rttasks-helpers.h

Note

See Real-Time Tasks 📜 for a detailed explanation of this sample code.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

#ifndef RT_TASKS_HELPERS
#define RT_TASKS_HELPERS
 
#include "rttask.h"
 
#include <iostream>
#include <memory>
 
using namespace RSI::RapidCode; // Import our RapidCode namespace
using namespace RSI::RapidCode::RealTimeTasks; // Import the RealTimeTasks namespace
 
namespace RTTaskHelper
{

// get the creation parameters for the task manager
#if defined(WIN32) && defined(NDEBUG)
 
  // if we are on windows and not debug, then we need to create an intime task manager
  RTTaskManagerCreationParameters GetTaskManagerCreationParameters()
  {
    RTTaskManagerCreationParameters parameters;
    std::snprintf(
      parameters.RTTaskDirectory,
      RTTaskManagerCreationParameters::DirectoryLengthMaximum,
      RMP_INSTALL_PATH    // the rmp install directory
    );
    parameters.Platform = PlatformType::INtime;
    std::snprintf(
      parameters.NodeName,
      RTTaskManagerCreationParameters::NameLengthMaximum,
      "NodeA"
    );
    return parameters;
  }
#else
 
  // otherwise, we are on linux or debug, so we can create a native task manager
  RTTaskManagerCreationParameters GetTaskManagerCreationParameters()
  {
    RTTaskManagerCreationParameters parameters;
    std::snprintf(
      parameters.RTTaskDirectory,
      RTTaskManagerCreationParameters::DirectoryLengthMaximum,
      RMP_INSTALL_PATH    // the rmp install directory
    );
 
    // for linux real-time set this to an isolated core
    // parameters.CpuCore = -1;
    return parameters;
  }
#endif  // defined(WIN32) && defined(NDEBUG)

  // this calls a task to initialize the global variables and get pointers to rapidcode objects
  // in the rttaskfunctions library. it needs to be called before any task
  // that uses rapidcode objects.
  void SubmitInitializationTask(RTTaskManager &manager)
  {
    std::cout << "Running initialization task..." << std::endl;
    RTTaskCreationParameters initParams("Initialize");
    initParams.Repeats = RTTaskCreationParameters::RepeatNone;
    RTTask task = manager.TaskSubmit(initParams);
    constexpr int timeoutMs = 5000;
    task.ExecutionCountAbsoluteWait(1, timeoutMs); // wait for the task to execute once.
  }

  // Returns the RTTaskState as a printable string
  const char* StateToString(RTTaskState state) {
    switch (state) {
      case RTTaskState::Dead:     return "DEAD";
      case RTTaskState::Running:  return "RUNNING";
      case RTTaskState::Waiting:  return "WAITING";
      case RTTaskState::Disabled: return "DISABLED";
      default:                    return "UNKNOWN";
    }
  }
}
 
#endif // RT_TASKS_HELPERS