controllerInterrupts.cpp

Report all interrupts (from all sources) received by the MotionController.

/*  controllerInterrupts.cpp

 Copyright(c) 1998-2009 by Robotic Systems Integration, Inc. All rights reserved.
 This software contains proprietary and confidential information of Robotic 
 Systems Integration, Inc. (RSI) and its suppliers. Except as may be set forth 
 in the license agreement under which this software is supplied, disclosure, 
 reproduction, or use with controls other than those provided by RSI or suppliers
 for RSI is strictly prohibited without the prior express written consent of 
 Robotic Systems Integration.

 This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) 
 prior to running this program so that the motor can rotate in a stable manner.

 For any questions regarding this sample code please visit our documentation at www.roboticsys.com


 Warning!  This is a sample program to assist in the integration of your motion 
 controller with your application.  It may not contain all of the logic and safety
 features that your application requires.
*/


#include "rsi.h"

#define TIMEOUT   (5000)  //ms

using namespace RSI::RapidCode::SynqNet;

void controllerInterruptsMain()
{
  try
  {
    MotionController *controller ;
    long interruptType;

    // Initialize Controller, enable interrupts
    controller = MotionController::CreateFromBoard(0);
    controller->InterruptEnableSet(true);

    while(controller->OS->KeyGet(RSIWaitPOLL) < 0)
    {
      // add code here to generate interrupts (move axes, etc.)

      // wait for an interrupt
      interruptType = controller->InterruptWait(TIMEOUT);
    
      if(interruptType != RSIEventTypeTIMEOUT)
      {
        printf("IRQ %ld\n", interruptType);
        printf("%s\n", controller->InterruptNameGet());
        printf("InterruptSourceNumber = %ld\n", controller->InterruptSourceNumberGet());
        printf("InterruptSampleTimer = %ld\n", controller->InterruptSampleTimeGet());
        printf("\n");
      }
      else
      {
        printf("Timeout waiting for interrupts...\n");
      }
    }
  }
  catch (RsiError *err)
  {
    printf("%s\n", err->text);
  }
}