HelperFunctions.h

 
#ifndef CPP_HELPER_FUNCTIONS
#define CPP_HELPER_FUNCTIONS
 
#include "rsi.h"                                    // Import our RapidCode Library. 
#include <iostream>
#include <cstdlib>
 
using namespace std;
using namespace RSI::RapidCode;
 
class HelperFunctions
    {
    public:
 
        static void CheckErrors(RapidCodeObject *rsiObject)
        {
            while (rsiObject->ErrorLogCountGet() > 0)
            {
                const RsiError* err = rsiObject->ErrorLogGet();
                printf("%s\n", err->text);
            }
        }
 
        static void StartTheNetwork(MotionController *controller)
        {
            // Initialize the Network
            if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateOPERATIONAL)        // Check if network is started already.
            {
                cout << "Starting Network.." << endl;
                controller->NetworkStart();                                                          // If not. Initialize The Network. (This can also be done from RapidSetup Tool)
            }
 
            if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateOPERATIONAL)        // Check if network is started again.
            {
                int messagesToRead = controller->NetworkLogMessageCountGet();                        // Some kind of error starting the network, read the network log messages
 
                for (int i = 0; i < messagesToRead; i++)
                {
                    cout << controller->NetworkLogMessageGet(i) << endl;                                // Print all the messages to help figure out the problem
                }
                cout << "Expected OPERATIONAL state but the network did not get there." << endl;
                //throw new RsiError();                                                             // Uncomment if you want your application to exit when the network isn't operational. (Comment when using phantom axis)
            }
            else                                                                                    // Else, of network is operational.
            {
                cout << "Network Started" << endl;
            }
        }
 
    };
 
#endif