Helper Functions

This class includes the source code of all our SampleAppsCPP helper functions.

Helper functions were created to reduce code. Please note that if you would like to use this classes on your personal project you will have to replicate this class.

Precondition

This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.

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.

 
#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::exception(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