765 StaticInstanceMediator* _mediator;
776 static inline constexpr uint32_t NetworkStartTimeoutMillisecondsDefault = 30000;
779 static inline constexpr uint32_t AxisCountMaximum = 64;
782 static inline constexpr uint32_t MotionCountMaximum = 64;
785 static inline constexpr uint32_t NetworkNodeCountMaximum = 64;
788 static inline constexpr uint32_t RecorderCountMaximum = 64;
791 static inline constexpr uint32_t CompensatorCountMaximum = 64;
794 static inline constexpr uint32_t MathBlockCountMaximum = 64;
797 static inline constexpr uint32_t UserBufferDataCountMaximum = 1024;
800 static inline constexpr uint32_t SequencerGlobalCountMaximum = 191;
803 static inline constexpr double SampleRateDefault = 1000.0;
814 static inline constexpr int32_t AxisFrameBufferSizeDefault = 1024;
836 static inline constexpr uint32_t PathLengthMaximum = 256;
843 static inline constexpr int32_t CpuAffinityDefault = -1;
849 static inline constexpr int32_t RmpThreadPriorityMaximumDefault = 45;
855 static inline constexpr int32_t RmpThreadPriorityRange = 8;
861 static inline constexpr int32_t RmpThreadPriorityMinimum = RmpThreadPriorityRange + 1;
867 static inline constexpr int32_t RmpThreadPriorityMaximum = 99;
873 static inline constexpr int32_t RmpThreadPriorityNoRealTime = 0;
888 std::memset(RmpPath,
'\0', PathLengthMaximum);
889 std::memset(NicPrimary,
'\0', PathLengthMaximum);
890 std::memset(NicSecondary,
'\0', PathLengthMaximum);
892 std::memset(NodeName,
'\0', PathLengthMaximum);
893#elif defined(__linux__)
894 CpuAffinity = CpuAffinityDefault;
895 RmpThreadPriorityMax = RmpThreadPriorityMaximumDefault;
909 char RmpPath[PathLengthMaximum];
915 char NicPrimary[PathLengthMaximum];
921 char NicSecondary[PathLengthMaximum];
925#if defined(_WIN32) && defined(__linux__)
926 static_assert(
false,
"_WIN32 and __linux__ defined. Double check preprocessor definitions");
927#elif !defined(_WIN32) && !defined(__linux__) && !defined(DOXYGEN)
928 static_assert(
false,
"Neither _WIN32 nor __linux__ are defined AND this is not a documentation build. Double check preprocessor definitions");
930#if defined(_WIN32) || defined(DOXYGEN)
941 char NodeName[PathLengthMaximum];
945#if defined(__linux__) || defined(DOXYGEN)
1159 virtual IO*
IOGet(int32_t nodeNumber) PURE_VIRTUAL;
1206 virtual
void Refresh() PURE_VIRTUAL;
1215 virtual
void Shutdown() PURE_VIRTUAL;
1226 virtual
void MemoryToFile(const
char* const fileName) PURE_VIRTUAL;
1257 virtual int32_t SampleCounterGet() PURE_VIRTUAL;
1274 virtual
double ProcessorUsageGet() PURE_VIRTUAL;
1287 virtual
void ProcessorUsageClear() PURE_VIRTUAL;
1292 virtual uint32_t FirmwareTimingDeltaGet() PURE_VIRTUAL;
1327 virtual uint32_t SerialNumberGet(
void) PURE_VIRTUAL;
1348 virtual
void SampleWait(uint32_t samples) PURE_VIRTUAL;
1355 virtual const
char* const ServerNameGet() PURE_VIRTUAL;
1358 virtual int32_t ServerPortGet() PURE_VIRTUAL;
1391 virtual
void SampleRateSet(
double sampleRate) PURE_VIRTUAL;
1395 virtual
double SampleRateGet() PURE_VIRTUAL;
1415 virtual int32_t AxisCountGet() PURE_VIRTUAL;
1436 virtual
void AxisCountSet(int32_t axisCount) PURE_VIRTUAL;
1440 virtual
void AxisCountSet(int32_t axisCount,
bool setMotorFilterSupervisor) PURE_VIRTUAL;
1444 virtual
bool IsLicensed() PURE_VIRTUAL;
1447 virtual int32_t PackageVariantGet() PURE_VIRTUAL;
1450 virtual int32_t AxisLicenseCountGet() PURE_VIRTUAL;
1453 virtual
bool MechaWareLicenseGet() PURE_VIRTUAL;
1456 virtual int32_t UnsupportedOptionSet(int32_t option) PURE_VIRTUAL;
1483 virtual int32_t MotionCountGet() PURE_VIRTUAL;
1502 virtual
void MotionCountSet(int32_t motionCount) PURE_VIRTUAL;
1530 virtual int32_t UserVersionGet() PURE_VIRTUAL;
1556 virtual
void UserVersionSet(int32_t version) PURE_VIRTUAL;
1560 virtual int32_t ExternalMemorySizeGet() PURE_VIRTUAL;
1578 virtual
void AxisFrameBufferSizeSet(int32_t axisNumber, int32_t frameBufferSize) PURE_VIRTUAL;
1595 virtual int32_t AxisFrameBufferSizeGet(int32_t axisNumber) PURE_VIRTUAL;
1621 virtual const
char* const FirmwareVersionGet() PURE_VIRTUAL;
1641 virtual int32_t FirmwareOptionGet() PURE_VIRTUAL;
1644 virtual
bool HasMechaWare() PURE_VIRTUAL;
1670 virtual int32_t MemoryGet(uint64_t address) PURE_VIRTUAL;
1691 virtual
double MemoryDoubleGet(uint64_t address) PURE_VIRTUAL;
1719 virtual
void MemoryBlockGet(uint64_t address,
void* dataStart, int32_t size) PURE_VIRTUAL;
1736 virtual
void MemorySet(uint64_t address, int32_t data) PURE_VIRTUAL;
1757 virtual
void MemoryDoubleSet(uint64_t address,
double dataDouble) PURE_VIRTUAL;
1785 virtual
void MemoryBlockSet(uint64_t address, const
void* const dataStart, int32_t size) PURE_VIRTUAL;
1806 virtual uint32_t FirmwareAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1834 virtual uint64_t HostAddressGet(uint32_t firmwareAddress) PURE_VIRTUAL;
1861 virtual int32_t BackgroundCycleCounterGet() PURE_VIRTUAL;
1875 virtual uint64_t AddressFromStringGet(const
char* const addressName) PURE_VIRTUAL;
1888 virtual const
char* const StringFromAddressGet(uint64_t hostAddress) PURE_VIRTUAL;
1963 virtual
bool MotionHoldGateGet(int32_t gateNumber) PURE_VIRTUAL;
1983 virtual
void MotionHoldGateSet(int32_t gateNumber,
bool hold) PURE_VIRTUAL;
1999 virtual int32_t NetworkNodeCountGet() PURE_VIRTUAL;
2002 virtual
void NetworkStart() PURE_VIRTUAL;
2026 virtual
void NetworkShutdown() PURE_VIRTUAL;
2033 virtual int32_t NetworkCounterGet() PURE_VIRTUAL;
2036 virtual int32_t NetworkInputCountGet() PURE_VIRTUAL;
2039 virtual int32_t NetworkInputBitSizeGet(int32_t index) PURE_VIRTUAL;
2044 virtual const
char* const NetworkInputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2048 virtual int32_t NetworkInputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2052 virtual const
char* const NetworkInputNameGet(int32_t index) PURE_VIRTUAL;
2057 virtual uint64_t NetworkInputValueGet(int32_t index) PURE_VIRTUAL;
2064 virtual uint64_t NetworkInputAddressGet(int32_t index) PURE_VIRTUAL;
2069 virtual int32_t NetworkOutputCountGet() PURE_VIRTUAL;
2073 virtual int32_t NetworkOutputBitSizeGet(int32_t index) PURE_VIRTUAL;
2079 virtual const
char* const NetworkOutputDataTypeNameGet(int32_t index) PURE_VIRTUAL;
2082 virtual int32_t NetworkOutputBitOffsetGet(int32_t index) PURE_VIRTUAL;
2085 virtual const
char* const NetworkOutputNameGet(int32_t index) PURE_VIRTUAL;
2103 virtual uint64_t NetworkOutputValueGet(int32_t index) PURE_VIRTUAL;
2122 virtual
void NetworkOutputValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2143 virtual uint64_t NetworkOutputAddressGet(int32_t index) PURE_VIRTUAL;
2162 virtual uint64_t NetworkOutputIntendedValueGet(int32_t index) PURE_VIRTUAL;
2176 virtual
void NetworkOutputOverrideSet(int32_t index,
bool outputOverride) PURE_VIRTUAL;
2189 virtual
bool NetworkOutputOverrideGet(int32_t index) PURE_VIRTUAL;
2211 virtual
void NetworkOutputOverrideValueSet(int32_t index, uint64_t outputValue) PURE_VIRTUAL;
2226 virtual uint64_t NetworkOutputOverrideValueGet(int32_t index) PURE_VIRTUAL;
2243 virtual uint64_t NetworkOutputSentValueGet(int32_t index) PURE_VIRTUAL;
2248 virtual int32_t NetworkLogMessageCountGet() PURE_VIRTUAL;
2257 virtual const
char* const NetworkLogMessageGet(int32_t messageIndex) PURE_VIRTUAL;
2260 virtual
void NetworkTimingEnableSet(
bool enable) PURE_VIRTUAL;
2263 virtual
void NetworkTimingClear() PURE_VIRTUAL;
2266 virtual uint32_t NetworkTimingDeltaGet() PURE_VIRTUAL;
2269 virtual uint32_t NetworkTimingMinGet() PURE_VIRTUAL;
2272 virtual uint32_t NetworkTimingMaxGet() PURE_VIRTUAL;
2275 virtual
void NetworkTimingThresholdLowSet(uint32_t microseconds) PURE_VIRTUAL;
2278 virtual
void NetworkTimingThresholdHighSet(uint32_t microseconds) PURE_VIRTUAL;
2281 virtual uint32_t NetworkTimingThresholdLowCountGet() PURE_VIRTUAL;
2284 virtual uint32_t NetworkTimingThresholdHighCountGet() PURE_VIRTUAL;
2287 virtual
bool NetworkSynchronizedGet() PURE_VIRTUAL;
2312 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
2333 virtual
void InterruptWake() PURE_VIRTUAL;
2363 virtual
void SyncInterruptEnableSet(
bool enable) PURE_VIRTUAL;
2391 virtual
void SyncInterruptPeriodSet(uint32_t samples) PURE_VIRTUAL;
2413 virtual int32_t SyncInterruptWait() PURE_VIRTUAL;
2416 virtual
bool ServiceThreadStateGet() PURE_VIRTUAL;
2429 virtual int32_t SyncInterruptHostProcessTimeGet() PURE_VIRTUAL;
2432 virtual int32_t SyncInterruptHostProcessFlagGet() PURE_VIRTUAL;
2447 virtual
void SyncInterruptHostProcessFlagSet(
bool hostProcessFlag) PURE_VIRTUAL;
2460 virtual
bool SyncInterruptHostProcessStatusBitGet() PURE_VIRTUAL;
2472 virtual
void SyncInterruptHostProcessStatusClear() PURE_VIRTUAL;
2501 virtual
void ServiceThreadEnableSet(
bool enable) PURE_VIRTUAL;
2530 virtual int32_t RecorderCountGet() PURE_VIRTUAL;
2550 virtual
void RecorderCountSet(int32_t recorderCount) PURE_VIRTUAL;
2569 virtual
void RecorderPeriodSet(uint32_t samples) PURE_VIRTUAL;
2572 virtual
void RecorderPeriodSet(int32_t recorderNumber, uint32_t samples) PURE_VIRTUAL;
2591 virtual
void RecorderCircularBufferSet(
bool enable) PURE_VIRTUAL;
2594 virtual
void RecorderCircularBufferSet(int32_t recorderNumber,
bool enable) PURE_VIRTUAL;
2612 virtual
void RecorderDataCountSet(int32_t count) PURE_VIRTUAL;
2615 virtual
void RecorderDataCountSet(int32_t recorderNumber,int32_t count) PURE_VIRTUAL;
2634 virtual
void RecorderDataAddressSet(int32_t index, uint64_t address) PURE_VIRTUAL;
2637 virtual
void RecorderDataAddressSet(int32_t recorderNumber,int32_t index, uint64_t address) PURE_VIRTUAL;
2645 virtual
void RecorderDataAddressesSet(int32_t recorderNumber, const uint64_t* const addresses, int32_t addressCount) PURE_VIRTUAL;
2666 virtual
void RecorderConfigureToTriggerOnMotion(
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2669 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
Axis *axis,
bool triggerOnMotion) PURE_VIRTUAL;
2673 virtual
void RecorderConfigureToTriggerOnMotion(
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2676 virtual
void RecorderConfigureToTriggerOnMotion(int32_t recorderNumber,
MultiAxis *multiAxis,
bool triggerOnMotion) PURE_VIRTUAL;
2694 virtual
bool RecorderEnabledGet() PURE_VIRTUAL;
2697 virtual
bool RecorderEnabledGet(int32_t recorderNumber ) PURE_VIRTUAL;
2716 virtual int32_t RecorderRecordCountGet() PURE_VIRTUAL;
2719 virtual int32_t RecorderRecordCountGet(int32_t recorderNumber ) PURE_VIRTUAL;
2735 virtual int32_t RecorderRecordMaxCountGet() PURE_VIRTUAL;
2738 virtual int32_t RecorderRecordMaxCountGet(int32_t recorderNumber) PURE_VIRTUAL;
2755 virtual
void RecorderStart() PURE_VIRTUAL;
2758 virtual
void RecorderStart(int32_t recorderNumber) PURE_VIRTUAL;
2777 virtual
void RecorderStop() PURE_VIRTUAL;
2780 virtual
void RecorderStop(int32_t recorderNumber) PURE_VIRTUAL;
2800 virtual const int32_t* const RecorderRecordDataGet() PURE_VIRTUAL;
2803 virtual const int32_t* const RecorderRecordDataGet(int32_t recorderNumber) PURE_VIRTUAL;
2820 virtual
void RecorderRecordDataRetrieve() PURE_VIRTUAL;
2842 virtual int32_t RecorderRecordDataRetrieveBulk(int32_t recorderNumber, int32_t recordCount) PURE_VIRTUAL;
2845 virtual
void RecorderRecordDataRetrieve(int32_t recorderNumber) PURE_VIRTUAL;
2864 virtual int32_t RecorderRecordDataValueGet(int32_t index) PURE_VIRTUAL;
2867 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2888 virtual int32_t RecorderRecordDataValueGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2891 virtual
double RecorderRecordDataDoubleGet(int32_t index) PURE_VIRTUAL;
2894 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t index) PURE_VIRTUAL;
2915 virtual
double RecorderRecordDataDoubleGet(int32_t recorderNumber, int32_t recordIndex, int32_t dataIndex) PURE_VIRTUAL;
2935 virtual
void RecorderBufferHighCountSet(int32_t bufferHighCount) PURE_VIRTUAL;
2938 virtual
void RecorderBufferHighCountSet(int32_t recorderNumber, int32_t bufferHighCount) PURE_VIRTUAL;
2955 virtual
void RecorderReset() PURE_VIRTUAL;
2958 virtual
void RecorderReset(int32_t recorderNumber) PURE_VIRTUAL;
2972 virtual int32_t RecorderBufferSizeGet(int32_t recorderNumber) PURE_VIRTUAL;
2991 virtual
void RecorderBufferSizeSet(int32_t recorderNumber, int32_t bufferSize) PURE_VIRTUAL;
3027 virtual int32_t CompensatorCountGet() PURE_VIRTUAL;
3049 virtual
void CompensatorCountSet(int32_t compensatorCount) PURE_VIRTUAL;
3062 virtual int32_t CompensatorPointCountGet(int32_t compensatorNumber) PURE_VIRTUAL;
3084 virtual
void CompensatorPointCountSet(int32_t compensatorNumber, int32_t pointCount) PURE_VIRTUAL;
3100 virtual int32_t CompensatorDimensionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3127 virtual
void CompensatorConfigSet(int32_t compensatorNumber, int32_t firstInputAxisNumber,
RSIAxisMasterType firstInputAxisType,
double firstInputAxisMinimum,
double firstInputAxisMaximum,
double firstInputAxisDelta, int32_t secondInputAxisNumber,
RSIAxisMasterType secondInputAxisType,
double secondInputAxisMinimum,
double secondInputAxisMaximum,
double secondInputAxisDelta, int32_t outputAxisNumber,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3159 virtual
void CompensatorConfigSet(int32_t compensatorNumber,
Axis* firstInputAxis,
RSIAxisMasterType firstInputAxisType,
double firstInputAxisMinimum,
double firstInputAxisMaximum,
double firstInputAxisDelta,
Axis* secondInputAxis,
RSIAxisMasterType secondInputAxisType,
double secondInputAxisMinimum,
double secondInputAxisMaximum,
double secondInputAxisDelta,
Axis* outputAxis,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3181 virtual
void CompensatorConfigSet(int32_t compensatorNumber, int32_t inputAxisNumber,
RSIAxisMasterType inputAxisType,
double inputAxisMinimum,
double inputAxisMaximum,
double inputAxisDelta, int32_t outputAxisNumber,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3203 virtual
void CompensatorConfigSet(int32_t compensatorNumber,
Axis* inputAxis,
RSIAxisMasterType inputAxisType,
double inputAxisMinimum,
double inputAxisMaximum,
double inputAxisDelta,
Axis* outputAxis,
RSICompensatorOutputType outputType, const
double* const table) PURE_VIRTUAL;
3217 virtual
void CompensatorTableSet(int32_t compensatorNumber, const
double* const table) PURE_VIRTUAL;
3231 virtual
void CompensatorTableGet(int32_t compensatorNumber,
double* table) PURE_VIRTUAL;
3253 virtual
double CompensatorPositionGet(int32_t compensatorNumber) PURE_VIRTUAL;
3273 virtual
void CompensatorTableClear(int32_t compensatorNumber) PURE_VIRTUAL;
3284 virtual
void CompensatorDisable(int32_t compensatorNumber) PURE_VIRTUAL;
3290 virtual
void CompensatorDisable(int32_t compensatorNumber,
bool force) PURE_VIRTUAL;
3299 virtual
void CompensatorEnable(int32_t compensatorNumber) PURE_VIRTUAL;
3328 virtual int32_t UserLimitCountGet() PURE_VIRTUAL;
3350 virtual
void UserLimitCountSet(int32_t userLimitCount) PURE_VIRTUAL;
3382 virtual
RSIAction UserLimitActionGet(int32_t number) PURE_VIRTUAL;
3385 virtual int32_t UserLimitAxisNumberGet(int32_t number) PURE_VIRTUAL;
3388 virtual
double UserLimitDurationGet(int32_t number) PURE_VIRTUAL;
3391 virtual
bool UserLimitSingleShotGet(int32_t number) PURE_VIRTUAL;
3418 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfUInt32, uint32_t userLimitMask, uint32_t limitValueUInt32) PURE_VIRTUAL;
3442 virtual
void UserLimitConditionSet(int32_t number, int32_t conditionNumber,
RSIUserLimitLogic logic, uint64_t addressOfDouble,
double limitValueDouble) PURE_VIRTUAL;
3445 virtual
RSIDataType UserLimitConditionDataTypeGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3448 virtual
RSIUserLimitLogic UserLimitConditionLogicGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3451 virtual uint64_t UserLimitConditionAddressGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3454 virtual uint32_t UserLimitConditionMaskGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3457 virtual int32_t UserLimitConditionLimitValueGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3460 virtual
double UserLimitConditionLimitValueDoubleGet(int32_t number, int32_t conditionNumber) PURE_VIRTUAL;
3489 virtual
void UserLimitOutputSet(int32_t number, uint32_t andMask, uint32_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3493 virtual
void UserLimitOutputSet(int32_t number, int32_t valueSet, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3497 virtual
void UserLimitOutputSet(int32_t number, uint64_t andMask, uint64_t orMask, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3501 virtual
void UserLimitOutputSet(int32_t number,
double limitValueDouble, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3519 virtual
void UserLimitOutputSet(int32_t number,
RSIDataType dataType, uint64_t inputPtr, uint64_t outputPtr,
bool enabled) PURE_VIRTUAL;
3522 virtual
bool UserLimitOutputEnableGet(int32_t number) PURE_VIRTUAL;
3525 virtual
RSIDataType UserLimitOutputDataTypeGet(int32_t number) PURE_VIRTUAL;
3528 virtual uint64_t UserLimitOutputAddressGet(int32_t number) PURE_VIRTUAL;
3531 virtual uint64_t UserLimitOutputInputAddressGet(int32_t number) PURE_VIRTUAL;
3534 virtual uint32_t UserLimitOutputAndMaskGet(int32_t number) PURE_VIRTUAL;
3537 virtual uint32_t UserLimitOutputOrMaskGet(int32_t number) PURE_VIRTUAL;
3540 virtual int32_t UserLimitOutputValueGet(int32_t number) PURE_VIRTUAL;
3543 virtual uint64_t UserLimitOutputAndMask64Get(int32_t number) PURE_VIRTUAL;
3546 virtual uint64_t UserLimitOutputOrMask64Get(int32_t number) PURE_VIRTUAL;
3550 virtual
double UserLimitOutputDoubleGet(int32_t number) PURE_VIRTUAL;
3573 virtual
bool UserLimitStateGet(int32_t number) PURE_VIRTUAL;
3596 virtual
bool UserLimitEnableGet(int32_t number) PURE_VIRTUAL;
3599 virtual
void UserLimitEnableSet(int32_t number,
bool enable) PURE_VIRTUAL;
3616 virtual
void UserLimitDisable(int32_t number) PURE_VIRTUAL;
3630 virtual
void UserLimitReset(int32_t number) PURE_VIRTUAL;
3642 virtual int32_t UserLimitCountMax() PURE_VIRTUAL;
3662 virtual
void UserLimitInterruptUserDataAddressSet(int32_t number, uint32_t userDataIndex, uint64_t address) PURE_VIRTUAL;
3665 virtual uint64_t UserLimitInterruptUserDataAddressGet(int32_t number, uint32_t userDataIndex) PURE_VIRTUAL;
3684 virtual int32_t MathBlockCountGet() PURE_VIRTUAL;
3697 virtual
void MathBlockCountSet(int32_t mathBlockCount) PURE_VIRTUAL;
3753 static inline constexpr uint32_t SDOTimeoutMillisecondsDefault = 100;
3770 virtual
bool IsEtherCAT() PURE_VIRTUAL;
3773 virtual
bool IsSynqNet() PURE_VIRTUAL;
3783 virtual
bool HasIO() PURE_VIRTUAL;
3786 virtual
bool DigitalInGet(int32_t digitalInNumber) PURE_VIRTUAL;
3789 virtual
bool DigitalOutGet(int32_t digitalOutNumber) PURE_VIRTUAL;
3792 virtual
void DigitalOutSet(int32_t digitalOutNumber,
bool state) PURE_VIRTUAL;
3795 virtual int32_t AnalogInGet(int32_t analogChannel) PURE_VIRTUAL;
3798 virtual int32_t AnalogOutGet(int32_t analogChannel) PURE_VIRTUAL;
3801 virtual
void AnalogOutSet(int32_t analogChannel, int32_t analogValue) PURE_VIRTUAL;
3810 virtual int32_t DigitalInCountGet() PURE_VIRTUAL;
3813 virtual int32_t DigitalOutCountGet() PURE_VIRTUAL;
3816 virtual int32_t AnalogInCountGet() PURE_VIRTUAL;
3819 virtual int32_t AnalogOutCountGet() PURE_VIRTUAL;
3823 virtual int32_t SegmentCountGet() PURE_VIRTUAL;
3826 virtual int32_t SegmentDigitalInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3829 virtual int32_t SegmentDigitalOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3832 virtual int32_t SegmentAnalogInCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3835 virtual int32_t SegmentAnalogOutCountGet(int32_t segmentNumber) PURE_VIRTUAL;
3838 virtual int32_t SegmentIDGet(int32_t segmentNumber) PURE_VIRTUAL;
3853 virtual uint64_t DigitalInAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3868 virtual int32_t DigitalInMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3883 virtual uint64_t DigitalOutAddressGet(int32_t bitNumber) PURE_VIRTUAL;
3898 virtual int32_t DigitalOutMaskGet(int32_t bitNumber) PURE_VIRTUAL;
3912 virtual uint64_t AnalogInAddressGet(int32_t channel) PURE_VIRTUAL;
3926 virtual int32_t AnalogInMaskGet(int32_t channel) PURE_VIRTUAL;
3940 virtual uint64_t AnalogOutAddressGet(int32_t channel) PURE_VIRTUAL;
3954 virtual int32_t AnalogOutMaskGet(int32_t channel) PURE_VIRTUAL;
3968 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3973 virtual int32_t ServiceChannelRead(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
3988 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount) PURE_VIRTUAL;
3993 virtual const
char* const ServiceChannelReadString(int32_t index, int32_t subIndex, int32_t byteCount, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4011 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue) PURE_VIRTUAL;
4018 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, int32_t sdoValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4033 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue) PURE_VIRTUAL;
4042 virtual
void ServiceChannelWrite(int32_t index, int32_t subIndex, int32_t byteCount, const
char* const stringValue, uint32_t timeoutMilliseconds) PURE_VIRTUAL;
4049 virtual
char* AKDASCIICommand(const
char* const command) PURE_VIRTUAL;
4052 virtual
void ClearFaults(int32_t axisNumber) PURE_VIRTUAL;
4055 virtual uint32_t VendorIdGet() PURE_VIRTUAL;
4070 virtual const
char* const NameGet() PURE_VIRTUAL;
4085 virtual const
char* const ProductNameGet() PURE_VIRTUAL;
4100 virtual const
char* const VendorNameGet() PURE_VIRTUAL;
4103 virtual uint32_t ProductCodeGet() PURE_VIRTUAL;
4106 virtual uint32_t RevisionGet() PURE_VIRTUAL;
4109 virtual uint32_t StationAliasGet() PURE_VIRTUAL;
4112 virtual const
char* const SerialNumberGet() PURE_VIRTUAL;
4115 virtual uint32_t AxisCountGet() PURE_VIRTUAL;
4118 virtual uint16_t StatusWordGet(int32_t axisIndex) PURE_VIRTUAL;
4181 virtual int32_t AxisCountGet() PURE_VIRTUAL;
4212 virtual
void TriggeredModify() PURE_VIRTUAL;
4241 virtual
void Stop() PURE_VIRTUAL;
4268 virtual
void Resume() PURE_VIRTUAL;
4295 virtual
void EStop() PURE_VIRTUAL;
4318 virtual
void EStopAbort() PURE_VIRTUAL;
4337 virtual
void EStopModify() PURE_VIRTUAL;
4341 virtual
void EStopModifyAbort() PURE_VIRTUAL;
4365 virtual
void Abort() PURE_VIRTUAL;
4394 virtual
void ClearFaults() PURE_VIRTUAL;
4423 virtual
void AmpEnableSet(
bool enable) PURE_VIRTUAL;
4455 virtual int32_t AmpEnableSet(
bool enable, int32_t ampActiveTimeoutMilliseconds) PURE_VIRTUAL;
4478 virtual
void Map() PURE_VIRTUAL;
4498 virtual
void Unmap() PURE_VIRTUAL;
4505 virtual
bool IsMapped() PURE_VIRTUAL;
4524 virtual
void FeedRateSet(
double rate) PURE_VIRTUAL;
4545 virtual
double FeedRateGet() PURE_VIRTUAL;
4641 virtual const
char* const SourceNameGet(
RSISource source) PURE_VIRTUAL;
4666 virtual int32_t MotionDoneWait() PURE_VIRTUAL;
4695 virtual int32_t MotionDoneWait(int32_t waitTimeoutMilliseconds) PURE_VIRTUAL;
4718 virtual
bool MotionDoneGet() PURE_VIRTUAL;
4760 virtual uint64_t StatusBitsGet() PURE_VIRTUAL;
4795 virtual
void InterruptEnableSet(
bool enable) PURE_VIRTUAL;
4811 virtual
void InterruptWake() PURE_VIRTUAL;
4833 virtual
double StopTimeGet() PURE_VIRTUAL;
4851 virtual
void StopTimeSet(
double seconds) PURE_VIRTUAL;
4869 virtual
double EStopTimeGet() PURE_VIRTUAL;
4887 virtual
void EStopTimeSet(
double seconds) PURE_VIRTUAL;
4906 virtual
double MotionDelayGet() PURE_VIRTUAL;
4929 virtual
void MotionDelaySet(
double seconds) PURE_VIRTUAL;
4952 virtual uint16_t MotionIdGet() PURE_VIRTUAL;
4972 virtual
void MotionIdSet(uint16_t
id) PURE_VIRTUAL;
4975 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
4978 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
4995 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
5005 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
5076 virtual int32_t MotionHoldGateNumberGet() PURE_VIRTUAL;
5098 virtual
void MotionHoldGateNumberSet(int32_t gateNumber) PURE_VIRTUAL;
5117 virtual
double MotionHoldTimeoutGet() PURE_VIRTUAL;
5138 virtual
void MotionHoldTimeoutSet(
double seconds) PURE_VIRTUAL;
5164 virtual
bool MotionHoldGateGet() PURE_VIRTUAL;
5189 virtual
void MotionHoldGateSet(
bool hold) PURE_VIRTUAL;
5208 virtual int32_t MotionHoldAxisNumberGet() PURE_VIRTUAL;
5227 virtual
void MotionHoldAxisNumberSet(int32_t number) PURE_VIRTUAL;
5247 virtual
double MotionHoldAxisPositionGet() PURE_VIRTUAL;
5266 virtual
void MotionHoldAxisPositionSet(
double position) PURE_VIRTUAL;
5291 virtual uint64_t MotionHoldUserAddressGet() PURE_VIRTUAL;
5310 virtual
void MotionHoldUserAddressSet(uint64_t address) PURE_VIRTUAL;
5328 virtual int32_t MotionHoldUserMaskGet() PURE_VIRTUAL;
5346 virtual
void MotionHoldUserMaskSet(int32_t holdMask) PURE_VIRTUAL;
5364 virtual int32_t MotionHoldUserPatternGet() PURE_VIRTUAL;
5382 virtual
void MotionHoldUserPatternSet(int32_t pattern) PURE_VIRTUAL;
5385 virtual
void MotionAttributeMaskDefaultSet() PURE_VIRTUAL;
5495 virtual
void MovePT(
RSIMotionType type, const
double* const position, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5531 virtual
void MovePVT(const
double* const position, const
double* const velocity, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5559 virtual
void MovePVAJT(const
double* const position, const
double* const velocity, const
double* const acceleration, const
double* const jerk, const
double* const time, int32_t pointCount, int32_t emptyCount,
bool retain,
bool final) PURE_VIRTUAL;
5565 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address) PURE_VIRTUAL;
5589 virtual
void StreamingOutputAdd(int32_t onMask, int32_t offMask, uint64_t address, int32_t ptPointIndex) PURE_VIRTUAL;
5595 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on) PURE_VIRTUAL;
5616 virtual
void StreamingOutputAdd(RapidCode::
IOPoint* point,
bool on, int32_t ptPointIndex) PURE_VIRTUAL;
5634 virtual
void StreamingOutputsClear() PURE_VIRTUAL;
5656 virtual
void StreamingOutputsEnableSet(
bool enable) PURE_VIRTUAL;
5677 static inline constexpr uint32_t NetworkIndexInvalid = 65535;
5680 static inline constexpr double AmpEnableAmpFaultTimeoutSecondsDefault = 1.0;
5742 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel) PURE_VIRTUAL;
5765 virtual void MoveTrapezoidal(
double position,
double vel,
double accel,
double decel,
double finalVel) PURE_VIRTUAL;
5831 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
5848 virtual void MoveSCurve(
double position,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
5970 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct) PURE_VIRTUAL;
5980 virtual void MoveRelative(
double relativePosition,
double vel,
double accel,
double decel,
double jerkPct,
double finalVel) PURE_VIRTUAL;
6060 virtual
void ActualPositionSet(
double position) PURE_VIRTUAL;
6079 virtual
double CompensationPositionGet() PURE_VIRTUAL;
6094 virtual
void CompensationPositionSet(
double position) PURE_VIRTUAL;
6108 virtual
double TargetPositionGet() PURE_VIRTUAL;
6134 virtual
double CommandPositionGet() PURE_VIRTUAL;
6170 virtual
void CommandPositionSet(
double position) PURE_VIRTUAL;
6196 virtual
void CommandPositionDirectSet(
double position) PURE_VIRTUAL;
6217 virtual
double OriginPositionGet() PURE_VIRTUAL;
6244 virtual
void OriginPositionSet(
double position) PURE_VIRTUAL;
6267 virtual
double PositionErrorGet() PURE_VIRTUAL;
6291 virtual
double CommandVelocityGet() PURE_VIRTUAL;
6316 virtual
double ActualVelocityGet() PURE_VIRTUAL;
6339 virtual
double CommandAccelGet() PURE_VIRTUAL;
6342 virtual
double CommandJerkGet() PURE_VIRTUAL;
6389 virtual
double UserUnitsGet() PURE_VIRTUAL;
6414 virtual
void UserUnitsSet(
double countsPerUserUnit) PURE_VIRTUAL;
6417 virtual
double UserUnitsToCounts(
double userUnits) PURE_VIRTUAL;
6420 virtual
double CountsToUserUnits(
double counts) PURE_VIRTUAL;
6442 virtual int32_t FramesToExecuteGet() PURE_VIRTUAL;
6472 virtual
void Home() PURE_VIRTUAL;
6477 virtual
void Home(
bool moveToZero) PURE_VIRTUAL;
6545 virtual
double HomeOffsetGet() PURE_VIRTUAL;
6567 virtual
void HomeOffsetSet(
double offset) PURE_VIRTUAL;
6588 virtual
double HomeVelocityGet() PURE_VIRTUAL;
6615 virtual
void HomeVelocitySet(
double velocity) PURE_VIRTUAL;
6621 virtual
void HomeVelocitySet(
RSIHomeStage homeStage,
double velocity) PURE_VIRTUAL;
6639 virtual
double HomeSlowVelocityGet() PURE_VIRTUAL;
6657 virtual
void HomeSlowVelocitySet(
double velocity) PURE_VIRTUAL;
6678 virtual
double HomeAccelerationGet() PURE_VIRTUAL;
6705 virtual
void HomeAccelerationSet(
double accel) PURE_VIRTUAL;
6710 virtual
void HomeAccelerationSet(
RSIHomeStage homeStage,
double accel) PURE_VIRTUAL;
6730 virtual
double HomeDecelerationGet() PURE_VIRTUAL;
6756 virtual
void HomeDecelerationSet(
double decel) PURE_VIRTUAL;
6761 virtual
void HomeDecelerationSet(
RSIHomeStage homeStage,
double decel) PURE_VIRTUAL;
6782 virtual
double HomeJerkPercentGet() PURE_VIRTUAL;
6808 virtual
void HomeJerkPercentSet(
double percent) PURE_VIRTUAL;
6814 virtual
void HomeJerkPercentSet(
RSIHomeStage homeStage,
double percent) PURE_VIRTUAL;
6836 virtual
void HomeCancelSet(
bool cancel) PURE_VIRTUAL;
6857 virtual
bool HomeStateGet() PURE_VIRTUAL;
6872 virtual
void HomeStateSet(
bool homed) PURE_VIRTUAL;
6878 virtual
void HomeLimitCustomConfigSet(uint64_t address, int32_t bitIndex) PURE_VIRTUAL;
6881 virtual
void HomeLimitCustomConfigReset() PURE_VIRTUAL;
6884 virtual uint64_t HomeLimitCustomConfigAddressGet() PURE_VIRTUAL;
6888 virtual int32_t HomeLimitCustomConfigBitIndexGet() PURE_VIRTUAL;
6913 virtual
void HomeTravelDistanceSet(
RSIHomeStage stage,
double distanceToTravel) PURE_VIRTUAL;
6951 virtual
void HomeBehaviorSet(
RSIAction behavior) PURE_VIRTUAL;
6978 virtual uint16_t StatusWordGet() PURE_VIRTUAL;
7012 virtual
bool NegativeLimitGet() PURE_VIRTUAL;
7038 virtual
bool PositiveLimitGet() PURE_VIRTUAL;
7069 virtual
bool HomeLimitGet() PURE_VIRTUAL;
7099 virtual
bool HomeSwitchGet() PURE_VIRTUAL;
7122 virtual
bool AmpFaultGet() PURE_VIRTUAL;
7148 virtual
bool AmpEnableGet() PURE_VIRTUAL;
7435 virtual
double AnalogInGet(int32_t channel) PURE_VIRTUAL;
7457 virtual
double EStopDecelerationGet() PURE_VIRTUAL;
7474 virtual
void EStopDecelerationSet(
double decel) PURE_VIRTUAL;
7487 virtual
double EStopJerkPercentGet() PURE_VIRTUAL;
7507 virtual
void EStopJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7519 virtual
double TriggeredModifyDecelerationGet() PURE_VIRTUAL;
7539 virtual
void TriggeredModifyDecelerationSet(
double decel) PURE_VIRTUAL;
7552 virtual
double TriggeredModifyJerkPercentGet() PURE_VIRTUAL;
7572 virtual
void TriggeredModifyJerkPercentSet(
double jerkPct) PURE_VIRTUAL;
7575 virtual int32_t FrameBufferSizeGet() PURE_VIRTUAL;
7578 virtual
void FrameBufferSizeSet(int32_t frameSize) PURE_VIRTUAL;
7600 virtual uint16_t MotionIdExecutingGet() PURE_VIRTUAL;
7623 virtual uint16_t MotionElementIdExecutingGet() PURE_VIRTUAL;
7632 virtual
double MotionFinalVelocityGet() PURE_VIRTUAL;
7635 virtual
void MotionFinalVelocitySet(
double finalVelocity) PURE_VIRTUAL;
7638 virtual
double DefaultVelocityGet() PURE_VIRTUAL;
7641 virtual
void DefaultVelocitySet(
double velocity) PURE_VIRTUAL;
7644 virtual
double DefaultAccelerationGet() PURE_VIRTUAL;
7647 virtual
void DefaultAccelerationSet(
double acceleration) PURE_VIRTUAL;
7650 virtual
double DefaultDecelerationGet() PURE_VIRTUAL;
7653 virtual
void DefaultDecelerationSet(
double deceleration) PURE_VIRTUAL;
7656 virtual
double DefaultJerkPercentGet() PURE_VIRTUAL;
7659 virtual
void DefaultJerkPercentSet(
double jerkPercent) PURE_VIRTUAL;
7662 virtual
double DefaultPosition1Get() PURE_VIRTUAL;
7665 virtual
void DefaultPosition1Set(
double position1) PURE_VIRTUAL;
7668 virtual
double DefaultPosition2Get() PURE_VIRTUAL;
7671 virtual
void DefaultPosition2Set(
double position2) PURE_VIRTUAL;
7674 virtual
double DefaultRelativeIncrementGet() PURE_VIRTUAL;
7677 virtual
void DefaultRelativeIncrementSet(
double relativeIncrement) PURE_VIRTUAL;
7733 virtual
void AmpFaultActionSet(
RSIAction action) PURE_VIRTUAL;
7757 virtual
bool AmpFaultTriggerStateGet() PURE_VIRTUAL;
7781 virtual
void AmpFaultTriggerStateSet(
bool state) PURE_VIRTUAL;
7804 virtual
double AmpFaultDurationGet() PURE_VIRTUAL;
7827 virtual
void AmpFaultDurationSet(
double seconds) PURE_VIRTUAL;
7908 virtual
bool HomeTriggerStateGet() PURE_VIRTUAL;
7931 virtual
void HomeTriggerStateSet(
bool state) PURE_VIRTUAL;
7955 virtual
double HomeDurationGet() PURE_VIRTUAL;
7980 virtual
void HomeDurationSet(
double seconds) PURE_VIRTUAL;
8011 virtual
RSIAction ErrorLimitActionGet() PURE_VIRTUAL;
8040 virtual
void ErrorLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8065 virtual
double ErrorLimitTriggerValueGet() PURE_VIRTUAL;
8089 virtual
void ErrorLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8113 virtual
double ErrorLimitDurationGet() PURE_VIRTUAL;
8138 virtual
void ErrorLimitDurationSet(
double seconds) PURE_VIRTUAL;
8165 virtual
RSIAction HardwareNegLimitActionGet() PURE_VIRTUAL;
8192 virtual
void HardwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8218 virtual
bool HardwareNegLimitTriggerStateGet() PURE_VIRTUAL;
8244 virtual
void HardwareNegLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8269 virtual
double HardwareNegLimitDurationGet() PURE_VIRTUAL;
8295 virtual
void HardwareNegLimitDurationSet(
double seconds) PURE_VIRTUAL;
8322 virtual
RSIAction HardwarePosLimitActionGet() PURE_VIRTUAL;
8349 virtual
void HardwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8371 virtual
bool HardwarePosLimitTriggerStateGet() PURE_VIRTUAL;
8397 virtual
void HardwarePosLimitTriggerStateSet(
bool state) PURE_VIRTUAL;
8422 virtual
double HardwarePosLimitDurationGet() PURE_VIRTUAL;
8447 virtual
void HardwarePosLimitDurationSet(
double seconds) PURE_VIRTUAL;
8475 virtual
RSIAction SoftwareNegLimitActionGet() PURE_VIRTUAL;
8501 virtual
void SoftwareNegLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8526 virtual
double SoftwareNegLimitTriggerValueGet() PURE_VIRTUAL;
8551 virtual
void SoftwareNegLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8577 virtual
RSIAction SoftwarePosLimitActionGet() PURE_VIRTUAL;
8603 virtual
void SoftwarePosLimitActionSet(
RSIAction action) PURE_VIRTUAL;
8628 virtual
double SoftwarePosLimitTriggerValueGet() PURE_VIRTUAL;
8653 virtual
void SoftwarePosLimitTriggerValueSet(
double triggerValue) PURE_VIRTUAL;
8681 virtual
RSIAction EncoderFaultActionGet() PURE_VIRTUAL;
8708 virtual
void EncoderFaultActionSet(
RSIAction action) PURE_VIRTUAL;
8782 virtual
double EncoderFaultDurationGet() PURE_VIRTUAL;
8806 virtual
void EncoderFaultDurationSet(
double seconds) PURE_VIRTUAL;
8809 virtual
RSIAction NodeFailureActionGet() PURE_VIRTUAL;
8812 virtual
void NodeFailureActionSet(
RSIAction action) PURE_VIRTUAL;
8857 virtual
bool LimitTriggerStateGet(
RSIEventType limit) PURE_VIRTUAL;
8860 virtual
void LimitTriggerStateSet(
RSIEventType limit,
bool triggerState) PURE_VIRTUAL;
8863 virtual
double LimitTriggerValueGet(
RSIEventType limit) PURE_VIRTUAL;
8866 virtual
void LimitTriggerValueSet(
RSIEventType limit,
double triggerValue) PURE_VIRTUAL;
8869 virtual
double LimitDurationGet(
RSIEventType limit) PURE_VIRTUAL;
8872 virtual
void LimitDurationSet(
RSIEventType limit,
double seconds) PURE_VIRTUAL;
8894 virtual
double PositionToleranceFineGet() PURE_VIRTUAL;
8910 virtual
void PositionToleranceFineSet(
double tolerance) PURE_VIRTUAL;
8926 virtual
double PositionToleranceCoarseGet() PURE_VIRTUAL;
8945 virtual
void PositionToleranceCoarseSet(
double tolerance) PURE_VIRTUAL;
8961 virtual
double VelocityToleranceGet() PURE_VIRTUAL;
8977 virtual
void VelocityToleranceSet(
double tolerance) PURE_VIRTUAL;
8994 virtual
double SettlingTimeGet() PURE_VIRTUAL;
9011 virtual
void SettlingTimeSet(
double time) PURE_VIRTUAL;
9030 virtual
bool SettleOnStopGet() PURE_VIRTUAL;
9050 virtual
void SettleOnStopSet(
bool state) PURE_VIRTUAL;
9069 virtual
bool SettleOnEStopGet() PURE_VIRTUAL;
9087 virtual
void SettleOnEStopSet(
bool state) PURE_VIRTUAL;
9106 virtual
bool SettleOnEStopCmdEqActGet() PURE_VIRTUAL;
9124 virtual
void SettleOnEStopCmdEqActSet(
bool state) PURE_VIRTUAL;
9167 virtual
void MotorTypeSet(
RSIMotorType type) PURE_VIRTUAL;
9261 virtual
double BrakeApplyDelayGet() PURE_VIRTUAL;
9281 virtual
void BrakeApplyDelaySet(
double seconds) PURE_VIRTUAL;
9299 virtual
double BrakeReleaseDelayGet() PURE_VIRTUAL;
9319 virtual
void BrakeReleaseDelaySet(
double seconds) PURE_VIRTUAL;
9322 virtual
void ClosedLoopStepperSet(
bool enable) PURE_VIRTUAL;
9325 virtual int32_t ClosedLoopStepperVersionGet() PURE_VIRTUAL;
9331 virtual
void EncoderPointerSet(
RSIMotorFeedback encoder, uint64_t address) PURE_VIRTUAL;
9338 virtual
void FeedbackDeltaPointerSet(
RSIAxisPositionInput input, uint64_t address) PURE_VIRTUAL;
9364 virtual int32_t EncoderRatioNumeratorGet(
RSIMotorFeedback encoder) PURE_VIRTUAL;
9367 virtual int32_t EncoderRatioDenominatorGet(
RSIMotorFeedback encoder) PURE_VIRTUAL;
9391 virtual
void EncoderRatioSet(
RSIMotorFeedback encoder, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9394 virtual const
char* const EncoderRatioPrimaryGet() PURE_VIRTUAL;
9397 virtual
void EncoderRatioPrimarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9400 virtual const
char* const EncoderRatioSecondaryGet() PURE_VIRTUAL;
9403 virtual
void EncoderRatioSecondarySet(
char* numeratorCommaDenominator) PURE_VIRTUAL;
9406 virtual int32_t EncoderCountGet() PURE_VIRTUAL;
9410 virtual
void EncoderCountSet(int32_t count) PURE_VIRTUAL;
9470 virtual int32_t MotorFaultMaskGet() PURE_VIRTUAL;
9498 virtual
void MotorFaultMaskSet(int32_t faultMask) PURE_VIRTUAL;
9528 virtual
void GearingEnable(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9533 virtual
void GearingEnable(
Axis* masterAxis,
RSIAxisMasterType masterFeedbackSource, int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9554 virtual
void GearingRatioChange(int32_t numerator, int32_t denominator) PURE_VIRTUAL;
9573 virtual
void GearingDisable() PURE_VIRTUAL;
9576 virtual int32_t GearingNumeratorGet() PURE_VIRTUAL;
9579 virtual int32_t GearingDenominatorGet() PURE_VIRTUAL;
9582 virtual
bool GearingEnableGet() PURE_VIRTUAL;
9602 virtual int32_t GearingMasterAxisNumberGet() PURE_VIRTUAL;
9642 virtual
double MotionCamMasterStartGet(
Axis* master) PURE_VIRTUAL;
9659 virtual
void MotionCamMasterStartSet(
Axis* master,
double startPosition) PURE_VIRTUAL;
9678 virtual int32_t MotionCamRepeatFromGet() PURE_VIRTUAL;
9698 virtual
void MotionCamRepeatFromSet(int32_t repeatFrom) PURE_VIRTUAL;
9718 virtual
void MotionCamRepeatStop() PURE_VIRTUAL;
9743 virtual
void MoveCamLinear(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, int32_t pointCount) PURE_VIRTUAL;
9775 virtual
void MoveCamCubic(int32_t masterAxisNumber,
RSIAxisMasterType masterFeedbackSource, const
double* const masterDistances, const
double* const slavePositions, const
double* const gearRatios, int32_t pointCount) PURE_VIRTUAL;
9795 virtual int32_t DriveIndexGet() PURE_VIRTUAL;
9816 virtual
double BacklashWidthGet() PURE_VIRTUAL;
9831 virtual
void BacklashWidthSet(
double width) PURE_VIRTUAL;
9846 virtual
double BacklashRateGet() PURE_VIRTUAL;
9861 virtual
void BacklashRateSet(
double rate) PURE_VIRTUAL;
9875 virtual
double BacklashValueGet() PURE_VIRTUAL;
10000 virtual
void FilterCoeffSet(
RSIFilterGainPIVCoeff coeff, int32_t gainTable,
double coeffValue) PURE_VIRTUAL;
10037 virtual int32_t FilterGainTableGet() PURE_VIRTUAL;
10068 virtual
void FilterGainTableSet(int32_t gainTable) PURE_VIRTUAL;
10087 virtual int32_t FilterGainTableSizeGet() PURE_VIRTUAL;
10090 virtual
double FilterOutputGet(
void) PURE_VIRTUAL;
10105 virtual
double FilterLowPassGet() PURE_VIRTUAL;
10123 virtual
void FilterLowPassSet(
double frequency) PURE_VIRTUAL;
10148 virtual
bool FilterGainSchedulingGet() PURE_VIRTUAL;
10152 virtual
void FilterGainSchedulingSet(
bool enable) PURE_VIRTUAL;
10155 virtual
bool IsTuneable() PURE_VIRTUAL;
10174 virtual
void PostFilterLowPassSet(int32_t sectionNumber,
double frequency) PURE_VIRTUAL;
10192 virtual
void PostFilterUnityGainSet(int32_t sectionNumber) PURE_VIRTUAL;
10213 virtual
void PostFilterSingleOrderSet(int32_t sectionNumber,
double aOne,
double bZero,
double bOne) PURE_VIRTUAL;
10230 virtual
void PostFilterHighPassSet(int32_t sectionNumber,
double cornerFreq) PURE_VIRTUAL;
10250 virtual
void PostFilterNotchSet(int32_t sectionNumber,
double centerFreq,
double bandwidth) PURE_VIRTUAL;
10271 virtual
void PostFilterResonatorSet(int32_t sectionNumber,
double centerFreq,
double bandwidth,
double gain) PURE_VIRTUAL;
10292 virtual
void PostFilterLeadLagSet(int32_t sectionNumber,
double lowGain,
double highGain,
double centerFreq) PURE_VIRTUAL;
10310 virtual
void PostFilterClear(int32_t sectionNumber) PURE_VIRTUAL;
10333 virtual
void PostFilterBiquadSet(int32_t sectionNumber,
double aOne,
double aTwo,
double bZero,
double bOne,
double bTwo) PURE_VIRTUAL;
10336 virtual const
char* const PostFilterInfoGet() PURE_VIRTUAL;
10365 virtual const
char* const UserLabelGet() PURE_VIRTUAL;
10388 virtual
void UserLabelSet(const
char* const userLabel) PURE_VIRTUAL;
10397 virtual
void PostTrajectoryGearingEnableSet(
bool enable) PURE_VIRTUAL;
10400 virtual
bool PostTrajectoryGearingEnableGet() PURE_VIRTUAL;
10403 virtual
void PostTrajectoryGearingMasterAxisSet(int32_t masterAxisNumber) PURE_VIRTUAL;
10406 virtual int32_t PostTrajectoryGearingMasterAxisGet() PURE_VIRTUAL;
10409 virtual
void PostTrajectoryGearingMultiplierSet(
double multiplier) PURE_VIRTUAL;
10412 virtual
double PostTrajectoryGearingMultiplierGet() PURE_VIRTUAL;
10453 virtual
void NetworkIndexSet(
RSINetworkIndexType indexType, uint32_t newIndex) PURE_VIRTUAL;
10466 virtual
double BacklashHysteresisLimitGet() PURE_VIRTUAL;
10475 virtual
void BacklashHysteresisLimitSet(
double hysteresisLimit) PURE_VIRTUAL;
10501 virtual
bool StepperMotorLoopbackGet() PURE_VIRTUAL;
10527 virtual
void StepperMotorLoopbackSet(
bool loopback) PURE_VIRTUAL;
10556 virtual uint64_t GearingMasterAddressGet() PURE_VIRTUAL;