Network

RPCs

  rpc Network(NetworkRequest) returns (NetworkResponse) {};

Request

message NetworkRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  optional NetworkConfig config = 2;
 
  optional NetworkAction action = 3;
}

Response

message NetworkResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  optional NetworkConfig config = 2;
  optional NetworkAction action = 3;
  optional NetworkInfo info = 4;
  optional NetworkStatus status = 5;
}

Config

message NetworkConfig {}

Action

message NetworkAction {
  // Shutdown the network.  
 optional Shutdown shutdown = 1;
 
 // Start the network.
 optional NetworkStart start = 2;
 
 // Evaluate network reliability.
 optional TimingMetrics timing_metrics = 3;
 
 // Used to override firmware values with your custom outputs.
 repeated NetworkOutput network_output = 4;
 
 // Creating the object does the job.
 message Shutdown { }
 
 message NetworkStart {
   // Default: RSINetworkStartModeOPERATIONAL.
   optional RSINetworkStartupMethod method = 1;
   // Default: RSINetworkStartupMethodNORMAL.
   optional RSINetworkStartMode mode = 2;
   // Default: MotionController::NetworkStartTimeoutMillisecondsDefault which is 30000 ms.
   optional uint32 timeout_milliseconds = 3;
 }
 
 message TimingMetrics {
   // Determines when low_count increases.
   optional uint32 low_threshold = 1;
   // Determines when high_count increases.
   optional uint32 high_threshold = 2;
   // Clears counts and min_recorded/max_recorded.
   optional bool clear = 3;
   // Start or stop feature.
   optional bool enable = 4;
 }
 
 message NetworkOutput {
   // Index of the output.
   int32 index = 1;
   // Turn on or off overriding of the firmware value with the override_value.
   optional bool override = 2;
   // Your custom value rather than our intended firmware value.
   optional int64 override_value = 3;
 }
}

Info

message NetworkInfo {
  RSINetworkType type = 1;
  int32 node_count = 2;
  bool network_synchronized = 3;
  int32 network_input_count = 4;
  int32 network_output_count = 5;
 
  // Collection of all Network Inputs.
  repeated NetworkInputInfo network_inputs = 6;
 
  // Collection of all Network Outputs.
  repeated NetworkOutputInfo network_outputs = 7;
 
  message NetworkInputInfo {
    int32 index = 1;
    string name = 2;
    int64 address = 3;
    int32 bit_size = 4;
    int32 bit_offset = 5;
    string data_type = 6;
  }
 
  message NetworkOutputInfo {
    int32 index = 1;
    string name = 2;
    int64 sent_value_address = 3;
    int64 override_value_address = 4;
    int64 firmware_value_address = 5;
    int32 bit_size = 6;
    int32 bit_offset = 7;
    string data_type = 8;
  }
}

Status

message NetworkStatus {
  RSINetworkState state = 1;
  int32 network_counter = 2;
  RSINetworkStartError last_start_error = 3;
  string network_log = 4;
 
  // NetworkTiming in RapidCode.  Used to evaluate stability.
  TimingMetricsStatus timing_metrics = 5;
 
  // Collection of all Network Inputs.
  repeated NetworkInputStatus network_inputs = 6;
 
  // Collection of all Network Outputs.
  repeated NetworkOutputStatus network_outputs = 7;
 
  message TimingMetricsStatus {
    // Most recent value.
    uint32 delta = 1;
    // Lowest recorded since last clear.
    uint32 min_recorded = 2;
    // Highest recorded since last clear.
    uint32 max_recorded = 3;
    // Count below low_threshold since last clear.
    uint32 low_count = 4;
    // Count above high_threshold since last clear.
    uint32 high_count = 5;
  }
 
  message NetworkInputStatus {
    int32 index = 1;
    int64 value = 2;
  }
 
  message NetworkOutputStatus {
    int32 index = 1;
    int64 sent_value = 2;
    int64 override_value = 3;
    int64 firmware_value = 4;
    bool override_enabled = 5;
  }
}