RPCs
rpc RTOS(RTOSRequest) returns (RTOSResponse) {};
rpc RTOSBatch(RTOSBatchRequest) returns (RTOSBatchResponse) {};
Request
message RTOSRequest {
RSI.RapidServer.RequestHeader header = 1;
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
}
Response
message RTOSResponse {
RSI.RapidServer.ResponseHeader header = 1;
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
optional RTOSInfo info = 5;
optional RTOSStatus status = 6;
}
Batch Request and Response
message RTOSBatchRequest {
RSI.RapidServer.RequestHeader header = 1;
repeated RTOSRequest requests = 2;
}
message RTOSBatchResponse {
RSI.RapidServer.ResponseHeader header = 1;
repeated RTOSResponse responses = 2;
}
RSINetworkStartMode
Network start modes.
RSINetworkState
State of network.
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
RSIMotorDisableAction
Action for when a motor is disabled.
RSIMotionType
Streaming motion types.
RSIDataType
Data types for User Limits and other triggers.
RSIUserLimitLogic
Logic options for User Limits.
RSIAction
Action to perform on an Axis.
RSIAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
RSINetworkStartError
Network start errors.
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
RSIUserLimitTriggerType
Trigger types for UserLimits.
INtimeStatus
INtime status values.
RSIHomeStage
Predefined Homing Stage sections.
RSINetworkType
Type of Network topology.
RSINodeType
Valid Node types.
RSISource
Possible sources that have caused an Error state.
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
ServerInfo Start(Platform _platform, const char *const _nodeName, const char *const rmp_node, const char *const executable_path, const int32_t grpc_port=50051, const char *const friendly_name="RapidServer", const uint64_t timeout_ms=1000, const int32_t broadcast_port=60061)
Starts a RapidServer instance and confirms that the server process is started.
Config
Action
message RTOSAction {
optional Restart restart = 1;
optional Stop stop = 2;
optional
Start start = 3;
message Restart {}
message Stop {}
}
Info
message RTOSInfo {
string rmp_catalog = 1;
string rmp_network_catalog = 2;
uint32 node_count = 3;
}
Status