Command drive from C++

[redford]

Actually, this is what I want to try (axsPosCmd is just an example):

I searched for this in the SDK and came across this:

I am not sure if the mockup folders should be the "interface" for a user app. When including the mock_axs_object.h (this one seemed interesting to me for a start), I had to add more include paths:

However, I failed due to non-existent headers with obvious kinematics reference, which I cannot find in the SDK:

I need further assistance here. While searching for BundleIF I came across a few entries, but I have not found or overlooked a general introduction to the topic.

Thanks!

[nickH · Accepted solution]

Hi @redford 

The BundleIF is a interface you can only use from a RT-Bundle. This interface can't be used from a normal SDK sample (snap). To learn more about the RT-SDK see the FAQ on the SDK. 

But there is also a way to send commands to the ctrlX Motion App from the "normal SDK snaps". Here you just use the ctrlX Data Layer Interface of the Motion App. In the documentation of the command you mentioned you will also find how to execute this command via the ctrlX Data Layer interface (link). 

I would recommend you to look at a Data Layer Client example from the ctrlX SDK and modify it to send a create request to this Data Layer path "/motion/axs/<axs_name>/cmd/pos-abs". The Variant you need to send is a Complex Data Type (FlatBuffer) of the type AxsCmdPosData.

Best regards,

Nick