The RMP Motion Controller APIs

Interface for objects which can use interrupts. More...


void InterruptEnableSet (bool enable)
 Enable or disable interrupts.
RSIEventType InterruptWait (int32_t milliseconds)
 Suspend the current thread until an interrupt arrives from the controller. More...
const char *const InterruptNameGet ()
 Get the text name of an interrupt type. More...
int32_t InterruptSampleTimeGet ()
 Get the sample timer value when the last interrupt was generated. More...
int32_t InterruptSourceNumberGet ()
 Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt. More...
uint16_t InterruptMotionIdGet ()
 Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE.
void InterruptWake ()
 Wake any and all threads waiting for interrupts.
void InterruptMaskClear ()
 Clear the interrupt mask so no interrupts will be generated.
void InterruptMaskAllSet ()
 Set all the bits of the interrupt mask to get interrupts for ALL sources.
void InterruptMaskOnSet (RSIEventType eventType)
 Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType.
void InterruptMaskOffSet (RSIEventType eventType)
 Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType.
bool InterruptMaskOnGet (RSIEventType eventType)
 Get the status of the interrupt mask for the given RSIEventType.
uint64_t InterruptUserDataGet (uint32_t userDataIndex)
 Get the user data associated with the interrupt, as a 64-bit unsigned integer. More...
double InterruptUserDataDoubleGet (uint32_t userDataIndex)
 Get the user data associated with the interrupt, as a 64-bit double. More...
const char *const VersionGet ()
 Get the RSI RapidCode version. More...
int32_t MpiVersionMajor ()
 Get the major MPI version.
int32_t MpiVersionMinor ()
 Get the minor MPI version.
int32_t MpiVersionRelease ()
 Get the release MPI version.
int32_t RSIVersionMajor ()
 Get the major RSI version.
int32_t RSIVersionMinor ()
 Get the minor RSI version.
int32_t RSIVersionMicro ()
 Get the micro RSI version.
int32_t RSIVersionPatch ()
 Get the patch RSI version.
int32_t NumberGet ()
 Get the zero-based index of this object. More...
int32_t ErrorLogCountGet ()
 Get the number of software errors in the error log. More...
const RsiError *const ErrorLogGet ()
 Get the next RsiError in the log. More...
void ErrorLogClear ()
 Clear the error log. More...
void ThrowExceptions (bool state)
 Configure a class to throw exceptions. More...
const char *const RsiErrorMessageGet (RSIErrorMessage msg)
 Get the RSI-specific error message text for a specific RSIErrorMessage.
const char *const ErrorMessageGet (RSIErrorMessage msg)
 Get the detailed text message for an RSIErrorMessage.
bool WarningMsgCheck (RSIErrorMessage msg)
 Check to see if an RSIErrorMessage is a warning (true) or not (false).
void Trace (bool state)
 Enables/Disables trace output. More...
void TraceMaskOnSet (RSITrace maskOn)
 Turn on a particular trace output mask. More...
bool TraceMaskOnGet (RSITrace maskOn)
 Check to see if a particular trace output mask is turned on. More...
void TraceMaskOffSet (RSITrace maskOff)
 Turn off a particular trace output mask. More...
void TraceMaskClear ()
 Clear the trace output mask. More...
void TraceFileSet (const char *const fileName)
 Channels Tracing messages to specified file. More...
void TraceFileClose ()
 Stops Logging to the file. More...
void TraceInjectMessage (RSITrace traceLevel, const char *const message)
 Add a message to the Trace Log. More...


Definition at line 573 of file rsi.h.