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)
  {
    bool hasErrors = false;
    std::string errorStrings("");
    while (rsiObject->ErrorLogCountGet() > 0)
    {
      const RsiError* err = rsiObject->ErrorLogGet();
 
      errorStrings += err->what();
 
      if (!err->isWarning)
      {
        hasErrors = true;
      }
    }
 
    if (errorStrings.size() > 0)
    {
      printf("%s", errorStrings.c_str());
    }
 
    if (hasErrors)
    {
      throw std::runtime_error(errorStrings.c_str());
    }
  }
 
  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