UserLimitDigitalInputAction.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 

void UserLimitDigitalInputActionMain()
{
    using namespace RSI::RapidCode;

    const int IO_NODE_NUMBER = 1;// which SqNode to use for I/O?
    const int AXIS_NUMBER = 3;// which Axis number to abort?
    const int USER_LIMIT = 0;// which user limit to use?
    const int CONDITION = 0;// which condition to use (0 or 1)

    const int INPUT_BIT_NUMBER = 7;// which input bit?
// RapidCode interface classes
    IO                    *io;
    IOPoint                *digitalInput;
    // Initialize MotionController class.
    MotionController *controller = MotionController::CreateFromSoftware();
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);
    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);            // [Helper Function] Initialize the network.



        // initialize the I/O class
        io = controller->IOGet(IO_NODE_NUMBER);
        SampleAppsCPP::HelperFunctions::CheckErrors(io);

        digitalInput = IOPoint::CreateDigitalInput(io, INPUT_BIT_NUMBER);

        // configure user limit to evaluate input bit
        controller->UserLimitConditionSet(USER_LIMIT,
            CONDITION,
            RSIUserLimitLogic::RSIUserLimitLogicEQ,
            digitalInput->AddressGet(),
            digitalInput->MaskGet(),
            digitalInput->MaskGet());

        // enable the user limit, generate ESTOP_ABORT action when input is turned on
        controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION, RSIAction::RSIActionE_STOP_ABORT, AXIS_NUMBER, 0.0);

        printf("Waiting for the input bit to go high...\n");
        printf("\nPress Any Key To Exit.\n");

        // wait for user limit to trigger
        while (controller->OS->KeyGet(RSIWaitPOLL) < 0)
        {
            printf("User Limit state is %d\r", controller->UserLimitStateGet(USER_LIMIT));
            controller->OS->Sleep(1);
        }


        // disable User Limit
        controller->UserLimitDisable(USER_LIMIT);


    }
    catch (RsiError const& rsiError)
    {
        printf("Text:  %s\n", rsiError.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}