Recorder

RPCs

  rpc Recorder (RecorderRequest) returns (RecorderResponse) {};
  rpc RecorderBatch(RecorderBatchRequest) returns (RecorderBatchResponse) {};

Request

message RecorderRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  // The Recorder index. (Check MotionController's Recorder count.)
  int32 index = 2;
 
  optional RecorderConfig config = 3;
  optional RecorderAction action = 4;
}

Response

message RecorderResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  // Recorder index
  int32 index = 2;
 
  optional RecorderConfig config = 3;
  optional RecorderAction action = 4;
  optional RecorderInfo info = 5;
  optional RecorderStatus status = 6;
}

Batch Request and Response

message RecorderBatchRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  repeated RecorderRequest requests = 2;
}
 
message RecorderBatchResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  repeated RecorderResponse responses = 2;
}

Config

message RecorderConfig {
  // Recorder period, in samples.
  int32 period = 1;
 
  // If true, the recorder will use a circular buffer, overwriting old data (be sure to read it out).
  bool circular_buffer = 2;
 
  // The addresses to record. Get these from Controller/Axis/MultiAxis InfoGet rpcs.
  repeated AddressInfo addresses = 3;
  
  // Use this to start and end recording with motion.
  RecorderTriggerOnMotion trigger = 4;
 
  // Configure the recorder to generate a RECORDER_HIGH interrupt when the buffer reaches this size.
  int32 buffer_high_count = 5;
 
  // Read-only, this tells us how many records fit inside the recorder's buffer (see MotionController config's recorder buffer size).
  int32 record_max_count = 6;
 
  // Internal messages.
 
  message RecorderTriggerOnMotion {
    // Use an Axis index or MutliAxis's motion index if you want the recorder to start when motion starts.
    int32 motion_index = 1;
  }
}

Action

message RecorderAction {
  
  optional Reset reset = 1;
  optional Start start = 2;
  optional Stop stop = 3;
  optional RetrieveRecords retrieve_records = 4;
 
  message Reset {}
  message Start {}
  message Stop {}
  
  message RetrieveRecords {
    // New data records will be in the response, if any are available.
    repeated Record records = 1;
    
    // A data record from the recorder.
    message Record {
      // The number of these will depend on the number of addresses to record in the recorder configuration.
      repeated Data data = 1;
      
      // Type will depend on what is set in config for each address.
      message Data {
        // Keep the names short to keep packet sizes smaller.
        oneof data {
          double d = 1;
          int32 i32 = 2;
        }
      }
    }
  }
}

Info

Status

message RecorderStatus {
  // Is the Recorder recording?
  bool is_recording = 1;
 
  // The number of records available for retreival.
  int32 records_available = 2;
}