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 Discover discover = 2;
 optional Start start = 3;
 optional DiscoverAndStart discover_and_start = 4;
 
 
 // Evaluate network timing.
 optional TimingMetricsEnable timing_metrics_enable = 5;
 optional TimingMetricsDisable timing_metrics_disable = 6;
 optional TimingMetricsClear timing_metrics_clear = 7;
 
 // Used to override firmware values with your custom outputs.
 repeated OutputOverride output_override = 8;
 
 // Creating the object does the job.
 message Shutdown { }
 
 message Discover {
   // Default: MotionController::NetworkStartTimeoutMillisecondsDefault which is 30000 ms.
   optional uint32 timeout_milliseconds = 3;
 }
 message Start {
   // Default: RSINetworkStartModeOPERATIONAL.
   optional RSINetworkStartMode mode = 1;
   // Default: MotionController::NetworkStartTimeoutMillisecondsDefault which is 30000 ms.
   optional uint32 timeout_milliseconds = 2;
 }
 
 message DiscoverAndStart {
   // Default: RSINetworkStartModeOPERATIONAL.
   optional RSINetworkStartMode mode = 1;
   // Default: MotionController::NetworkStartTimeoutMillisecondsDefault which is 30000 ms.
   optional uint32 timeout_milliseconds = 2;
 }
 
 message TimingMetricsEnable {
   // Determines when low_count increases.
   optional uint32 low_threshold = 1;
   // Determines when high_count increases.
   optional uint32 high_threshold = 2;
 }
 message TimingMetricsDisable {}
 message TimingMetricsClear {}
 
 message OutputOverride {
   // 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 pdo_input_count = 4;
  int32 pdo_output_count = 5;
 
  // Collection of all Network PDO Inputs.
  repeated PdoInputInfo pdo_inputs = 6;
 
  // Collection of all Network PDO Outputs.
  repeated PdoOutputInfo pdo_outputs = 7;
 
  message PdoInputInfo {
    string name = 1;
    AddressInfo address_info = 2;
    int32 bit_size = 3;
    int32 bit_offset = 4;
  }
 
  message PdoOutputInfo {
    string name = 1;
    AddressInfo sent_value_address = 2;
    AddressInfo override_value_address = 3;
    AddressInfo firmware_value_address = 4;
    int32 bit_size = 5;
    int32 bit_offset = 6;
  }
}

Status

message NetworkStatus {
  RSINetworkState state = 1;
  int32 node_count = 2;
  int32 counter = 3;
  bool synchronized = 4;
  RSINetworkStartError last_start_error = 5;
  
  // output logged from RMPNetwork when it closes.
  string log_message = 6;
 
  // NetworkTiming in RapidCode.  Used to evaluate stability.
  TimingMetricsStatus timing_metrics = 7;
 
  // Collection of all Network PDO Inputs.
  repeated PdoInputStatus pdo_inputs = 8;
 
  // Collection of all Network PDO Outputs.
  repeated PdoOutputStatus pdo_outputs = 9;
 
  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 PdoInputStatus {
    // The index of this PDO in RMP firmware.
    int32 index = 1;
    // The raw 64-bit value of this PDO.
    int64 value = 2;
  }
 
  message PdoOutputStatus {
    // The index of this PDO in RMP firmware.
    int32 index = 1;
    // The raw 64-bit value that was sent on the network.
    int64 sent_value = 2;
    // The raw 64-bit override value that can be written by software.
    int64 override_value = 3;
    // The raw 64-bit value that the RMP is going to send, unless overridden.
    int64 firmware_value = 4;
    // Whether or not the override_value is being used.
    bool override_enabled = 5;
  }
}