SyncOutputWithMotion.cpp

#include <cassert>
#include "rsi.h"                                    // Import our RapidCode Library. 

using namespace RSI::RapidCode;

void PrintStreamingOutputErrors(RapidCodeObject *rsiClass)
{
    RsiError *err;
    bool hasError = rsiClass->ErrorLogCountGet() > 0;

    while (rsiClass->ErrorLogCountGet() > 0)
    {
        err = rsiClass->ErrorLogGet();

        printf("%s\n", err->text);
    }

    if (hasError)
    {
        exit(1);
    }
}

void PrintStreamingOutputNetworkErrors(MotionController *rsiClass)
{
    char *err;
    bool hasError = rsiClass->NetworkLogMessageCountGet() > 0;

    while (rsiClass->NetworkLogMessageCountGet() > 0)
    {
        err = rsiClass->NetworkLogMessageGet(0);

        printf("%s\n", err);
    }

    if (hasError)
    {
        exit(1);
    }
}

int syncOutputWithMotionMain(int argc, char *argv[])
{
    const double    TIME_SLICE = 0.01;                                // 0.01s = 10ms
    const int        AXIS_COUNT = 1;                                    // number of axes

    const int        REVS = 4;                                        // number of revolutions
    const int        RPS = 1;                                        // revs / sec
    const int        CPS = (int)std::powl(2, 20);                    // encoder counts per rev (set as appropiate)
    const int        TOTAL_POINTS = (int)(REVS / TIME_SLICE / RPS);    // total number of points
    const int        EMPTY_CT = -1;                                    // Number of points that remains in the buffer before an e-stop


    // Initizalize the controller from software w/ multiple axes

    MultiAxis *multiAxis;        MotionController *controller = MotionController::CreateFromSoftware();

    try {
        PrintStreamingOutputErrors(controller);

        controller->NetworkStart();
        PrintStreamingOutputNetworkErrors(controller);

        // add an additional axis for the multiaxis supervisor
        controller->MotionCountSet(AXIS_COUNT + 1);

        // create the multiaxis using the ID of the first free axis (0 indexed)
        multiAxis = controller->MultiAxisGet(AXIS_COUNT);
        PrintStreamingOutputErrors(multiAxis);

        // populate the multiaxis
        for (int i = 0; i < AXIS_COUNT; i++)
        {
            Axis *tempAxis;
            tempAxis = controller->AxisGet(i);

            PrintStreamingOutputErrors(tempAxis);

            tempAxis->EStopAbort();
            tempAxis->ClearFaults();
            tempAxis->PositionSet(0);

            tempAxis->UserUnitsSet(CPS);
            multiAxis->AxisAdd(tempAxis);
        }

        // populate the positions and times 
        std::vector<double> positions, times;
        for (int i = 0; i < TOTAL_POINTS; i += AXIS_COUNT)
        {
            positions.push_back(i * TIME_SLICE * RPS);
            times.push_back(TIME_SLICE);
        }


        // prepare the controller (and drive)
        multiAxis->Abort();
        multiAxis->ClearFaults();
        assert(multiAxis->StateGet() == RSIState::RSIStateIDLE);
        multiAxis->AmpEnableSet(true);


        // set up the inputs
        IOPoint *output0 = IOPoint::CreateDigitalOutput(multiAxis->AxisGet(0), RSIMotorGeneralIo0);
        // ensure the digital out is set low
        output0->Set(0);


        // The motion element ID at which to set the output
        int outPutEnableID = TOTAL_POINTS / 2;


        // enable streaming output
        multiAxis->StreamingOutputsEnableSet(true);


        // Enable the streaming output (The following are functionally equivalent)
        //multiAxis->StreamingOutputAdd(output0->MaskGet(), 0, output0->AddressGet(), outPutEnableID);
        multiAxis->StreamingOutputAdd(output0, true, outPutEnableID);

        // Disable the output (The following are functionally equivalent)
        //multiAxis->StreamingOutputAdd(0, output0->MaskGet(), output0->AddressGet(), outPutEnableID);
        //multiAxis->StreamingOutputAdd(output0, false, outPutEnableID);


        multiAxis->MovePT(RSIMotionType::RSIMotionTypePT, &positions[0], &times[0], TOTAL_POINTS, EMPTY_CT, false, true);

        printf("Motion started. Waiting to complete.\n");
        multiAxis->MotionDoneWait();
        printf("Motion Complete. The outputs should have been set\n");

        multiAxis->StreamingOutputsClear();  // cleanup for next run

        multiAxis->EStopAbort();

        controller->Delete();
    }
    catch (RsiError const& err) {
        printf("\n%s\n", err.text);
        argc = argc;
        return 1;
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    return 0;
}