSI_API)
20# if defined(RSIDLL)
21# define RSI_API __declspec(dllexport)
22# else
23# define RSI_API __declspec(dllimport)
24# endif
25# endif
26#elif defined(__linux__)
27# define HAS_CARTESIAN_ROBOT 1
28# if !defined(RSI_API)
29# define RSI_API __attribute__ ((visibility ("default")))
30# endif
31#endif
32
33// Macro for pure virtual definitions
34#define PURE_VIRTUAL = 0
35
37namespace RSI
38{
39
41namespace RapidCode
42{
43
44 // Forward declaration of the implementation class for RapidVector.
45 template<typename Type>
46 class RapidVector;
47
48#if defined(__cplusplus)
49extern "C"
50{
51#endif
52
53
54class MotionController;
55class Axis;
56class MultiAxis;
57class IO;
58class RapidCodeNetworkNode;
59class IOPoint;
60class RTOS;
61
63class StaticInstanceMediator
64{
65private:
66 bool isValid;
67public:
68
69 bool IsValid() { return isValid; }
70
71 void OnDelete() { isValid = false; }
72
73 void OnCreate() { isValid = true; }
74};
75
78
110class RsiError : public std::exception
111{
112public:
114 RSIErrorMessage number;
116 int32_t lineNumber;
118 int32_t objectIndex;
120 bool isWarning;
122 static inline constexpr uint32_t RSI_ERROR_TEXT_SIZE = 512U;
123 char text[RSI_ERROR_TEXT_SIZE];
125 char functionName[RSI_ERROR_TEXT_SIZE];
127 char shortText[RSI_ERROR_TEXT_SIZE];
129 char fileName[RSI_ERROR_TEXT_SIZE];
130
131 RsiError()
132 {
133 text[0] = '\0';
134 functionName[0] = '\0';
135 shortText[0] = '\0';
136 fileName[0] = '\0';
137 number = RSIErrorMessage::RSIMessageOK;
138 lineNumber = -1;
139 isWarning = false;
140 objectIndex = -1;
141 }
150 RsiError(const RsiError& copyFrom)
151 {
152#if defined(_WIN32)
153 strncpy_s(text, RSI_ERROR_TEXT_SIZE, copyFrom.text, RSI_ERROR_TEXT_SIZE);
154 strncpy_s(functionName, RSI_ERROR_TEXT_SIZE, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
155 strncpy_s(shortText, RSI_ERROR_TEXT_SIZE, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
156 strncpy_s(fileName, RSI_ERROR_TEXT_SIZE, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
157#elif defined(__linux__)
158 strncpy(text, copyFrom.text, RSI_ERROR_TEXT_SIZE);
159 strncpy(functionName, copyFrom.functionName, RSI_ERROR_TEXT_SIZE);
160 strncpy(shortText, copyFrom.shortText, RSI_ERROR_TEXT_SIZE);
161 strncpy(fileName, copyFrom.fileName, RSI_ERROR_TEXT_SIZE);
162#endif
163 number = copyFrom.number;
164 lineNumber = copyFrom.lineNumber;
165 isWarning = copyFrom.isWarning;
166 objectIndex = copyFrom.objectIndex;
167 }
168 ~RsiError()
169 {
170 }
171
173 virtual const char* what() const noexcept { return text; }
174};
175
184class RSI_API RapidCodeObject {
185public:
190
191
192
205 virtual const char* const VersionGet() PURE_VIRTUAL;
206
208 virtual int32_t MpiVersionMajor() PURE_VIRTUAL;
210 virtual int32_t MpiVersionMinor() PURE_VIRTUAL;
212 virtual int32_t MpiVersionRelease() PURE_VIRTUAL;
214 virtual int32_t RSIVersionMajor() PURE_VIRTUAL;
216 virtual int32_t RSIVersionMinor() PURE_VIRTUAL;
218 virtual int32_t RSIVersionMicro() PURE_VIRTUAL;
220 virtual int32_t RSIVersionPatch() PURE_VIRTUAL;
221
224 virtual int32_t NumberGet() PURE_VIRTUAL;
226
231
232
233
234
260 virtual int32_t ErrorLogCountGet() PURE_VIRTUAL;
261
275 virtual const RsiError* const ErrorLogGet() PURE_VIRTUAL;
276
289 virtual void ErrorLogClear() PURE_VIRTUAL;
290
309 virtual void ThrowExceptions(bool state) PURE_VIRTUAL;
310
312 virtual const char* const RsiErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
313
315 virtual const char* const ErrorMessageGet(RSIErrorMessage msg) PURE_VIRTUAL;
316
318 virtual bool WarningMsgCheck(RSIErrorMessage msg) PURE_VIRTUAL;
320
325
326
341 virtual void Trace(bool state) PURE_VIRTUAL;
342
357 virtual void TraceMaskOnSet(RSITrace maskOn) PURE_VIRTUAL;
358
359
380 virtual bool TraceMaskOnGet(RSITrace maskOn) PURE_VIRTUAL;
381
397 virtual void TraceMaskOffSet(RSITrace maskOff) PURE_VIRTUAL;
398
412 virtual void TraceMaskClear() PURE_VIRTUAL;
413
428 virtual void TraceFileSet(const char* const fileName) PURE_VIRTUAL;
429
442 virtual void TraceFileClose() PURE_VIRTUAL;
443
458 virtual void TraceInjectMessage(RSITrace traceLevel, const char* const message) PURE_VIRTUAL;
459
460
461
462
464};
465
467typedef union
468{
469 bool Bool;
470 int8_t Int8;
471 uint8_t UInt8;
472 int16_t Int16;
473 uint16_t UInt16;
474 int32_t Int32;
475 uint32_t UInt32;
476 float Float;
477 double Double;
478 int64_t Int64;
479 uint64_t UInt64;
480} FirmwareValue;
481
483
497class RSI_API RapidCodeOS {
498public:
499
504
517 virtual void Sleep(int32_t milliseconds) PURE_VIRTUAL;
518
537 virtual int32_t KeyGet(int32_t milliseconds) PURE_VIRTUAL;
538
548 virtual int32_t TimerCountGet() PURE_VIRTUAL;
549
558 virtual int32_t TimerFrequencyGet() PURE_VIRTUAL;
559
560
572 virtual int32_t PerformanceTimerCountGet() PURE_VIRTUAL;
573
585 virtual int32_t PerformanceTimerFrequencyGet() PURE_VIRTUAL;
586
588};
589
591
594class RSI_API RapidCodeInterrupt : public virtual RapidCodeObject {
595public:
599
601 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
602
603
625 virtual RSIEventType InterruptWait(int32_t milliseconds) PURE_VIRTUAL;
626
646 virtual const char* const InterruptNameGet() PURE_VIRTUAL;
647
668 virtual int32_t InterruptSampleTimeGet() PURE_VIRTUAL;
669
670
691 virtual int32_t InterruptSourceNumberGet() PURE_VIRTUAL;
692
694 virtual uint16_t InterruptMotionIdGet() PURE_VIRTUAL;
695
697 virtual void InterruptWake() PURE_VIRTUAL;
698
700 virtual void InterruptMaskClear() PURE_VIRTUAL;
701
703 virtual void InterruptMaskAllSet() PURE_VIRTUAL;
704
706 virtual void InterruptMaskOnSet(RSIEventType eventType) PURE_VIRTUAL;
707
709 virtual void InterruptMaskOffSet(RSIEventType eventType) PURE_VIRTUAL;
710
712 virtual bool InterruptMaskOnGet(RSIEventType eventType) PURE_VIRTUAL;
713
714
727 virtual uint64_t InterruptUserDataGet(uint32_t userDataIndex) PURE_VIRTUAL;
728
729
741 virtual double InterruptUserDataDoubleGet(uint32_t userDataIndex) PURE_VIRTUAL;
742
748 virtual FirmwareValue InterruptUserDataValueGet(uint32_t userDataIndex) PURE_VIRTUAL;
749
785
787 virtual void InterruptUserDataAddressSet(uint32_t userDataIndex, uint64_t hostAddress) PURE_VIRTUAL;
788
794 virtual uint64_t InterruptUserDataAddressGet(uint32_t userDataIndex) PURE_VIRTUAL;
795};
796
800class RSI_API MotionController : public virtual RapidCodeInterrupt {
801protected:
802 MotionController();
803 StaticInstanceMediator* _mediator;
804
805public:
806
807 // Static functions or attributes should be grouped together.
812
814 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
815
817 static inline constexpr uint32_t AxisCountMaximum = 64;
818
820 static inline constexpr uint32_t MotionCountMaximum = 64;
821
823 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
824
826 static inline constexpr uint32_t RecorderCountMaximum = 64;
827
829 static inline constexpr uint32_t CompensatorCountMaximum = 64;
830
832 static inline constexpr uint32_t MathBlockCountMaximum = 64;
833
835 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
836
843 static inline constexpr double SampleRateDefault = 1000.0;
844
854 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
855
857
858 // Static functions or attributes should be grouped together.
863
865 struct CreationParameters
866 {
871
876 static inline constexpr int32_t ControllerIndexDefault = 0;
877
882 static inline constexpr uint32_t PathLengthMaximum = 256;
883
889 static inline constexpr int32_t CpuAffinityDefault = -1;
890
895 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
896
901 static inline constexpr int32_t RmpThreadPriorityRange = 8;
902
907 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
908
913 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
914
919 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
921
922
927
932 CreationParameters()
933 {
934 ControllerIndex = ControllerIndexDefault;
935 std::memset(RmpPath, '\0', PathLengthMaximum);
936 std::memset(NicPrimary, '\0', PathLengthMaximum);
937 std::memset(NicSecondary, '\0', PathLengthMaximum);
938#if defined(_WIN32)
939 std::memset(NodeName, '\0', PathLengthMaximum);
940#elif defined(__linux__)
941 CpuAffinity = CpuAffinityDefault;
942 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
943#endif
944 }
946
951
956 int32_t ControllerIndex;
957
962 char RmpPath[PathLengthMaximum];
963
968 char NicPrimary[PathLengthMaximum];
969
974 char NicSecondary[PathLengthMaximum];
976
977 // Control which platform specific parameters are available
978#if defined(_WIN32) && defined(__linux__)
979 static_assert(false, "_WIN32 and __linux__ defined. Double check preprocessor definitions");
980#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
981 static_assert(false, "Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
982#endif //defined(_WIN32) && defined(__linux__)
983#if defined(_WIN32) || defined(DOXYGEN)
984
989
994 char NodeName[PathLengthMaximum];
995
997#endif //defined(_WIN32)
998#if defined(__linux__) || defined(DOXYGEN)
999
1004
1014 int32_t CpuAffinity;
1015
1026 int32_t RmpThreadPriorityMax;
1027
1029# endif // defined(__linux__)
1030 };
1031
1042 static MotionController* Create(CreationParameters* creationParameters);
1043
1048 static MotionController* Get();
1049
1055 static MotionController* Get(int32_t controllerIndex);
1056
1057#if defined(_WIN32)
1084 static MotionController* CreateFromSoftware();
1085
1090 static MotionController* CreateFromSoftware(const char* const RtaPath);
1091
1097 static MotionController* CreateFromSoftware(const char* const RtaPath, const char* const NodeName);
1098
1125 static MotionController* Create();
1126#endif // defined(_WIN32)
1127
1132 static MotionController* CreateFromFile(const char* const fileName);
1134
1139
1158 virtual Axis* AxisGet(int32_t axisNumber) PURE_VIRTUAL;
1159
1176 virtual MultiAxis* MultiAxisGet(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1177
1191 virtual MultiAxis* LoadExistingMultiAxis(int32_t motionSupervisorNumber) PURE_VIRTUAL;
1192
1207 virtual RapidCodeNetworkNode* NetworkNodeGet(int32_t nodeNumber) PURE_VIRTUAL;
1208
1224 virtual IO* IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1225
1248 virtual void Delete(void) PURE_VIRTUAL;
1250
1255
1265 virtual void Reset() PURE_VIRTUAL;
1266
1276 virtual void Refresh() PURE_VIRTUAL;
1277
1285 virtual void Shutdown() PURE_VIRTUAL;
1286
1295 virtual void MemoryToFile(const char* const fileName) PURE_VIRTUAL;
1297
1302
1325 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1326
1341 virtual double ProcessorUsageGet() PURE_VIRTUAL;
1342
1353 virtual void ProcessorUsageClear() PURE_VIRTUAL;
1354
1358 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1359
1360
1362
1367
1368
1372 virtual CreationParameters CreationParametersGet() PURE_VIRTUAL;
1373
1396 virtual uint32_t SerialNumberGet(void) PURE_VIRTUAL;
1397
1416 virtual void SampleWait(uint32_t samples) PURE_VIRTUAL;
1417
1418
1420 virtual RSIControllerType ControllerTypeGet() PURE_VIRTUAL;
1421
1423 virtual const char* const ServerNameGet() PURE_VIRTUAL;
1424
1426 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1427
1428
1429
1430
1452 virtual RSIProcessorType ProcessorTypeGet() PURE_VIRTUAL;
1453
1478 virtual void SampleRateSet(double sampleRate) PURE_VIRTUAL;
1479
1483 virtual double SampleRateGet() PURE_VIRTUAL;
1484
1502 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1503
1522 virtual void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1523
1526 virtual void AxisCountSet(int32_t axisCount, bool setMotorFilterSupervisor) PURE_VIRTUAL;
1527
1530 virtual bool IsLicensed() PURE_VIRTUAL;
1531
1533 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1534
1536 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1537
1539 virtual bool MechaWareLicenseGet() PURE_VIRTUAL;
1540
1542 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1543
1568 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1569
1586 virtual void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1587
1613 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1614
1638 virtual void UserVersionSet(int32_t version) PURE_VIRTUAL;
1639
1642 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1643
1660 virtual void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1661
1676 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1678
1683
1701 virtual const char* const FirmwareVersionGet() PURE_VIRTUAL;
1702
1720 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1721
1723 virtual bool HasMechaWare() PURE_VIRTUAL;
1724
1748 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1749
1750
1768 virtual double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1769
1795 virtual void MemoryBlockGet(uint64_t address, void* dataStart, int32_t size) PURE_VIRTUAL;
1796
1811 virtual void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1812
1813
1814
1831 virtual void MemoryDoubleSet(uint64_t address, double dataDouble) PURE_VIRTUAL;
1832
1858 virtual void MemoryBlockSet(uint64_t address, const void* const dataStart, int32_t size) PURE_VIRTUAL;
1859
1878 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1879
1880
1881
1882
1905 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1906
1907
1908
1931 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1932
1933
1934
1935
1944 virtual uint64_t AddressFromStringGet(const char* const addressName) PURE_VIRTUAL;
1945
1946
1947
1956 virtual const char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1957
1972 virtual uint64_t AddressGet(RSIControllerAddressType type) PURE_VIRTUAL;
1973
1991 virtual uint64_t AddressGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
1992
1993
2006 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type) PURE_VIRTUAL;
2007
2012 virtual RSIDataType AddressDataTypeGet(RSIControllerAddressType type, int32_t objectIndex) PURE_VIRTUAL;
2013
2027 virtual bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
2028
2029
2030
2046 virtual void MotionHoldGateSet(int32_t gateNumber, bool hold) PURE_VIRTUAL;
2048
2053
2055 virtual RSINetworkTechnologyType NetworkTechnologyTypeGet() PURE_VIRTUAL;
2056
2058 virtual RSINetworkType NetworkTypeGet() PURE_VIRTUAL;
2059
2062 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2063
2109 virtual RSINetworkEniResult NetworkEniGenerate() PURE_VIRTUAL;
2110
2131 virtual const char* const NetworkEniGenerateOutputGet() PURE_VIRTUAL;
2132
2139 virtual void NetworkStart() PURE_VIRTUAL;
2140
2145 virtual void NetworkStart(RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2146
2153 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod) PURE_VIRTUAL;
2154
2159 virtual void NetworkStart(RSINetworkStartMode startMode, RSINetworkStartupMethod startupMethod, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
2160
2171 virtual void NetworkShutdown() PURE_VIRTUAL;
2172
2175 virtual RSINetworkState NetworkStateGet() PURE_VIRTUAL;
2176
2178 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2179
2181 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2182
2184 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2185
2189 virtual const char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2190
2193 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2194
2197 virtual const char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2198
2202 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2203
2204
2205
2209 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2210
2214 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2215
2218 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2219
2220
2224 virtual const char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2225
2227 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2228
2230 virtual const char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2231
2247 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2248
2265 virtual void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2266
2285 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2286
2291 virtual uint64_t NetworkOutputAddressGet(int32_t index, RSINetworkOutputAddressType type) PURE_VIRTUAL;
2292
2303 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2304
2316 virtual void NetworkOutputOverrideSet(int32_t index, bool outputOverride) PURE_VIRTUAL;
2317
2328 virtual bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2329
2330
2331
2332
2349 virtual void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2350
2363 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2364
2379 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2380
2384 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2385
2387 virtual RSINetworkStartError LastNetworkStartErrorGet() PURE_VIRTUAL;
2388
2393 virtual const char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2394
2396 virtual void NetworkTimingEnableSet(bool enable) PURE_VIRTUAL;
2397
2399 virtual void NetworkTimingClear() PURE_VIRTUAL;
2400
2402 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2403
2405 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2406
2408 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2409
2411 virtual void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2412
2414 virtual void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2415
2417 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2418
2420 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2421
2423 virtual bool NetworkSynchronizedGet() PURE_VIRTUAL;
2425
2430
2447 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
2448
2467 virtual void InterruptWake() PURE_VIRTUAL;
2468
2496 virtual void SyncInterruptEnableSet(bool enable) PURE_VIRTUAL;
2497
2523 virtual void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2524
2544 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2545
2547 virtual bool ServiceThreadStateGet() PURE_VIRTUAL;
2548
2559 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2560
2562 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2563
2576 virtual void SyncInterruptHostProcessFlagSet(bool hostProcessFlag) PURE_VIRTUAL;
2577
2588 virtual bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2589
2599 virtual void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2600
2627
2628 virtual void ServiceThreadEnableSet(bool enable) PURE_VIRTUAL;
2630
2635
2636
2637
2656 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2657
2675 virtual void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2676
2693 virtual void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2694
2696 virtual void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2697
2714 virtual void RecorderCircularBufferSet(bool enable) PURE_VIRTUAL;
2715
2717 virtual void RecorderCircularBufferSet(int32_t recorderNumber, bool enable) PURE_VIRTUAL;
2718
2734 virtual void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2735
2737 virtual void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2738
2755 virtual void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2756
2758 virtual void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2759
2760
2766 virtual void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2767
2781
2787 virtual void RecorderConfigureToTriggerOnMotion(Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2788
2795 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, Axis *axis, bool triggerOnMotion) PURE_VIRTUAL;
2796
2802 virtual void RecorderConfigureToTriggerOnMotion(MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2803
2810 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) PURE_VIRTUAL;
2811
2818 virtual void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber, int32_t motionNumber, bool triggerOnMotion) PURE_VIRTUAL;
2819
2828 virtual bool RecorderTriggerOnMotionGet(int32_t recorderNumber) PURE_VIRTUAL;
2829
2845 virtual bool RecorderEnabledGet() PURE_VIRTUAL;
2846
2848 virtual bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2849
2866 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2867
2869 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2870
2884 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2885
2887 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2888
2903 virtual void RecorderStart() PURE_VIRTUAL;
2904
2906 virtual void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2907
2924 virtual void RecorderStop() PURE_VIRTUAL;
2925
2927 virtual void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2928
2929
2930
2946 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2947
2949 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2950
2965 virtual void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2966
2986 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2987
2989 virtual void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2990
3007 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
3008
3010 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3011
3030 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3031
3033 virtual double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
3034
3036 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
3037
3056 virtual double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
3057
3075 virtual void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
3076
3078 virtual void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
3079
3094 virtual void RecorderReset() PURE_VIRTUAL;
3095
3097 virtual void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
3098
3110 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
3111
3128 virtual void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3130
3135
3136
3137
3138
3163 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3164
3184 virtual void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3185
3196 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3197
3217 virtual void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3218
3232 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3233
3259 virtual void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, int32_t secondInputAxisNumber, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3260
3290 virtual void CompensatorConfigSet(int32_t compensatorNumber, Axis* firstInputAxis, RSIAxisMasterType firstInputAxisType, double firstInputAxisMinimum, double firstInputAxisMaximum, double firstInputAxisDelta, Axis* secondInputAxis, RSIAxisMasterType secondInputAxisType, double secondInputAxisMinimum, double secondInputAxisMaximum, double secondInputAxisDelta, Axis* outputAxis, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3291
3312 virtual void CompensatorConfigSet(int32_t compensatorNumber, int32_t inputAxisNumber, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, int32_t outputAxisNumber, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3313
3334 virtual void CompensatorConfigSet(int32_t compensatorNumber, Axis* inputAxis, RSIAxisMasterType inputAxisType, double inputAxisMinimum, double inputAxisMaximum, double inputAxisDelta, Axis* outputAxis, RSICompensatorOutputType outputType, const double* const table) PURE_VIRTUAL;
3335
3347 virtual void CompensatorTableSet(int32_t compensatorNumber, const double* const table) PURE_VIRTUAL;
3348
3360 virtual void CompensatorTableGet(int32_t compensatorNumber, double* table) PURE_VIRTUAL;
3361
3381 virtual double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3382
3383
3384
3385
3386
3387
3399
3400 virtual void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3401
3410 virtual void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3411
3416 virtual void CompensatorDisable(int32_t compensatorNumber, bool force) PURE_VIRTUAL;
3417
3424 virtual void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3425
3427
3432
3452 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3453
3473 virtual void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3474
3494 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration, bool singleShot) PURE_VIRTUAL;
3495
3498 virtual void UserLimitConfigSet(int32_t number, RSIUserLimitTriggerType triggerType, RSIAction action, int32_t actionAxis, double duration) PURE_VIRTUAL;
3499
3501 virtual RSIUserLimitTriggerType UserLimitTriggerTypeGet(int32_t number) PURE_VIRTUAL;
3502
3504 virtual RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3505
3507 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3508
3510 virtual double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3511
3513 virtual bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3514
3539 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3540
3562 virtual void UserLimitConditionSet(int32_t number, int32_t conditionNumber, RSIUserLimitLogic logic, uint64_t addressOfDouble, double limitValueDouble) PURE_VIRTUAL;
3563
3565 virtual RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3566
3568 virtual RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3569
3571 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3572
3574 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3575
3577 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3578
3580 virtual double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3581
3608 virtual void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3609
3612 virtual void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3613
3616 virtual void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3617
3620 virtual void UserLimitOutputSet(int32_t number, double limitValueDouble, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3621
3637 virtual void UserLimitOutputSet(int32_t number, RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr, bool enabled) PURE_VIRTUAL;
3638
3640 virtual bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3641
3643 virtual RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3644
3646 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3647
3649 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3650
3652 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3653
3655 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3656
3658 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3659
3661 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3662
3664 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3665
3666
3668 virtual double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3669
3690 virtual bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3691
3712 virtual bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3713
3715 virtual void UserLimitEnableSet(int32_t number, bool enable) PURE_VIRTUAL;
3716
3731 virtual void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3732
3744 virtual void UserLimitReset(int32_t number) PURE_VIRTUAL;
3745
3754
3755 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3756
3774 virtual void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3775
3777 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3779
3780
3785
3795 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3796
3807 virtual void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3808
3827
3829 virtual MathBlockConfig MathBlockConfigGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3830
3832 virtual void MathBlockConfigSet(int32_t mathBlockNumber, MathBlockConfig& config) PURE_VIRTUAL;
3833
3835 virtual FirmwareValue MathBlockProcessValueGet(int32_t mathBlockNumber) PURE_VIRTUAL;
3836
3838
3839
3844
3846 RapidCodeOS* OS;
3847
3849};
3850
3854class RSI_API RapidCodeNetworkNode : public virtual RapidCodeObject {
3855public:
3856
3861
3863 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3864
3866
3867
3872
3874 virtual bool Exists() PURE_VIRTUAL;
3875
3877 virtual RSINodeType TypeGet() PURE_VIRTUAL;
3878
3880 virtual bool IsEtherCAT() PURE_VIRTUAL;
3881
3883 virtual bool IsSynqNet() PURE_VIRTUAL;
3884
3886
3891
3899 virtual bool HasIO() PURE_VIRTUAL;
3900
3910 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3911
3921 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3922
3931 virtual void DigitalOutSet(int32_t digitalOutNumber, bool state) PURE_VIRTUAL;
3932
3942 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3943
3953 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3954
3963 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3964
3966
3970
3978 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3979
3987 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3988
3996 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3997
4005 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
4006
4007
4009 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
4010
4012 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4013
4015 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4016
4018 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4019
4021 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
4022
4024 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
4025
4038 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4039
4052 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4053
4066 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
4067
4080 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
4081
4093 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
4094
4106 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
4107
4119 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
4120
4132 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
4133
4147 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4148
4152 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4153
4166 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
4167
4171 virtual const char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4172
4183 virtual RapidVector<uint8_t> ServiceChannelReadBytes(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4184
4198 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4199
4200
4205 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4206
4218 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue) PURE_VIRTUAL;
4219
4227 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4228
4237 virtual void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, RapidVector<uint8_t> bytes, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4238
4244 virtual char* AKDASCIICommand(const char* const command) PURE_VIRTUAL;
4245
4247 virtual void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4248
4250 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4251
4264 virtual const char* const NameGet() PURE_VIRTUAL;
4265
4278 virtual const char* const ProductNameGet() PURE_VIRTUAL;
4279
4292 virtual const char* const VendorNameGet() PURE_VIRTUAL;
4293
4295 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4296
4298 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4299
4301 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4302
4304 virtual const char* const SerialNumberGet() PURE_VIRTUAL;
4305
4307 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4308
4310 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4311};
4312
4314
4317class RSI_API RapidCodeMotion : public virtual RapidCodeInterrupt{
4318public:
4319
4321 static inline constexpr int32_t AmpEnableTimeoutMillisecondsDefault = 500;
4322
4328
4330 MotionController* rsiControl;
4331
4333
4334
4338
4356 virtual int32_t NumberGet() PURE_VIRTUAL;
4357
4374 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4375
4379
4404 virtual void TriggeredModify() PURE_VIRTUAL;
4405
4432 virtual void Stop() PURE_VIRTUAL;
4433
4458 virtual void Resume() PURE_VIRTUAL;
4459
4484 virtual void EStop() PURE_VIRTUAL;
4485
4506 virtual void EStopAbort() PURE_VIRTUAL;
4507
4524 virtual void EStopModify() PURE_VIRTUAL;
4525
4528 virtual void EStopModifyAbort() PURE_VIRTUAL;
4529
4551 virtual void Abort() PURE_VIRTUAL;
4552
4579 virtual void ClearFaults() PURE_VIRTUAL;
4580
4621 virtual int32_t AmpEnableSet(bool enable, int32_t ampActiveTimeoutMilliseconds = AmpEnableTimeoutMillisecondsDefault, bool overrideRestrictedState = false) PURE_VIRTUAL;
4622
4633 virtual bool AmpEnableGet() PURE_VIRTUAL;
4634
4654
4655 virtual void Map() PURE_VIRTUAL;
4656
4674 virtual void Unmap() PURE_VIRTUAL;
4675
4680 virtual bool IsMapped() PURE_VIRTUAL;
4681
4698 virtual void FeedRateSet(double rate) PURE_VIRTUAL;
4699
4718 virtual double FeedRateGet() PURE_VIRTUAL;
4719
4723
4724
4725
4726
4746 virtual RSIState StateGet() PURE_VIRTUAL;
4747
4775 virtual RSISource SourceGet() PURE_VIRTUAL;
4776
4801 virtual const char* const SourceNameGet(RSISource source) PURE_VIRTUAL;
4802
4825 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4826
4853 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4854
4875 virtual bool MotionDoneGet() PURE_VIRTUAL;
4876
4899 virtual bool StatusBitGet(RSIEventType bitMask) PURE_VIRTUAL;
4900
4915 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4916
4920
4949 virtual void InterruptEnableSet(bool enable) PURE_VIRTUAL;
4950
4964 virtual void InterruptWake() PURE_VIRTUAL;
4965
4969
4985 virtual double StopTimeGet() PURE_VIRTUAL;
4986
5002 virtual void StopTimeSet(double seconds) PURE_VIRTUAL;
5003
5019 virtual double EStopTimeGet() PURE_VIRTUAL;
5020
5036 virtual void EStopTimeSet(double seconds) PURE_VIRTUAL;
5037
5054 virtual double MotionDelayGet() PURE_VIRTUAL;
5055
5076 virtual void MotionDelaySet(double seconds) PURE_VIRTUAL;
5077
5098 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
5099
5117 virtual void MotionIdSet(uint16_t id) PURE_VIRTUAL;
5118
5120 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
5121
5123 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
5124
5139 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
5140
5148 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
5149
5169 virtual RSIMotionHoldType MotionHoldTypeGet() PURE_VIRTUAL;
5170
5203 virtual void MotionHoldTypeSet(RSIMotionHoldType type) PURE_VIRTUAL;
5204
5216 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5217
5236
5237 virtual void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5238
5255 virtual double MotionHoldTimeoutGet() PURE_VIRTUAL;
5256
5275 virtual void MotionHoldTimeoutSet(double seconds) PURE_VIRTUAL;
5276
5300 virtual bool MotionHoldGateGet() PURE_VIRTUAL;
5301
5324 virtual void MotionHoldGateSet(bool hold) PURE_VIRTUAL;
5325
5342 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5343
5360 virtual void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5361
5378
5379 virtual double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5380
5397 virtual void MotionHoldAxisPositionSet(double position) PURE_VIRTUAL;
5398
5400 virtual RSIUserLimitLogic MotionHoldAxisLogicGet() PURE_VIRTUAL;
5401
5403 virtual void MotionHoldAxisLogicSet(RSIUserLimitLogic logic) PURE_VIRTUAL;
5404
5421 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5422
5439 virtual void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5440
5456 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5457
5473 virtual void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5474
5490 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5491
5507 virtual void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5508
5510 virtual void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5511
5536
5537 virtual bool MotionAttributeMaskOnGet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5538
5557 virtual void MotionAttributeMaskOnSet(RSIMotionAttrMask maskOn) PURE_VIRTUAL;
5558
5575
5576 virtual void MotionAttributeMaskOffSet(RSIMotionAttrMask maskOff) PURE_VIRTUAL;
5577
5581
5582
5583
5619 virtual void MovePT(RSIMotionType type, const double* const position, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5620
5658 virtual void MovePVT(const double* const position, const double* const velocity, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5659
5689 virtual void MovePVAJT(const double* const position, const double* const velocity, const double* const acceleration, const double* const jerk, const double* const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5690
5727 virtual void MovePTF(const double* const position, const double* const time, const double* const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5728
5769 virtual void MovePVTF(const double* const position, const double* const velocity, const double* const time, const double* const feedforward, int32_t pointCount, int32_t emptyCount, bool retain, bool final) PURE_VIRTUAL;
5770
5775 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5776
5798 virtual void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5799
5804 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on) PURE_VIRTUAL;
5805
5824 virtual void StreamingOutputAdd(RapidCode::IOPoint* point, bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5825
5841 virtual void StreamingOutputsClear() PURE_VIRTUAL;
5842
5862 virtual void StreamingOutputsEnableSet(bool enable) PURE_VIRTUAL;
5863};
5864
5865
5870class RSI_API Axis : public virtual RapidCodeMotion{
5871public:
5872
5873 friend class MotionController;
5874 friend class MultiAxis;
5875
5876
5881
5883 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5884
5886 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5887
5889
5890
5895
5900 RapidCodeNetworkNode* NetworkNode;
5901
5902
5904
5909
5947 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel) PURE_VIRTUAL;
5948
5970 virtual void MoveTrapezoidal(double position, double vel, double accel, double decel, double finalVel) PURE_VIRTUAL;
5971
5994 virtual void MoveTrapezoidal(double position) PURE_VIRTUAL; // use defaults Overload
5995
6003
6004 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6005
6015 virtual void MoveSCurve(double position) PURE_VIRTUAL;
6016
6020 virtual void MoveSCurve(double position, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6021
6025 virtual void MoveVelocity(double velocity) PURE_VIRTUAL;
6026
6061 virtual void MoveVelocity(double velocity, double accel) PURE_VIRTUAL;
6062
6100 virtual void MoveVelocitySCurve(double velocity, double accel, double jerkPct) PURE_VIRTUAL;
6101
6143 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct) PURE_VIRTUAL;
6144
6151 virtual void MoveRelative(double relativePosition) PURE_VIRTUAL;
6152
6158 virtual void MoveRelative(double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel) PURE_VIRTUAL;
6160
6165
6190 virtual void PositionSet(double position) PURE_VIRTUAL;
6191
6210 virtual double ActualPositionGet() PURE_VIRTUAL;
6211
6233 virtual void ActualPositionSet(double position) PURE_VIRTUAL;
6234
6251 virtual double CompensationPositionGet() PURE_VIRTUAL;
6252
6265 virtual void CompensationPositionSet(double position) PURE_VIRTUAL;
6266
6278 virtual double TargetPositionGet() PURE_VIRTUAL;
6279
6299 virtual double CommandPositionGet() PURE_VIRTUAL;
6300
6332 virtual void CommandPositionSet(double position) PURE_VIRTUAL;
6333
6357 virtual void CommandPositionDirectSet(double position) PURE_VIRTUAL;
6358
6375 virtual double OriginPositionGet() PURE_VIRTUAL;
6376
6399 virtual void OriginPositionSet(double position) PURE_VIRTUAL;
6400
6421 virtual double PositionErrorGet() PURE_VIRTUAL;
6422
6444 virtual double CommandVelocityGet() PURE_VIRTUAL;
6445
6468 virtual double ActualVelocityGet() PURE_VIRTUAL;
6469
6490 virtual double CommandAccelGet() PURE_VIRTUAL;
6491
6493 virtual double CommandJerkGet() PURE_VIRTUAL;
6494
6515 virtual double EncoderPositionGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
6516
6538 virtual double UserUnitsGet() PURE_VIRTUAL;
6539
6562 virtual void UserUnitsSet(double countsPerUserUnit) PURE_VIRTUAL;
6563
6565 virtual double UserUnitsToCounts(double userUnits) PURE_VIRTUAL;
6566
6568 virtual double CountsToUserUnits(double counts) PURE_VIRTUAL;
6569
6589 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6591
6596
6617
6618 virtual void Home() PURE_VIRTUAL; // this one moves to zero by default
6619
6623 virtual void Home(bool moveToZero) PURE_VIRTUAL;
6624
6643
6644 virtual RSIHomeMethod HomeMethodGet() PURE_VIRTUAL;
6645
6664
6665 virtual void HomeMethodSet(RSIHomeMethod method) PURE_VIRTUAL;
6666
6687
6688 virtual double HomeOffsetGet() PURE_VIRTUAL;
6689
6734 virtual void HomeOffsetSet(double offset) PURE_VIRTUAL;
6735
6753
6754 virtual double HomeVelocityGet() PURE_VIRTUAL;
6755
6758 virtual double HomeVelocityGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6759
6780 virtual void HomeVelocitySet(double velocity) PURE_VIRTUAL;
6781
6786 virtual void HomeVelocitySet(RSIHomeStage homeStage, double velocity) PURE_VIRTUAL;
6787
6803 virtual double HomeSlowVelocityGet() PURE_VIRTUAL;
6804
6820 virtual void HomeSlowVelocitySet(double velocity) PURE_VIRTUAL;
6821
6839
6840 virtual double HomeAccelerationGet() PURE_VIRTUAL;
6841
6844 virtual double HomeAccelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6845
6865
6866 virtual void HomeAccelerationSet(double accel) PURE_VIRTUAL;
6867
6871 virtual void HomeAccelerationSet(RSIHomeStage homeStage, double accel) PURE_VIRTUAL;
6872
6889
6890 virtual double HomeDecelerationGet() PURE_VIRTUAL;
6891
6894 virtual double HomeDecelerationGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6895
6914
6915 virtual void HomeDecelerationSet(double decel) PURE_VIRTUAL;
6916
6920 virtual void HomeDecelerationSet(RSIHomeStage homeStage, double decel) PURE_VIRTUAL;
6921
6939
6940 virtual double HomeJerkPercentGet() PURE_VIRTUAL;
6941
6944 virtual double HomeJerkPercentGet(RSIHomeStage homeStage) PURE_VIRTUAL;
6945
6965 virtual void HomeJerkPercentSet(double percent) PURE_VIRTUAL;
6966
6971 virtual void HomeJerkPercentSet(RSIHomeStage homeStage, double percent) PURE_VIRTUAL;
6972
6992 virtual void HomeCancelSet(bool cancel) PURE_VIRTUAL;
6993
7012 virtual bool HomeStateGet() PURE_VIRTUAL;
7013
7026 virtual void HomeStateSet(bool homed) PURE_VIRTUAL;
7027
7032 virtual void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
7033
7035 virtual void HomeLimitCustomConfigReset() PURE_VIRTUAL;
7036
7038 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
7039
7042 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
7043
7065
7066 virtual void HomeTravelDistanceSet(RSIHomeStage stage, double distanceToTravel) PURE_VIRTUAL;
7067
7087 virtual RSIHomeStage HomeStageGet() PURE_VIRTUAL;
7088
7102 virtual void HomeBehaviorSet(RSIAction behavior) PURE_VIRTUAL;
7103
7115 virtual RSIAction HomeBehaviorGet() PURE_VIRTUAL;
7117
7123
7125 virtual bool FaultMaskBitGet(RSIMotorFaultMask bitMask) PURE_VIRTUAL;
7126
7128 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7130
7135 // reads active configuration to report state
7136
7160
7161 virtual bool NegativeLimitGet() PURE_VIRTUAL;
7162
7186 virtual bool PositiveLimitGet() PURE_VIRTUAL;
7187
7216 virtual bool HomeLimitGet() PURE_VIRTUAL;
7217
7245 virtual bool HomeSwitchGet() PURE_VIRTUAL;
7246
7267 virtual bool AmpFaultGet() PURE_VIRTUAL;
7268
7292 virtual bool AmpEnableGet() PURE_VIRTUAL;
7293
7318 virtual bool DedicatedInExists(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7319
7344 virtual bool DedicatedOutExists(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7345
7368 virtual bool DedicatedInGet(RSIMotorDedicatedIn motorDedicatedInNumber) PURE_VIRTUAL;
7369
7391 virtual uint32_t DedicatedInputsGet() PURE_VIRTUAL;
7392
7415 virtual bool DedicatedOutGet(RSIMotorDedicatedOut motorDedicatedOutNumber) PURE_VIRTUAL;
7416
7438 virtual uint32_t DedicatedOutputsGet() PURE_VIRTUAL;
7440
7445
7466 virtual bool DigitalInGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7467
7485 virtual uint32_t DigitalInputsGet() PURE_VIRTUAL;
7486
7507 virtual bool DigitalOutGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7508
7526 virtual uint32_t DigitalOutputsGet() PURE_VIRTUAL;
7527
7548
7549 virtual void DigitalOutSet(RSIMotorGeneralIo motorGeneralIoNumber, bool outValue) PURE_VIRTUAL;
7550
7569 virtual bool DigitalIoExists(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7570
7589 virtual const char* const DigitalIoNameGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7590
7613 virtual RSIMotorIoTypeMask DigitalIoValidTypesMaskGet(RSIMotorGeneralIo motorGeneralIoNumber) PURE_VIRTUAL;
7614
7633 virtual void DigitalIoTypeSet(RSIMotorGeneralIo motorGeneralIoNumber, RSIMotorIoType type) PURE_VIRTUAL;
7634
7651 virtual double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7653
7658
7672 virtual double EStopDecelerationGet() PURE_VIRTUAL;
7673
7688 virtual void EStopDecelerationSet(double decel) PURE_VIRTUAL;
7689
7700 virtual double EStopJerkPercentGet() PURE_VIRTUAL;
7701
7719 virtual void EStopJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7720
7730 virtual double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7731
7749 virtual void TriggeredModifyDecelerationSet(double decel) PURE_VIRTUAL;
7750
7761 virtual double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7762
7780 virtual void TriggeredModifyJerkPercentSet(double jerkPct) PURE_VIRTUAL;
7781
7783 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7784
7786 virtual void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7787
7807 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7808
7829 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7831
7836
7838 virtual double MotionFinalVelocityGet() PURE_VIRTUAL;
7839
7841 virtual void MotionFinalVelocitySet(double finalVelocity) PURE_VIRTUAL;
7842
7844 virtual double DefaultVelocityGet() PURE_VIRTUAL;
7845
7847 virtual void DefaultVelocitySet(double velocity) PURE_VIRTUAL;
7848
7850 virtual double DefaultAccelerationGet() PURE_VIRTUAL;
7851
7853 virtual void DefaultAccelerationSet(double acceleration) PURE_VIRTUAL;
7854
7856 virtual double DefaultDecelerationGet() PURE_VIRTUAL;
7857
7859 virtual void DefaultDecelerationSet(double deceleration) PURE_VIRTUAL;
7860
7862 virtual double DefaultJerkPercentGet() PURE_VIRTUAL;
7863
7865 virtual void DefaultJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
7866
7868 virtual double DefaultPosition1Get() PURE_VIRTUAL;
7869
7871 virtual void DefaultPosition1Set(double position1) PURE_VIRTUAL;
7872
7874 virtual double DefaultPosition2Get() PURE_VIRTUAL;
7875
7877 virtual void DefaultPosition2Set(double position2) PURE_VIRTUAL;
7878
7880 virtual double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7881
7883 virtual void DefaultRelativeIncrementSet(double relativeIncrement) PURE_VIRTUAL;
7885
7889 // /@{
7890
7913 virtual RSIAction AmpFaultActionGet() PURE_VIRTUAL;
7914
7937 virtual void AmpFaultActionSet(RSIAction action) PURE_VIRTUAL;
7938
7960 virtual bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7961
7983 virtual void AmpFaultTriggerStateSet(bool state) PURE_VIRTUAL;
7984
8005 virtual double AmpFaultDurationGet() PURE_VIRTUAL;
8006
8027 virtual void AmpFaultDurationSet(double seconds) PURE_VIRTUAL;
8028
8053 virtual RSIAction HomeActionGet() PURE_VIRTUAL;
8054
8078 virtual void HomeActionSet(RSIAction action) PURE_VIRTUAL;
8079
8105 virtual bool HomeTriggerStateGet() PURE_VIRTUAL;
8106
8127 virtual void HomeTriggerStateSet(bool state) PURE_VIRTUAL;
8128
8150 virtual double HomeDurationGet() PURE_VIRTUAL;
8151
8174 virtual void HomeDurationSet(double seconds) PURE_VIRTUAL;
8175
8204 virtual RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8205
8232 virtual void ErrorLimitActionSet(RSIAction action) PURE_VIRTUAL;
8233
8256 virtual double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8257
8279 virtual void ErrorLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8280
8302 virtual double ErrorLimitDurationGet() PURE_VIRTUAL;
8303
8326 virtual void ErrorLimitDurationSet(double seconds) PURE_VIRTUAL;
8327
8352 virtual RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8353
8378 virtual void HardwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8379
8403 virtual bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8404
8428 virtual void HardwareNegLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8429
8452 virtual double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8453
8476
8477 virtual void HardwareNegLimitDurationSet(double seconds) PURE_VIRTUAL;
8478
8503 virtual RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8504
8529 virtual void HardwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8530
8551 virtual bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8552
8576 virtual void HardwarePosLimitTriggerStateSet(bool state) PURE_VIRTUAL;
8577
8600 virtual double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8601
8624 virtual void HardwarePosLimitDurationSet(double seconds) PURE_VIRTUAL;
8625
8651 virtual RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8652
8676 virtual void SoftwareNegLimitActionSet(RSIAction action) PURE_VIRTUAL;
8677
8700 virtual double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8701
8724 virtual void SoftwareNegLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8725
8749 virtual RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8750
8774 virtual void SoftwarePosLimitActionSet(RSIAction action) PURE_VIRTUAL;
8775
8798 virtual double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8799
8822 virtual void SoftwarePosLimitTriggerValueSet(double triggerValue) PURE_VIRTUAL;
8823
8849 virtual RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8850
8875 virtual void EncoderFaultActionSet(RSIAction action) PURE_VIRTUAL;
8876
8900 virtual RSIMotorFeedbackFault EncoderFaultTriggerGet() PURE_VIRTUAL;
8901
8923 virtual void EncoderFaultTriggerSet(RSIMotorFeedbackFault encoder) PURE_VIRTUAL;
8924
8946 virtual double EncoderFaultDurationGet() PURE_VIRTUAL;
8947
8969 virtual void EncoderFaultDurationSet(double seconds) PURE_VIRTUAL;
8970
8972 virtual RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8973
8975 virtual void NodeFailureActionSet(RSIAction action) PURE_VIRTUAL;
8976
8992 virtual uint64_t AddressGet( RSIAxisAddressType addressType) PURE_VIRTUAL;
8993
9007 virtual RSIDataType AddressDataTypeGet(RSIAxisAddressType type) PURE_VIRTUAL;
9008
9009 // common limit methods
9010
9012 virtual RSIAction LimitActionGet(RSIEventType limit) PURE_VIRTUAL;
9013
9015 virtual void LimitActionSet(RSIEventType limit, RSIAction action) PURE_VIRTUAL;
9016
9018 virtual bool LimitTriggerStateGet(RSIEventType limit) PURE_VIRTUAL;
9019
9021 virtual void LimitTriggerStateSet(RSIEventType limit, bool triggerState) PURE_VIRTUAL;
9022
9024 virtual double LimitTriggerValueGet(RSIEventType limit) PURE_VIRTUAL;
9025
9027 virtual void LimitTriggerValueSet(RSIEventType limit, double triggerValue) PURE_VIRTUAL;
9028
9030 virtual double LimitDurationGet(RSIEventType limit) PURE_VIRTUAL;
9031
9033 virtual void LimitDurationSet(RSIEventType limit, double seconds) PURE_VIRTUAL;
9035
9040
9054 virtual double PositionToleranceFineGet() PURE_VIRTUAL;
9055
9069 virtual void PositionToleranceFineSet(double tolerance) PURE_VIRTUAL;
9070
9084 virtual double PositionToleranceCoarseGet() PURE_VIRTUAL;
9085
9101
9102 virtual void PositionToleranceCoarseSet(double tolerance) PURE_VIRTUAL;
9103
9117 virtual double VelocityToleranceGet() PURE_VIRTUAL;
9118
9132 virtual void VelocityToleranceSet(double tolerance) PURE_VIRTUAL;
9133
9148 virtual double SettlingTimeGet() PURE_VIRTUAL;
9149
9164 virtual void SettlingTimeSet(double time) PURE_VIRTUAL;
9165
9182 virtual bool SettleOnStopGet() PURE_VIRTUAL;
9183
9200
9201 virtual void SettleOnStopSet(bool state) PURE_VIRTUAL;
9202
9219 virtual bool SettleOnEStopGet() PURE_VIRTUAL;
9220
9236 virtual void SettleOnEStopSet(bool state) PURE_VIRTUAL;
9237
9254 virtual bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9255
9271 virtual void SettleOnEStopCmdEqActSet(bool state) PURE_VIRTUAL;
9273
9278
9295 virtual RSIMotorType MotorTypeGet() PURE_VIRTUAL;
9296
9312 virtual void MotorTypeSet(RSIMotorType type) PURE_VIRTUAL;
9313
9330 virtual RSIMotorDisableAction AmpDisableActionGet() PURE_VIRTUAL;
9331
9349 virtual void AmpDisableActionSet(RSIMotorDisableAction action) PURE_VIRTUAL;
9350
9368
9369 virtual RSIMotorBrakeMode BrakeModeGet() PURE_VIRTUAL;
9370
9386 virtual void BrakeModeSet(RSIMotorBrakeMode mode) PURE_VIRTUAL;
9387
9403 virtual double BrakeApplyDelayGet() PURE_VIRTUAL;
9404
9405
9422 virtual void BrakeApplyDelaySet(double seconds) PURE_VIRTUAL;
9423
9439 virtual double BrakeReleaseDelayGet() PURE_VIRTUAL;
9440
9458 virtual void BrakeReleaseDelaySet(double seconds) PURE_VIRTUAL;
9459
9461 virtual void ClosedLoopStepperSet(bool enable) PURE_VIRTUAL;
9462
9464 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9465
9467 virtual uint64_t EncoderPointerGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9468
9470 virtual void EncoderPointerSet(RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9471
9473 virtual uint64_t FeedbackDeltaPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9474
9475
9477 virtual void FeedbackDeltaPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9478
9480 virtual uint64_t FeedbackPointerGet(RSIAxisPositionInput input) PURE_VIRTUAL;
9481
9499 virtual void FeedbackPointerSet(RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9500
9502 virtual int32_t EncoderRatioNumeratorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9503
9505 virtual int32_t EncoderRatioDenominatorGet(RSIMotorFeedback encoder) PURE_VIRTUAL;
9506
9528 virtual void EncoderRatioSet(RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9529
9531 virtual const char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9532
9534 virtual void EncoderRatioPrimarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9535
9537 virtual const char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9538
9540 virtual void EncoderRatioSecondarySet(char* numeratorCommaDenominator) PURE_VIRTUAL;
9541
9543 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9544
9547 virtual void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9548
9550 virtual RSIAxisGantryType GantryTypeGet() PURE_VIRTUAL;
9551
9553 virtual void GantryTypeSet(RSIAxisGantryType type) PURE_VIRTUAL;
9554
9568 virtual RSIOperationMode OperationModeGet() PURE_VIRTUAL;
9569
9583 virtual void OperationModeSet(RSIOperationMode mode) PURE_VIRTUAL;
9584
9604 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9605
9631 virtual void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9633
9638
9660 virtual void GearingEnable(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9661
9665 virtual void GearingEnable(Axis* masterAxis, RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9666
9685 virtual void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9686
9703 virtual void GearingDisable() PURE_VIRTUAL;
9704
9706 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9707
9709 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9710
9712 virtual bool GearingEnableGet() PURE_VIRTUAL;
9713
9731 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9732
9745 virtual RSIAxisMasterType GearingSourceGet() PURE_VIRTUAL;
9747
9752
9769 virtual double MotionCamMasterStartGet(Axis* master) PURE_VIRTUAL;
9770
9785 virtual void MotionCamMasterStartSet(Axis* master, double startPosition) PURE_VIRTUAL;
9786
9803 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9804
9822 virtual void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9823
9841 virtual void MotionCamRepeatStop() PURE_VIRTUAL;
9842
9865 virtual void MoveCamLinear(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9866
9896 virtual void MoveCamCubic(int32_t masterAxisNumber, RSIAxisMasterType masterFeedbackSource, const double* const masterDistances, const double* const slavePositions, const double* const gearRatios, int32_t pointCount) PURE_VIRTUAL;
9897
9914
9915 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9917
9922
9935 virtual double BacklashWidthGet() PURE_VIRTUAL;
9936
9949 virtual void BacklashWidthSet(double width) PURE_VIRTUAL;
9950
9963 virtual double BacklashRateGet() PURE_VIRTUAL;
9964
9977 virtual void BacklashRateSet(double rate) PURE_VIRTUAL;
9978
9979
9990 virtual double BacklashValueGet() PURE_VIRTUAL;
9992
9997
10025 virtual RSIFilterAlgorithm FilterAlgorithmGet() PURE_VIRTUAL;
10026
10051 virtual void FilterAlgorithmSet(RSIFilterAlgorithm algorithm) PURE_VIRTUAL;
10052
10078 virtual double FilterCoeffGet(RSIFilterGainPIDCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10079
10102 virtual void FilterCoeffSet(RSIFilterGainPIDCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10103
10106 virtual double FilterCoeffGet(RSIFilterGainPIVCoeff coeff, int32_t gainTable) PURE_VIRTUAL;
10107
10111 virtual void FilterCoeffSet(RSIFilterGainPIVCoeff coeff, int32_t gainTable, double coeffValue) PURE_VIRTUAL;
10112
10147 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10148
10177 virtual void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10178
10195 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10196
10198 virtual double FilterOutputGet(void) PURE_VIRTUAL;
10199
10212 virtual double FilterLowPassGet() PURE_VIRTUAL;
10213
10229 virtual void FilterLowPassSet(double frequency) PURE_VIRTUAL;
10230
10249 virtual void FilterDualLoopSet(Axis* velocityAxis, RSIMotorFeedback velocityEncoder, bool enable) PURE_VIRTUAL;
10250
10251
10253 virtual bool FilterGainSchedulingGet() PURE_VIRTUAL;
10254
10255
10257 virtual void FilterGainSchedulingSet(bool enable) PURE_VIRTUAL;
10258
10260 virtual bool IsTuneable() PURE_VIRTUAL;
10261
10278 virtual void PostFilterLowPassSet(int32_t sectionNumber, double frequency) PURE_VIRTUAL;
10279
10295 virtual void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10296
10315 virtual void PostFilterSingleOrderSet(int32_t sectionNumber, double aOne, double bZero, double bOne) PURE_VIRTUAL;
10316
10332 virtual void PostFilterHighPassSet(int32_t sectionNumber, double cornerFreq) PURE_VIRTUAL;
10333
10351 virtual void PostFilterNotchSet(int32_t sectionNumber, double centerFreq, double bandwidth) PURE_VIRTUAL;
10352
10371 virtual void PostFilterResonatorSet(int32_t sectionNumber, double centerFreq, double bandwidth, double gain) PURE_VIRTUAL;
10372
10391 virtual void PostFilterLeadLagSet(int32_t sectionNumber, double lowGain, double highGain, double centerFreq) PURE_VIRTUAL;
10392
10408 virtual void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10409
10430 virtual void PostFilterBiquadSet(int32_t sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo) PURE_VIRTUAL;
10431
10433 virtual const char* const PostFilterInfoGet() PURE_VIRTUAL;
10434 //virtual RSIFilterPostFilterSection PostFilterSection;
10436
10441
10461 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10462
10483 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10485
10490
10512 virtual void PostTrajectoryGearingEnableSet(bool enable) PURE_VIRTUAL;
10513
10532 virtual bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10533
10553 virtual void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10554
10573 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10574
10594 virtual void PostTrajectoryGearingMultiplierSet(double multiplier) PURE_VIRTUAL;
10595
10614 virtual double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10615
10636 virtual double PostTrajectoryGearingScaledOffsetGet() PURE_VIRTUAL;
10638
10639
10664 virtual uint32_t NetworkIndexGet(RSINetworkIndexType indexType) PURE_VIRTUAL;
10665
10700 virtual void NetworkIndexSet(RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10701
10709 virtual double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10710
10717 virtual void BacklashHysteresisLimitSet(double hysteresisLimit) PURE_VIRTUAL;
10718
10742 virtual bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10743
10767 virtual void StepperMotorLoopbackSet(bool loopback) PURE_VIRTUAL;
10768
10777 virtual RSIMotorStepperPulseType StepperMotorPulseTypeGet(RSIMotorStepperPulse pulse) PURE_VIRTUAL;
10778
10788 virtual void StepperMotorPulseTypeSet(RSIMotorStepperPulse pulse, RSIMotorStepperPulseType type) PURE_VIRTUAL;
10789
10796 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;
10797
10799};
10800
10804class RSI_API MultiAxis : public virtual RapidCodeMotion {
10805public:
10806
10810
10824 virtual void AxisAdd(Axis *axis) PURE_VIRTUAL;
10825
10828 virtual void AxesAdd(Axis* *axes, int32_t axisCount) PURE_VIRTUAL;
10829
10842 virtual void AxisRemoveAll() PURE_VIRTUAL;
10843
10847
10863 virtual Axis* AxisGet(int32_t index) PURE_VIRTUAL;
10864
10884 virtual const char* const UserLabelGet() PURE_VIRTUAL;
10885
10906 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
10907
10911
10926 virtual double VectorVelocityGet() PURE_VIRTUAL;
10927
10943 virtual void VectorVelocitySet(double velocity) PURE_VIRTUAL;
10944
10959 virtual double VectorAccelerationGet() PURE_VIRTUAL;
10960
10983 virtual void VectorAccelerationSet(double acceleration) PURE_VIRTUAL;
10984
10999 virtual double VectorDecelerationGet() PURE_VIRTUAL;
11000
11023 virtual void VectorDecelerationSet(double deceleration) PURE_VIRTUAL;
11024
11039 virtual double VectorJerkPercentGet() PURE_VIRTUAL;
11040
11063 virtual void VectorJerkPercentSet(double jerkPercent) PURE_VIRTUAL;
11064
11088 virtual void MoveVector(const double* const position) PURE_VIRTUAL;
11089
11092 virtual void MoveVectorRelative(const double* const relativePosition) PURE_VIRTUAL;
11093
11097
11117
11118 virtual double PathTimeSliceGet() PURE_VIRTUAL;
11119
11140
11141 virtual void PathTimeSliceSet(double seconds) PURE_VIRTUAL;
11142
11167 virtual void PathRatioSet(const double* const ratio) PURE_VIRTUAL;
11168
11171 virtual double PathRatioGet(int32_t index) PURE_VIRTUAL;
11172
11189 virtual void PathBlendSet(bool blend) PURE_VIRTUAL;
11190
11199
11200 virtual void PathPlanTypeSet(RSIPathPlanType type) PURE_VIRTUAL;
11201
11210
11211 virtual RSIPathPlanType PathPlanTypeGet() PURE_VIRTUAL;
11212
11231 virtual void PathListStart(const double* const startPosition) PURE_VIRTUAL;
11232
11253 virtual void PathLineAdd(const double* const position) PURE_VIRTUAL;
11254
11274 virtual void PathArcAdd(const double* const center, double angle) PURE_VIRTUAL;
11275
11294 virtual void PathListEnd() PURE_VIRTUAL;
11295
11312 virtual void PathMotionStart() PURE_VIRTUAL;
11313
11317
11335 virtual void MoveTrapezoidal(const double* const position, const double* const vel, const double* const accel, const double* const decel) PURE_VIRTUAL;
11336
11339 virtual void MoveTrapezoidal(const double* const position) PURE_VIRTUAL;
11340
11370 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;
11371
11382 virtual void MoveSCurve(const double* const position) PURE_VIRTUAL;
11383
11388 virtual void MoveSCurve(const double* const position, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct, const double* const finalVel) PURE_VIRTUAL;
11389
11404 virtual void MoveVelocity(const double* const velocity, const double* const accel) PURE_VIRTUAL;
11405
11409 virtual void MoveVelocity(const double* const velocity) PURE_VIRTUAL;
11410
11432 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;
11433
11444 virtual void MoveRelative(const double* const relativePosition) PURE_VIRTUAL;
11445
11450 virtual void MoveRelative(const double* const relativePosition, const double* const vel, const double* const accel, const double* const decel, const double* const jerkPct, const double* const finalVel) PURE_VIRTUAL;
11451
11468 virtual void MoveVelocitySCurve(const double* const velocity, const double* const accel, const double* const jerkPct) PURE_VIRTUAL;
11469
11486 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
11487
11505 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
11506
11508 virtual int32_t AxisMapCountGet() PURE_VIRTUAL;
11509
11523 virtual uint64_t AddressGet(RSIMultiAxisAddressType addressType) PURE_VIRTUAL;
11524
11538 virtual RSIDataType AddressDataTypeGet(RSIMultiAxisAddressType type) PURE_VIRTUAL;
11539
11549 virtual bool AmpEnableGet() PURE_VIRTUAL;
11550
11551
11552};
11553
11559class RSI_API IOPoint : public virtual RapidCodeObject {
11560public:
11565
11582 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorDedicatedIn motorDedicatedInNumber);
11583
11600 static IOPoint* CreateDigitalInput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11601
11617 static IOPoint* CreateDigitalInput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11618 // use NetworkNode*
11619 static IOPoint* CreateDigitalInput(IO* io, int32_t bitNumber);
11620
11631 static IOPoint* CreateDigitalInput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11632
11646 static IOPoint* CreateDigitalInput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11647
11665 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorDedicatedOut motorDedicatedOutNumber);
11666
11683 static IOPoint* CreateDigitalOutput(Axis* axis, RSIMotorGeneralIo motorGeneralIoNumber);
11684
11700 static IOPoint* CreateDigitalOutput(RapidCodeNetworkNode* networkNode, int32_t bitNumber);
11701 // use NetworkNode*
11702 static IOPoint* CreateDigitalOutput(IO* io, int32_t bitNumber);
11703
11704
11717 static IOPoint* CreateDigitalOutput(MotionController* controller, int32_t pdoIndex, int32_t bitNumber, RSIPDOType type);
11718
11732 static IOPoint* CreateDigitalOutput(MotionController* controller, uint64_t memoryAddress, int32_t bitNumber);
11733
11748 static IOPoint* CreateAnalogInput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11749 // use RapidCodeNetworkNode*
11750 static IOPoint* CreateAnalogInput(IO* io, int32_t analogChannel);
11751
11766 static IOPoint* CreateAnalogOutput(RapidCodeNetworkNode* networkNode, int32_t analogChannel);
11767 // use RapidCodeNetworkNode*
11768 static IOPoint* CreateAnalogOutput(IO* io, int32_t analogChannel);
11769
11771
11775
11778 virtual uint64_t AddressGet() PURE_VIRTUAL;
11779
11782 virtual int32_t MaskGet() PURE_VIRTUAL;
11783
11786 virtual bool IsDigital() PURE_VIRTUAL;
11787
11788
11791 virtual bool IsOutput() PURE_VIRTUAL;
11792
11796
11800 virtual bool Get() PURE_VIRTUAL;
11801
11808 virtual void Set(bool state) PURE_VIRTUAL;
11809
11813
11817 virtual double ValueGet() PURE_VIRTUAL;
11818
11822 virtual void ValueSet(double valueDouble) PURE_VIRTUAL;
11823};
11824
11828class RSI_API RTOS {
11829
11830public:
11831#if defined(_WIN32)
11836
11839 static INtimeStatus INtimeStatusGet();
11840
11845 static INtimeStatus INtimeStatusGet(const char* const nodeName);
11846
11849 static INtimeStatus INtimeStart();
11850
11855 static INtimeStatus INtimeStart(const char* const nodeName);
11856
11859 static INtimeStatus INtimeStop();
11860
11865 static INtimeStatus INtimeStop(const char* const nodeName);
11866
11869 static INtimeStatus INtimeRestart();
11870
11875 static INtimeStatus INtimeRestart(const char* const nodeName);
11876
11879 static const char* const INtimeCatalogRMPGet();
11880
11883 static const char* const INtimeCatalogRMPNetworkGet();
11884
11887 static uint32_t INtimeNodeCountGet();
11888
11892 static const char* const INtimeNodeNameGet(uint32_t nodeNumber);
11893
11897 static bool INtimeNodeIsLocal(uint32_t nodeNumber);
11899#endif // _WIN32
11900};
11901
11903class RSI_API Trace
11904{
11905public:
11910
11923 static void MaskSet(RSITrace mask);
11924
11940 static void MaskOnSet(RSITrace maskOn);
11941
11942
11962 static bool MaskOnGet(RSITrace maskOn);
11963
11979 static void MaskOffSet(RSITrace maskOff);
11980
11993 static void MaskClear();
11994
12009 static int32_t FileSet(const char* const fileName);
12010
12023 static void FileClose();
12024
12039 static void InjectMessage(RSITrace traceLevel, const char* const message);
12040
12042};
12043
12045
12047
12051class RSI_API IO : public virtual RapidCodeObject {
12052public:
12053
12054 friend class MotionController;
12055
12060
12062 RapidCodeNetworkNode* NetworkNode;
12064 MotionController* rsiControl;
12065
12067
12072
12073
12106 virtual bool IOExists() PURE_VIRTUAL;
12107
12124 virtual int32_t NumberGet() PURE_VIRTUAL;
12126
12131
12132
12133
12163 virtual bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
12164
12197 virtual bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
12198
12229 virtual void DigitalOutSet(int32_t digitalOutNumber, bool outValue) PURE_VIRTUAL;
12230
12253 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
12254
12286 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
12287
12319 virtual void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
12321
12331 virtual const char* const UserLabelGet() PURE_VIRTUAL;
12332
12339 virtual void UserLabelSet(const char* const userLabel) PURE_VIRTUAL;
12340};
12341
12342#if defined(__cplusplus)
12343}
12344#endif
12345
12346template<typename ContainerClass>
12347class RSI_API RapidVectorIterator
12348{
12349public:
12351 typedef typename ContainerClass::ValueType ValueType;
12352
12354 typedef typename ContainerClass::PointerType PointerType;
12355
12358 ValueType& operator*();
12359
12362 const ValueType& operator*() const;
12363
12366 RapidVectorIterator& operator++();
12367
12370 RapidVectorIterator operator++(int);
12371
12374 bool operator==(const RapidVectorIterator&) const;
12375
12378 bool operator!=(const RapidVectorIterator&) const;
12379
12381 RapidVectorIterator(PointerType pointerArgument, PointerType startArgument, const size_t containerSize);
12382
12384 RapidVectorIterator(const RapidVectorIterator&) = default;
12385
12387 RapidVectorIterator& operator=(const RapidVectorIterator&) = default;
12388
12390 RapidVectorIterator(RapidVectorIterator&&) noexcept = default;
12391
12393 RapidVectorIterator& operator=(RapidVectorIterator&&) noexcept = default;
12394private:
12395 PointerType pointer;
12396 PointerType start, end;
12397 void VerifyPointer() const;
12398};
12399
12400// Forward declaration of the RapidVectorImplementation class.
12401template<typename Type>
12402class RapidVectorImplementation;
12403
12406
12419template<typename Type>
12420class RSI_API RapidVector
12421{
12422private:
12423 // The pointer to the implementation.
12424 RapidVectorImplementation<Type>* pImpl;
12425public:
12429 Type& operator[](const size_t index);
12430
12434 const Type& operator[](const size_t index) const;
12435
12439 Type& At(const size_t index);
12440
12444 const Type& At(const size_t index) const;
12445
12448 void PushBack(const Type& element);
12449
12452 void PushBack(Type&& element);
12453
12456 const size_t Size() const;
12457
12459 void Clear();
12460
12462 void PopBack();
12463
12466 Type& Front();
12467
12470 const Type& Front() const;
12471
12474 Type& Back();
12475
12478 const Type& Back() const;
12479
12482 void Reserve(const size_t capacity);
12483
12485 RapidVector();
12486
12488#if defined(SWIG) && defined(__linux__)
12489 // SWIG 4.3.0 on Linux cannot parse the complex SFINAE template syntax
12490 // This constructor is ignored via %ignore in the .i files anyway
12491 explicit RapidVector(const size_t size);
12492#elif defined(_WIN32)
12493 template<typename = typename std::enable_if_t<std::is_default_constructible_v<Type>>>
12494 explicit RapidVector(const size_t size);
12495#else
12496 template<typename UType = Type, typename Enable = typename std::enable_if<std::is_default_constructible<UType>::value>::type>
12497 explicit RapidVector(const size_t size);
12498#endif
12499
12501 RapidVector(RapidVectorImplementation<Type>*);
12502
12504 ~RapidVector();
12505
12507 RapidVector(const RapidVector& other);
12508
12510 RapidVector& operator=(const RapidVector& other);
12511
12513 RapidVector(RapidVector&& other) noexcept;
12514
12516 RapidVector& operator=(RapidVector&& other) noexcept;
12517
12518 typedef Type* PointerType;
12519 typedef Type ValueType;
12520
12522 typedef RapidVectorIterator<RapidVector> Iterator;
12523
12526 Iterator begin() noexcept;
12527
12530 Iterator begin() const noexcept;
12531
12535 Iterator end() const noexcept;
12536};
12537
12539
12540} // namespace RapidCode
12541
12542} // namespace RSI
12543
12544#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:5900
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:5870
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:12051
RSI::RapidCode::IO::NetworkNode
NetworkNode * NetworkNode
Gets the parent NetworkNode object.
Definition rsi.h:12062
RSI::RapidCode::IO::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:12064
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:11559
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:3846
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:10804
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:11828
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:4317
RSI::RapidCode::RapidCodeMotion::rsiControl
MotionController * rsiControl
Gets the parent MotionController object.
Definition rsi.h:4330
RSI::RapidCode::RapidCodeOS::Sleep
void Sleep(int32_t milliseconds)
Put the current thread to sleep.
RSI::RapidCode::RapidCodeOS::KeyGet
int32_t KeyGet(int32_t milliseconds)
Wait for a key to be pressed and return its value.
RSI::RapidCode::RapidCodeOS::TimerCountGet
int32_t TimerCountGet()
Gets the time since startup.
RSI::RapidCode::RapidCodeOS
The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionC...
Definition rsi.h:497
RSI::RapidCode::RapidCodeObject::VersionGet
const char *const VersionGet()
Get the RSI RapidCode version.
RSI::RapidCode::RapidCodeObject
The RapidCode base class. All non-error objects are derived from this class.
Definition rsi.h:184
RSI::RapidCode::RapidVector::Reserve
void Reserve(const size_t capacity)
Increases the size of the allocated storage of the vector to at least the specified size.
RSI::RapidCode::RapidVector::Size
const size_t Size() const
Returns the number of elements in the vector.
RSI::RapidCode::RapidVector::operator[]
const Type & operator[](const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::Back
const Type & Back() const
Returns a const reference to the last element in the vector.
RSI::RapidCode::RapidVector::PushBack
void PushBack(Type &&element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::begin
Iterator begin() noexcept
Returns a RapidVectorIterator to the first element of the vector. The naming convention follows STL c...
RSI::RapidCode::RapidVector::Front
Type & Front()
Returns a reference to the first element in the vector.
RSI::RapidCode::RapidVector::Front
const Type & Front() const
Returns a const reference to the first element in the vector.
RSI::RapidCode::RapidVector::At
const Type & At(const size_t index) const
Returns a const reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::PushBack
void PushBack(const Type &element)
Appends the given element to the end of the vector.
RSI::RapidCode::RapidVector::Back
Type & Back()
Returns a reference to the last element in the vector.
RSI::RapidCode::RapidVector::operator[]
Type & operator[](const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector::At
Type & At(const size_t index)
Returns a reference to the element at the location specified by the index.
RSI::RapidCode::RapidVector
A wrapper class for the C++ STL vector class that aims to maintain application binary interface....
Definition rsi.h:12421
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:12522
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:11904
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition rsienums.h:1159
RSI::RapidCode::RSINetworkEniResult
RSINetworkEniResult
NetworkEniGenerate return values.
Definition rsienums.h:1451
RSI::RapidCode::RSIPDOType
RSIPDOType
Compensator output types.
Definition rsienums.h:1425
RSI::RapidCode::RSIMathBlockOperation
RSIMathBlockOperation
MathBlock operations.
Definition rsienums.h:1431
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition rsienums.h:301
RSI::RapidCode::RSICompensatorOutputType
RSICompensatorOutputType
Compensator output types.
Definition rsienums.h:1419
RSI::RapidCode::RSINetworkStartMode
RSINetworkStartMode
Network start modes.
Definition rsienums.h:588
RSI::RapidCode::RSIMotorFeedbackFault
RSIMotorFeedbackFault
Feedbacks to use for Feedback Fault action.
Definition rsienums.h:1146
RSI::RapidCode::RSITrace
RSITrace
Trace masks.
Definition rsienums.h:540
RSI::RapidCode::RSIMotorStepperPulse
RSIMotorStepperPulse
Pulse A or B.
Definition rsienums.h:1249
RSI::RapidCode::RSIAxisGantryType
RSIAxisGantryType
How to combine Axis Feedback Positions.
Definition rsienums.h:1139
RSI::RapidCode::RSINetworkState
RSINetworkState
State of network.
Definition rsienums.h:568
RSI::RapidCode::RSIControllerAddressType
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:405
RSI::RapidCode::RSIMotorDisableAction
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1319
RSI::RapidCode::RSIEventType
RSIEventType
Event Types or Status Bits.
Definition rsienums.h:966
RSI::RapidCode::RSIMotionType
RSIMotionType
PT and PVT streaming motion types.
Definition rsienums.h:1038
RSI::RapidCode::RSIDataType
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:659
RSI::RapidCode::RSIUserLimitLogic
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:646
RSI::RapidCode::RSIMotorIoTypeMask
RSIMotorIoTypeMask
Possible mask bits for Motor I/O types.
Definition rsienums.h:1265
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1115
RSI::RapidCode::RSIAxisAddressType
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:434
RSI::RapidCode::RSIProcessorType
RSIProcessorType
Controller's processor type.
Definition rsienums.h:295
RSI::RapidCode::RSIMotorStepperPulseType
RSIMotorStepperPulseType
Stepper pulse type.
Definition rsienums.h:1255
RSI::RapidCode::RSIMotorType
RSIMotorType
Motor Type.
Definition rsienums.h:1311
RSI::RapidCode::RSINetworkStartError
RSINetworkStartError
Network start errors.
Definition rsienums.h:594
RSI::RapidCode::RSIMotorGeneralIo
RSIMotorGeneralIo
Motor I/O bit numbers.
Definition rsienums.h:917
RSI::RapidCode::RSIMotionAttrMask
RSIMotionAttrMask
Attribute masks for motion. You cannot mix RSIMotionAttrMaskDELAY and RSIMotionAttrMaskAPPEND.
Definition rsienums.h:1060
RSI::RapidCode::RSIMultiAxisAddressType
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
Definition rsienums.h:497
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition rsienums.h:1168
RSI::RapidCode::RSIUserLimitTriggerType
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:633
RSI::RapidCode::RSINetworkOutputAddressType
RSINetworkOutputAddressType
Network output address types.
Definition rsienums.h:1412
RSI::RapidCode::INtimeStatus
INtimeStatus
INtime status values.
Definition rsienums.h:1357
RSI::RapidCode::RSIMotionHoldType
RSIMotionHoldType
Types for MotionHold attribute.
Definition rsienums.h:1095
RSI::RapidCode::RSIControllerType
RSIControllerType
Controller type.
Definition rsienums.h:284
RSI::RapidCode::RSIMotorFaultMask
RSIMotorFaultMask
Mask values for several motor faults.
Definition rsienums.h:1299
RSI::RapidCode::RSIHomeStage
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:397
RSI::RapidCode::RSIMotorBrakeMode
RSIMotorBrakeMode
Brake modes.
Definition rsienums.h:1325
RSI::RapidCode::RSIErrorMessage
RSIErrorMessage
All possible RSI Error Messages.
Definition rsienums.h:17
RSI::RapidCode::RSIErrorMessage::RSIMessageOK
@ RSIMessageOK
RSI::RapidCode::RSINetworkType
RSINetworkType
Type of Network topology.
Definition rsienums.h:626
RSI::RapidCode::RSIMotorIoType
RSIMotorIoType
Possible configurations for Motor I/O.
Definition rsienums.h:1228
RSI::RapidCode::RSIAxisPositionInput
RSIAxisPositionInput
Feedback Positions for each Axis.
Definition rsienums.h:1133
RSI::RapidCode::RSINodeType
RSINodeType
Valid Node types.
Definition rsienums.h:677
RSI::RapidCode::RSISource
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:1014
RSI::RapidCode::RSIMotorDedicatedIn
RSIMotorDedicatedIn
Dedicated Input bits per motor.
Definition rsienums.h:889
RSI::RapidCode::RSIMotorFeedback
RSIMotorFeedback
Encoders per motor.
Definition rsienums.h:1153
RSI::RapidCode::RSIMotorDedicatedOut
RSIMotorDedicatedOut
Dedicated Output bits per motor.
Definition rsienums.h:911
RSI::RapidCode::RSIOperationMode
RSIOperationMode
DS402 modes of operation.
Definition rsienums.h:1331
RSI::RapidCode::RSIPathPlanType
RSIPathPlanType
Path motion planning types.
Definition rsienums.h:1054
RSI::RapidCode::RSINetworkTechnologyType
RSINetworkTechnologyType
Network technology type.
Definition rsienums.h:1352
RSI::RapidCode::RSINetworkIndexType
RSINetworkIndexType
Network PDO index types for configuring axis input/output mappings.
Definition rsienums.h:1390
RSI::RapidCode::RSINetworkStartupMethod
RSINetworkStartupMethod
Network startup methods.
Definition rsienums.h:580
RSI::RapidCode::RSIFilterGainPIVCoeff
RSIFilterGainPIVCoeff
PIV gain coefficients.
Definition rsienums.h:1189
RSI::RapidCode::RSIState
RSIState
Definition rsienums.h:879
RSI::RapidCode::RSIAxisMasterType
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1218
RSI::RapidCode::MotionController::CreationParameters::ControllerIndex
int32_t ControllerIndex
The index of the controller to create.
Definition rsi.h:956
RSI::RapidCode::MotionController::CreationParameters::CpuAffinity
int32_t CpuAffinity
[Linux] Indicate the CPU core on which the RMP and RMPNetwork processes run.
Definition rsi.h:1014
RSI::RapidCode::MotionController::CreationParameters::RmpThreadPriorityMax
int32_t RmpThreadPriorityMax
[Linux] The maximum thread priority. All threads of the RMP and RMPNetwork will be based off of this....
Definition rsi.h:1026
RSI::RapidCode::MotionController::CreationParameters::CreationParameters
CreationParameters()
Instantiate with default values and all memory zeroed out.
Definition rsi.h:932
RSI::RapidCode::MotionController::CreationParameters
CreationParameters for MotionController::Create.
Definition rsi.h:866
RSI::RapidCode::MotionController::MathBlockConfig::ProcessDataType
RSIDataType ProcessDataType
Data type for processing.
Definition rsi.h:3824
RSI::RapidCode::MotionController::MathBlockConfig
MathBlock configuration structure.
Definition rsi.h:3817
RSI::RapidCode::MotionController::MathBlockConfig::OutputDataType
RSIDataType OutputDataType
Data type for Output. (optional)
Definition rsi.h:3822
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:3823
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:3818
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:3819
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:3820
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:3821
RSI::RapidCode::MotionController::MathBlockConfig::Operation
RSIMathBlockOperation Operation
Math operation to be performed. (+, -, *, /, etc) use RSIMathBlockOperationNONE to disable a MathBloc...
Definition rsi.h:3825
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