Motorcortex

https://docs.motorcortex.io/
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Motorcortex is a collection of libraries and tools designed to build hard-real-time control systems...
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### Task Start Usage Examples

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1task

Examples demonstrating how to start tasks with different scheduling policies, cycle times, and CPU affinities.

```cpp
// Start control task with cycle-time 1000 microseconds,
// realtime scheduling policy on CPU 0 with priority 80.
control_task.start(1000, container::TaskSched::REALTIME , {0}, 80);

// Start publisher task with cycle-time 1000 microseconds,
// non-realtime scheduling policy on CPU 1, 2.
comm_task.start(1000, container::TaskSched::NORMAL, {1, 2});

// Start logic task with cycle-time 5000 microseconds,
// non-realtime scheduling policy on any non-isolated CPU.
logic_task.start(5000, container::TaskSched::NORMAL);
```

--------------------------------

### Compile and install the library

Source: https://docs.motorcortex.io/docs/developing-client-applications/cpp/install

Build the project and install the binaries to the system.

```bash
make
sudo make install
sudo ldconfig
```

--------------------------------

### Full config.json Example

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-io/project-packages/config_package/config_json

A comprehensive example of a complete configuration file.

```json
{
  "Mode": "Simulation",
  "Drive": "cia402",
  "LogLevel": "Info",
  "Path": {
    "Fieldbus": "io/master.xml",
    "Control": "control/control.xml",
    "UserParameters": "user/parameters.json",
    "Linking": "linking/base.link.json",
    "Mechanism": "mech/mech-parameter.xml",
    "License": "license.lic",
    "Log": "/var/www/motorcortex/log",
    "Persistence": "control/persistence.bin"
  },
  "AxisControl": {
    "Enable": true,
    "NumberOfAxes": 6
  },
  "ManipulatorControl": {
    "Enable": true,
    "Amount": 1
  },
   "Server": {
    "Default": {
      "URL": "wss://*:5568:5567",
      "Direction": "listen",
      "Login": "enable",
      "Accounts": "accounts.conf",
      "Certificate": "/etc/ssl/certs/motorcortex.pem"
    }
  },
  "Realtime": {
    "Isolate": [
      0,
      1
    ],
    "Allocate": 16
  },
  "Task": {
    "Control_task": {
      "Sched": "Realtime",
      "Cpu": [
        0
      ],
      "Prio": 80,
      "Dt": 1000
    },
    "Fieldbus_task": {
      "Sched": "Realtime",
      "Cpu": [
        1
      ],
      "Prio": 80,
      "Dt": 1000
    },
    "Simulator_task": {
      "Sched": "Realtime",
      "Dt": 1000
    },
    "Logic_task": {
      "Sched": "Realtime",
      "Dt": 10000
    },
    "Logger_task": {
      "Sched": "Normal",
      "Dt": 1000
    },
    "IO_task": {
      "Sched": "Realtime",
      "Dt": 1000
    },
    "Comm_task": {
      "Sched": "Normal",
      "Dt": 1000
    }
  }
}
```

--------------------------------

### Install QEMU and Dependencies

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/virtual-machine

Install the necessary QEMU, KVM, and UEFI firmware packages on Ubuntu.

```bash
# Update package list
sudo apt update

# Install QEMU, KVM, and OVMF (UEFI firmware)
sudo apt install -y qemu-system-x86 qemu-kvm ovmf bridge-utils net-tools
```

--------------------------------

### Make Start Script Executable

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/virtual-machine

Grant execution permissions to the QEMU start script.

```bash
chmod +x start-qemu-mcx-image.sh
```

--------------------------------

### Execute Motorcortex SDK Installer

Source: https://docs.motorcortex.io/docs/developing-control-applications/environment-setup

Run the SDK installer script to begin the installation process.

```bash
./mcx-rtos-glibc-x86_64-mcx-image-dev-corei7-64-mcx-intel-toolchain-2025.03-0-g0e9d0e9.sh
```

--------------------------------

### Parameter Tree Output Example

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/usage/fundamentals

Example of the structure printed to the console after a successful connection.

```text
...
permissions: 432
param_type: INPUT
group_id: ADMINISTRATOR
unit: unit_undefined
path: "root/logger/logMarkerIn"
, id: 55
data_type: 514
data_size: 1
number_of_elements: 256
flags: 0
permissions: 432
param_type: OUTPUT
group_id: ADMINISTRATOR
unit: unit_undefined
path: "root/logger/logOut"
]
```

--------------------------------

### Example accounts.conf Configuration

Source: https://docs.motorcortex.io/docs/software-maintenance/user-access

Example of defining default accounts with their respective group IDs and password hashes.

```text
administrator:3 $6$pP7yN5SHfloRh3SO$SGzcD1HPd9bvba2mwe.x7qPNOATDtsyp9aFhsbWswQ72Hy8TuIYVpVpNixsIKqkx8O6TI.RdL7nmNJVATvhLs/
operator:7 $6$QVzv7xLJcX.Q09Xc$6MiqIvMbpOZ3EQmmxLyYEauKf1Q5dL7JTHHNYKpllkhADjaCV1TyryXZsUMjTXXfPa6axnb8n3HMpvGvf2B9b0
monitor:15 $6$tGM1ioTsUaBzv.LI$t1WQmXmCJPA5UepNsBg.40x87U.fKqscSSDmw/eAIM3r8ehGPObdIYhM5en7fbVr1l8gsjTVVH/pZwdXKVzVY/
```

--------------------------------

### start Method

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classcontainer_1_1taskdeadline

Starts the task with specified cycle time, scheduling policy, CPU affinity, and priority.

```cpp
void start(
    unsigned long cycle_time_micro_s,
    utils::SchedType policy =utils::SchedType::OTHER,
    std::initializer_list< int > cpu_affinity_list ={-1},
    int priority =0
)
```

--------------------------------

### start

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1comm_1_1requestreply

Starts the communication service using the provided connection data.

```APIDOC
## bool start(const ConnectionData & conn_data)

### Description
Initializes and starts the communication listener or dialer based on the provided connection data.

### Parameters
- **conn_data** (const ConnectionData &) - The connection configuration data.
```

--------------------------------

### Initializing and starting the DataLogger

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/mcx-datalogger

Configures the DataLogger with server address, paths, divider, and certificate, then starts the logging process.

```python
# Create a DataLogger object and set the options
logger = DataLogger('192.168.2.100', paths = ['root/AxesControl/axesPositionsActual'], divider=10, certificate='mcx.cert.crt')
# Start the logger
logger.start()
```

--------------------------------

### Install pip and Motorcortex-Python

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/install

Install the pip package manager and then use it to install the motorcortex-python library system-wide.

```bash
sudo apt install python3-pip
```

```bash
sudo -H pip3 install motorcortex-python
```

--------------------------------

### Build and Install MbedTLS

Source: https://docs.motorcortex.io/docs/developing-client-applications/cpp/install

Compile and install MbedTLS with shared library support enabled.

```bash
mkdir build
cd build
cmake .. -DUSE_SHARED_MBEDTLS_LIBRARY=1
make
sudo make install
sudo ldconfig
```

--------------------------------

### Manage SSH service on host

Source: https://docs.motorcortex.io/docs/software-maintenance/date-time

Commands for installing, starting, checking status, and stopping the SSH server on a host machine.

```bash
sudo apt install openssh-server
sudo service ssh start
sudo service ssh status
sudo service ssh stop
```

--------------------------------

### Start Master

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1ecat_1_1ethercatbase

Starts the EtherCAT master operation.

```cpp
virtual bool startMaster()
```

--------------------------------

### Install motorcortex-robot-control-python

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/usage/robot_control

Use pip to install the robot control package.

```bash
pip install motorcortex-robot-control-python
```

--------------------------------

### Build and Install NNG

Source: https://docs.motorcortex.io/docs/developing-client-applications/cpp/install

Compile and install NNG with shared library and TLS support enabled.

```bash
mkdir build
cd build
cmake .. -DBUILD_SHARED_LIBS=1 -DNNG_ENABLE_TLS=1
make
sudo make install
sudo ldconfig
```

--------------------------------

### Module Create Usage Example

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1module

Demonstrates how to initialize a control loop module.

```cpp
control::MainControlLoop main_loop;
main_loop.create("Control", &param_server, 1000);
```

--------------------------------

### Install Network Tools

Source: https://docs.motorcortex.io/docs/getting-started/connect-your-pc/connection-troubleshooting

Install the net-tools package to enable network diagnostic utilities like ifconfig.

```bash
sudo apt install net-tools
```

--------------------------------

### Start Communication

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1comm_1_1requestreply

Starts the communication service using the provided connection data.

```cpp
bool start(
    const ConnectionData & conn_data
)
```

--------------------------------

### Display Image Version Example

Source: https://docs.motorcortex.io/docs/software-maintenance/determine-software-version

Example output showing the Motorcortex-RTOS version string as displayed in the Cockpit interface.

```text
Motorcortex-RTOS 2025.03-0-g0e9d0e9 (kirkstone)
```

--------------------------------

### Install Python Reporting Libraries

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/automated-reporting

Install the necessary dependencies for report generation on a Linux desktop environment.

```bash
pip install jinja2 weasyprint motorcortex-python motorcortex-python-tools
```

--------------------------------

### start(uint64_t cycle_time_micro_s, TaskSched task_sched, const std::vector< uint32_t > & cpu_affinity_list, uint32_t priority)

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1task

Starts the operation phase of the task with specified scheduling parameters.

```APIDOC
## start(uint64_t cycle_time_micro_s, TaskSched task_sched, const std::vector< uint32_t > & cpu_affinity_list, uint32_t priority)

### Description
Starts the operation phase of the task, defining its cycle time, scheduling policy, CPU affinity, and priority.

### Parameters
- **cycle_time_micro_s** (uint64_t) - Required - Cycle time of the event loop in microseconds.
- **task_sched** (TaskSched) - Required - Scheduler policy (REALTIME or NORMAL).
- **cpu_affinity_list** (std::vector<uint32_t>) - Optional - List of CPUs to bind the task to.
- **priority** (uint32_t) - Optional - Static priority (1-99 for REALTIME, 0 for NORMAL).
```

--------------------------------

### CoE Startup Parameter Configuration

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/device-configuration-panel

Example XML configuration for CoE startup parameters.

```xml
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
    <CoE>
<!-- Input Type Analog Input 01-->    
        <InitCmds>
            <InitCmd>
                <Transition>PS</Transition>
                <Comment><![CDATA[Input Type]]></Comment>
                <Timeout>0</Timeout>
                <Ccs>1</Ccs>
                <Index>63488</Index>
                <SubIndex>01</SubIndex>
                <Data>0000</Data> <!-- -10..+10V -->
                <!--<Data>0100</Data> --> <!-- 0..+20mA -->
                <!--<Data>0200</Data> --> <!-- 4..+20mA -->
                <!--<Data>0300</Data> --> <!-- 0..+10V -->
            </InitCmd>
        </InitCmds>
    </CoE>
</EtherCATMailbox>
```

--------------------------------

### Install build dependencies on Linux

Source: https://docs.motorcortex.io/docs/developing-client-applications/cpp/install

Install essential build tools required for compiling the library.

```bash
sudo apt-get update
sudo apt-get install build-essential cmake git
```

--------------------------------

### EtherCAT ESI File Configuration Example

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/troubleshoot-ecat

Example of an OpMode configuration block from an ESI file for an EL5101-0011 device.

```xml
<OpMode>
    <Name>DC1</Name>
	<Desc>DC Oversampling 1</Desc>
	<AssignActivate>#x730</AssignActivate>
	<CycleTimeSync0 Factor="1">0</CycleTimeSync0> # factor "n" = n * etherCAT task time
	<ShiftTimeSync0 Factor="1" Input="0">0</ShiftTimeSync0>
	<CycleTimeSync1 Factor="-1">0</CycleTimeSync1> # factor "-n" = etherCAT task time / n
	<ShiftTimeSync1>0</ShiftTimeSync1>
	<Sm No="2">
	    <Pdo>#x1600</Pdo>
	</Sm>
	<Sm No="3">
		<Pdo>#x1a00</Pdo>
		<Pdo>#x1a01</Pdo>
		<Pdo>#x1a10</Pdo>
	</Sm>
</OpMode>
```

--------------------------------

### SoE Startup Parameter Configuration

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/device-configuration-panel

Example XML configuration for SoE startup parameters.

```xml
<?xml version="1.0" encoding="utf-8"?>
<EtherCATMailbox>
  <SoE>
    <InitCmds>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
    </InitCmds>
  </SoE>
</EtherCATMailbox>
```

--------------------------------

### EoE Startup Parameter Configuration

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/device-configuration-panel

Example XML configuration for EoE startup parameters.

```xml
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
  <EoE>
    <InitCmds>
      <InitCmd Fixed="true">
        <Transition>IP</Transition>
        <Transition>PS</Transition>
        <Comment><![CDATA[eoe init]]></Comment>
        <Timeout>0</Timeout>
        <Data>020000000f0000000201051003e97b02000a00ffffff0102000a000000000000000000000000000000000000000000000000000000000000000000000000</Data>
        <!-- 02000000 --> <!-- Header[4] -->
        <!-- 0f000000 --> <!-- Flags[4] -->
        <!-- 0201051003e9 --> <!-- MAC Address[6] is 02:01:05:10:03:e9 -->
        <!-- 7b02000a --> <!-- Ip Address[4] is 10.0.2.123 -->
        <!-- 00ffffff --> <!-- Subent Mark[4] is 255.255.255.0  -->
        <!-- 0102000a --> <!-- Gateway[4] is 10.0.2.1-->
        <!-- 00000000 --> <!-- Dns Server[4] -->
        <!-- 0000000000000000000000000000000000000000000000000000000000000000 --> <!-- Dns Name[32] -->
      </InitCmd>
    </InitCmds>
  </EoE>
</EtherCATMailbox>
```

--------------------------------

### Start Timing

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/structmcx_1_1utils_1_1measure

Initializes the internal timer.

```cpp
static inline void start(
    void 
)
```

--------------------------------

### Initiate System Backup

Source: https://docs.motorcortex.io/docs/software-maintenance/backup-and-restore

Starts the interactive backup procedure for the controller's storage.

```bash
sudo mcx-backup
```

--------------------------------

### Install Motorcortex-Python via pip

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/install

Use this command in a Command Prompt to install the core library for the current user.

```bash
python -m pip install Motorcortex-python
```

--------------------------------

### Install Python 3 on Ubuntu

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/install

Use the system package manager to install Python 3 if it is not already present.

```bash
sudo apt install python3
```

--------------------------------

### Start Motorcortex Application

Source: https://docs.motorcortex.io/docs/software-maintenance/start-stop-restart

Initiates the Motorcortex application using sudo privileges.

```bash
sudo motorcortex start
```

--------------------------------

### Install Motorcortex-Python in Virtual Environment

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/install

Install the library specifically within an active virtual environment using pip.

```bash
pip3 install motorcortex-python
```

--------------------------------

### Get Version

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1cmd__line_1_1config

Retrieves the version string of the configuration.

```cpp
std::string version() const
```

--------------------------------

### mcx::utils::measure::start

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/structmcx_1_1utils_1_1measure

Starts the measurement timer.

```APIDOC
## start()

### Description
Initializes the measurement by capturing the current system time into the start_time_ attribute.
```

--------------------------------

### Subscription Usage Examples

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/api

Demonstrates subscribing to parameters, using promise-like callbacks, and setting up an observer for real-time updates.

```python
# Make sure you have a valid connection
subscription = sub.subscribe(paths, "group1", 100)
result = subscription.get()
if result is not None and result.status == motorcortex.OK:
    print(f"Subscription successful, layout: {subscription.layout()}")
else:
    print(f"Subscription failed. Check parameter paths: {paths}")
    sub.close()
    exit()
# Use promise-like interface
subscription.then(lambda res: print("Subscribed:", res)).catch(lambda: print("Failed"))
# Use observer for real-time updates
def on_update(parameters):
    for param in parameters:
        timestamp = param.timestamp.sec + param.timestamp.nsec * 1e-9
        print(f"Update: {timestamp:.6f}, {param.value}")
subscription.notify(on_update)
print("Waiting for parameter updates...")
import time
while True:
    time.sleep(1)
```

--------------------------------

### Example motorcortex.conf content

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-io/project-packages/config_package/motorcortex_conf

Configuration settings defining the executable path, name, and command-line options.

```bash
EXECUTABLE_PATH="/usr/local/bin/"                # path of the executable
EXECUTABLE=my_motorcortex_app                    # executable name
OPTIONS="-c /etc/motorcortex/config/config.json" # command line options
```

--------------------------------

### Backup System Image

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/usb

Starts the backup procedure to create a standard image of the current system.

```bash
mci backup
```

--------------------------------

### Start MCXOS with QEMU

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/virtual-machine

Execute the provided shell script to launch the MCXOS image in a QEMU virtual machine.

```bash
./start-qemu-mcx-image.sh
```

--------------------------------

### Start time

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/structmcx_1_1signal__monitor_1_1signalmonitor_1_1signal__data

The start time of the signal monitoring in seconds.

```cpp
double start_time_s;
```

--------------------------------

### Manage Service Lifecycle

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/mcx-datalogger

Commands to start, stop, or restart the service.

```bash
sudo systemctl start mcx-datalogger.service
sudo systemctl stop mcx-datalogger.service
sudo systemctl restart mcx-datalogger.service
```

--------------------------------

### Install motorcortex-python-tools

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/mcx-datalogger

Install the package via pip to access the mcx-datalogger tool.

```bash
pip install motorcortex-python-tools
```

--------------------------------

### open

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1watchdog_1_1watchdogbasic

Initializes the watchdog device.

```APIDOC
## bool open(const char * device)

### Description
Opens the specified watchdog device for operation.

### Parameters
- **device** (const char *) - Required - The path or identifier of the watchdog device to open.

### Returns
- **bool** - Returns true if the device was opened successfully, false otherwise.
```

--------------------------------

### Start StateCallbackHandler

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/api

Starts the background thread using the provided update function.

```python
def start(state_update_handler: Callable[..., Any]) -> None
```

--------------------------------

### Initialize a new project

Source: https://docs.motorcortex.io/docs/developing-client-applications/javascript/install

Run this command in your project directory to create a new package.json file.

```bash
npm init
```

--------------------------------

### Combined CoE and EoE Startup Configuration

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/device-configuration-panel

Example XML configuration combining both CoE and EoE startup parameters.

```xml
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
    <CoE>
<!-- Input Type Analog Input 01-->    
        <InitCmds>
            <InitCmd>
                <Transition>PS</Transition>
                <Comment><![CDATA[Input Type]]></Comment>
                <Timeout>0</Timeout>
                <Ccs>1</Ccs>
                <Index>63488</Index>
                <SubIndex>01</SubIndex>
                <Data>0000</Data> <!-- -10..+10V -->
                <!--<Data>0100</Data> --> <!-- 0..+20mA -->
                <!--<Data>0200</Data> --> <!-- 4..+20mA -->
                <!--<Data>0300</Data> --> <!-- 0..+10V -->
            </InitCmd>
        </InitCmds>
    </CoE>
    <EoE>
        <InitCmds>
            <InitCmd Fixed="true">
                <Transition>IP</Transition>
                <Transition>PS</Transition>
                <Comment><![CDATA[eoe init]]></Comment>
                <Timeout>0</Timeout>
                <Data>020000000f0000000201051003e97b02000a00ffffff0102000a000000000000000000000000000000000000000000000000000000000000000000000000</Data>
                <!-- 02000000 --> <!-- Header[4] -->
                <!-- 0f000000 --> <!-- Flags[4] -->
                <!-- 0201051003e9 --> <!-- MAC Address[6] is 02:01:05:10:03:e9 -->
                <!-- 7b02000a --> <!-- Ip Address[4] is 10.0.2.123 -->
                <!-- 00ffffff --> <!-- Subent Mark[4] is 255.255.255.0  -->
                <!-- 0102000a --> <!-- Gateway[4] is 10.0.2.1-->
                <!-- 00000000 --> <!-- Dns Server[4] -->
                <!-- 0000000000000000000000000000000000000000000000000000000000000000 --> <!-- Dns Name[32] -->
            </InitCmd>
        </InitCmds>
    </EoE>
</EtherCATMailbox>
```

--------------------------------

### Get License

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1cmd__line_1_1config

Retrieves the license information associated with the configuration.

```cpp
license::License license() const
```

--------------------------------

### Get Module Information

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1ecat_1_1module

Retrieves information about the module instance.

```cpp
virtual std::string getInfo() const
```

--------------------------------

### Navigate to home directory

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/mcx-datalogger

Change to the home directory before creating configuration files.

```bash
cd ~
```

--------------------------------

### Example output of correct OP state

Source: https://docs.motorcortex.io/docs/frequently-asked-questions/ethercat/faq-ecat1

A sample output showing devices successfully configured and running in the OP state.

```text
0  0:0  OP  +  EK1914, 2 Ch. Safety Input/Output 24V,  TwinSAFE
1  0:1  OP  +  EL6910, TwinSAFE PLC
2  0:2  PREOP  +  EK1110 EtherCAT-Verlngerung
3  0:3  OP  +  SOMANET CiA402 Drive
4  0:4  OP  +  SOMANET CiA402 Drive
5  0:5  OP  +  SOMANET CiA402 Drive
6  0:6  OP  +  SOMANET CiA402 Drive
7  0:7  OP  +  SOMANET CiA402 Drive
8  0:8  OP  +  SOMANET CiA402 Drive
```

--------------------------------

### Service File Configuration

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/mcx-datalogger

Example content for the mcx-datalogger systemd service file.

```ini
 [Unit]
 Description=Motorcortex Data Logger Service
 After=ethercat.target
 StartLimitIntervalSec=0

 [Service]
 Type=simple
 ExecStartPre=/bin/sleep 5
 ExecStart=mcx-datalogger.py -p  parameters.json -F /home/admin/logs -C
 WorkingDirectory=/home/admin
 User=admin
 Restart=always
 RestartSec=1

 [Install]
 WantedBy=motorcortex.service
```

--------------------------------

### Basic mech-parameters.xml Configuration

Source: https://docs.motorcortex.io/docs/applications/configure_application/manipulator_control/mechanism/segments

Example of a basic XML configuration file for defining robot segments and their properties.

```xml
<?xml version="1.0"?>
<robot name="Dobot-CR5" numberDoFs="6" type="anthropomorphic2">
    <segment number="1">
        <tippose>
            <position x="0.0" y="0.0" z="0.147"></position>
        </tippose>
        <jointaxis> rot_z </jointaxis>
    </segment>
    
    <segment number="2">
        <tippose>
            <position x="0.0" y="0.0" z="0.427"></position>
        </tippose>
        <jointaxis> rot_y </jointaxis>
    </segment>
    
    <segment number="3">
        <tippose>
            <position x="0.0" y="0.0" z="0.357"></position>
        </tippose>
        <jointaxis> rot_y </jointaxis>
    </segment>

    <segment number="4">
        <tippose>
            <position x="0.0" y="0.141" z="0.0"></position>
        </tippose>
        <jointaxis> rot_y </jointaxis>
    </segment>

    <segment number="5">
        <tippose>
            <position x="0.0" y="0.0" z="0.116"></position>
        </tippose>
        <jointaxis> rot_z </jointaxis>
    </segment>

    <segment number="6">
        <tippose>
            <position x="-0.0" y="0.105" z="0.0"></position>
        </tippose>
        <jointaxis> rot_y </jointaxis>
    </segment>

	<tool name="tool">
			<tippose>
			<position x ="0" y="0" z="0"></position>
		</tippose>
	</tool>
</robot>
```

--------------------------------

### Initialize License Object

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1license_1_1license

Constructs a new License instance using the specified file and key.

```cpp
License(
    const std::string & filename,
    const std::string & key,
    bool verbose =false
)
```

--------------------------------

### Start Time Attribute

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/structmcx_1_1utils_1_1measure

Static attribute storing the system clock time point when start was called.

```cpp
static std::chrono::system_clock::time_point start_time_;
```

--------------------------------

### Initialize Module

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1log_1_1module

Constructor for the Module class, requiring a folder path and an optional output stream.

```cpp
Module(
    const std::string & folder,
    FILE * stream =stdout
)
```

--------------------------------

### Disable Administrator Access Example

Source: https://docs.motorcortex.io/docs/software-maintenance/user-access

Example showing how to disable the administrator account while keeping others active.

```text
administrator:3 $6$pP7yN5SHfloRh3SO$SGzcD1HPd9bvba2mwe.x7qPNOATDtsyp9aFhsbWswQ72Hy8TuIYVpVpNixsIKqkx8O6TI.RdL7nmNJVATvhLs/
operator:7 $6$QVzv7xLJcX.Q09Xc$6MiqIvMbpOZ3EQmmxLyYEauKf1Q5dL7JTHHNYKpllkhADjaCV1TyryXZsUMjTXXfPa6axnb8n3HMpvGvf2B9b0
monitor:15 $6$tGM1ioTsUaBzv.LI$t1WQmXmCJPA5UepNsBg.40x87U.fKqscSSDmw/eAIM3r8ehGPObdIYhM5en7fbVr1l8gsjTVVH/pZwdXKVzVY/
administrator disable
```

--------------------------------

### Expected Backup Output

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/usb

Example of the console output displayed during the backup process.

```text
Choose Source Device:
1) sda /dev/sda
...
Choose Target Image Directory:
1) /mnt/usb/2026-01-06_15-44-42_mci-fsa-image   (new directory)
...
[progress output]
Done
```

--------------------------------

### create

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1module

Initializes the module with a name, parameter server, cycle time, owner group, and permissions.

```APIDOC
## void create(const char * name, parameter_server::Parameter * parameter_server, uint64_t dt_micro_s, parameter_server::UserGroup owner_group, uint32_t permissions)

### Description
Creates and configures the module branch with specific access permissions.

### Parameters
- **name** (const char *) - Unique name of the module.
- **parameter_server** (parameter_server::Parameter *) - Pointer to the root parameter server.
- **dt_micro_s** (uint64_t) - Cycle time in microseconds.
- **owner_group** (parameter_server::UserGroup) - Owner group of the module's branch.
- **permissions** (uint32_t) - POSIX-like permissions for parameter access.
```

--------------------------------

### Example output of PREOP state

Source: https://docs.motorcortex.io/docs/frequently-asked-questions/ethercat/faq-ecat1

A sample output showing all connected EtherCAT devices currently in the PREOP state.

```text
0  0:0  PREOP  +  EK1914, 2 Ch. Safety Input/Output 24V,  TwinSAFE
1  0:1  PREOP  +  EL6910, TwinSAFE PLC
2  0:2  PREOP  +  EK1110 EtherCAT-Verlngerung
3  0:3  PREOP  +  SOMANET CiA402 Drive
4  0:4  PREOP  +  SOMANET CiA402 Drive
5  0:5  PREOP  +  SOMANET CiA402 Drive
6  0:6  PREOP  +  SOMANET CiA402 Drive
7  0:7  PREOP  +  SOMANET CiA402 Drive
8  0:8  PREOP  +  SOMANET CiA402 Drive
```

--------------------------------

### initLogin

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1comm_1_1authorization

Initializes the login system using a configuration file.

```APIDOC
## bool initLogin(const char * filename)

### Description
Initializes the authorization login system by loading credentials or settings from the specified file.

### Parameters
- **filename** (const char *) - The path to the configuration file used for login initialization.

### Returns
- **bool** - Returns true if initialization was successful, false otherwise.
```

--------------------------------

### Create a new Rust project

Source: https://docs.motorcortex.io/docs/developing-client-applications/rust/install

Use Cargo to initialize a new project directory and navigate into it.

```bash
cargo new my_motorcortex_app
cd my_motorcortex_app
```

--------------------------------

### Start Real-Time Mode

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/modules/group__utils

Activates Real-time mode and isolates CPUs using various configuration methods.

```cpp
bool startRealTime(
    size_t size_mb
)
```

```cpp
bool startRealTime(
    const std::vector< uint32_t > & cpu_list,
    size_t size_mb =256
)
```

```cpp
bool startRealTime(
    cmd_line::Realtime opt
)
```

```cpp
bool startRealTime()
```

--------------------------------

### enter()

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1drive_1_1readyforpoweron

Enters the ReadyForPowerOn state.

```APIDOC
### Method
`virtual void enter() override`

Transitions the state machine into the ReadyForPowerOn state. This method overrides the base State::enter implementation.
```

--------------------------------

### WatchdogSim::open

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1watchdog_1_1watchdogsim

Initializes the watchdog simulation with the specified device.

```APIDOC
## bool open(const char * device)

### Description
Opens the watchdog simulation device.

### Parameters
- **device** (const char *) - The identifier for the watchdog device to open.

### Returns
- **bool** - Returns true if the device was opened successfully, false otherwise.
```

--------------------------------

### Module Create Method

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1module

Initializes the module with a name, parameter server, and cycle time.

```cpp
void create(
    const char * name,
    parameter_server::Parameter * parameter_server,
    uint64_t dt_micro_s =0
)
```

--------------------------------

### Retrieve Reply Value with get

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/api

Use the get method to perform a blocking wait for a reply and return the associated protobuf message.

```python
param_tree_reply = req.getParameterTree()
value = param_tree_reply.get()
```

--------------------------------

### Module Constructor with Filename

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1user__parameters_1_1module

Initializes a new Module instance using the specified configuration filename.

```cpp
explicit Module(
    const std::string & filename
)
```

--------------------------------

### Check Virtualization Support

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/virtual-machine

Verify that the host CPU supports virtualization and that KVM is available.

```bash
# Check if virtualization is enabled
egrep -c '(vmx|svm)' /proc/cpuinfo

# If output is greater than 0, virtualization is supported
# Also check:
kvm-ok

# Expected output: "INFO: /dev/kvm exists"
```

--------------------------------

### bool start(std::time_t sec, int exit_code = 255)

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1license_1_1timer

Starts a timer that will execute an exit with the specified code after the given number of seconds.

```APIDOC
## bool start(std::time_t sec, int exit_code = 255)

### Description
Starts a timer that triggers an exit with the provided exit code after the specified duration in seconds.

### Parameters
- **sec** (std::time_t) - Required - The duration in seconds before the timer triggers.
- **exit_code** (int) - Optional - The exit code to return when the timer expires. Defaults to 255.

### Returns
- **bool** - Returns true if the timer was successfully started, false otherwise.
```

--------------------------------

### Connect Method

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1comm_1_1grouprawpublisher

Establishes a connection using the provided ConnectionData.

```cpp
virtual bool connect(
    const ConnectionData & conn_data
) override
```

--------------------------------

### Initialize Login

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1comm_1_1authorization

Initializes the login process using the specified filename.

```cpp
virtual bool initLogin(
    const char * filename
) override
```

--------------------------------

### Start Timer Function

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1license_1_1timer

Initializes the timer with a duration in seconds and an optional exit code.

```cpp
bool start(
    std::time_t sec,
    int exit_code =255
)
```

--------------------------------

### startMaster

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1ecat_1_1ethercatbase

Starts the EtherCAT master operation.

```APIDOC
## bool startMaster()

### Description
Initiates the EtherCAT master state machine to begin communication.
```

--------------------------------

### Get Info

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1signal__monitor_1_1signalid

Retrieves the info value.

```cpp
uint32_t getInfo() const
```

--------------------------------

### Create build directory

Source: https://docs.motorcortex.io/docs/developing-client-applications/cpp/install

Prepare a dedicated directory for the build process.

```bash
mkdir build
cd build
```

--------------------------------

### Get Subsystem

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1signal__monitor_1_1signalid

Retrieves the subsystem identifier.

```cpp
uint32_t getSubsystem() const
```

--------------------------------

### Get Code

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1signal__monitor_1_1signalid

Retrieves the signal code.

```cpp
uint32_t getCode() const
```

--------------------------------

### Restart Motorcortex

Source: https://docs.motorcortex.io/docs/developing-client-applications/python/tools/mcx-datalogger

Applies changes and starts the service.

```bash
sudo motorcortex restart
```

--------------------------------

### Module Initialization Phases

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1module

Methods for executing the multi-phase initialization process of the parameter tree.

```cpp
bool initPhase1()
```

```cpp
bool initPhase2()
```

--------------------------------

### Constructor for ReadyForPowerOn

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1drive_1_1readyforpoweron

Initializes the state with the provided Sercos finite state machine data.

```cpp
explicit ReadyForPowerOn(
    SercosFsmData & data
)
```

--------------------------------

### Get SpmcBuffer Size

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1utils_1_1spmcbuffer

Returns the size of the buffer.

```cpp
inline constexpr uint32_t size()
```

--------------------------------

### add Method

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classcontainer_1_1taskdeadline

Adds a module to the task deadline with an optional autostart command.

```cpp
void add(
    Module * module,
    Command cmd =AUTOSTART
)
```

--------------------------------

### Get Parameter Handle

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1parameter__server_1_1grouphandle

Retrieves a ParamHandle by its name.

```cpp
ParamHandle & getHandle(
    const std::string & name
)
```

--------------------------------

### Configure License Path

Source: https://docs.motorcortex.io/docs/software-maintenance/install-license

Update the config.json file to point to the installed license file location.

```json
"License": "/etc/motorcortex/license.lic"
```

--------------------------------

### Get ID

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1ecat_1_1ethercatbase

Returns the unique identifier of the master.

```cpp
unsigned int getId() const
```

--------------------------------

### Get Drive Type

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1drive_1_1drivecia402

Retrieves the type of the drive.

```cpp
inline virtual DriveType getType() const override
```

--------------------------------

### WatchdogGpio::open

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1watchdog_1_1watchdoggpio

Initializes the GPIO watchdog device.

```APIDOC
## bool open(const char * device)

### Description
Opens the specified GPIO device for watchdog operations.

### Parameters
- **device** (const char *) - Required - The path or identifier of the GPIO device.
```

--------------------------------

### EtherCAT Mailbox Startup File

Source: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/ethercat-slaves-configuration-manual/ethercat-slaves-configuration-manual

Configuration file for CoE devices defining initialization commands for specific SDO indices.

```xml
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
    <CoE>
	<InitCmds>

	    <InitCmd>
	        <Transition>PS</Transition>
	        <Comment><![CDATA[Input Type]]></Comment>
	        <Timeout>0</Timeout>
	        <Ccs>1</Ccs>
	        <Index>32781</Index>
	        <SubIndex>17</SubIndex>
	        <Data>0200</Data> <!-- -10..+10V  -->
<!--                <Data>0200</Data> <!-- -10..+10V  -->-->
<!--                <Data>0E00</Data> <!--   0..+10V  -->-->
<!--                <Data>1100</Data> <!-- -20..+20mA -->-->
<!--                <Data>1200</Data> <!--   0..+20mA -->-->
<!--                <Data>1300</Data> <!--   4..+20mA -->-->
<!--                <Data>1400</Data> <!--   4..+20mA (NAMUR) -->-->
	    </InitCmd>

	    <InitCmd>
	        <Transition>PS</Transition>
	        <Comment><![CDATA[Input Type]]></Comment>
	        <Timeout>0</Timeout>
	        <Ccs>1</Ccs>
	        <Index>32797</Index>
	        <SubIndex>17</SubIndex>
<!--                <Data>0200</Data> <!-- -10..+10V  -->-->
<!--                <Data>0E00</Data> <!--   0..+10V  -->-->
<!--                <Data>1100</Data> <!-- -20..+20mA -->-->
<!--                <Data>1200</Data> <!--   0..+20mA -->-->

	        <Data>1300</Data> <!--   4..+20mA -->
<!--                <Data>1400</Data> <!--   4..+20mA (NAMUR) -->-->
	    </InitCmd>

	    <InitCmd>
	        <Transition>PS</Transition>
	        <Comment><![CDATA[Input Type]]></Comment>
	        <Timeout>0</Timeout>
	        <Ccs>1</Ccs>
	        <Index>32813</Index>
	        <SubIndex>17</SubIndex>
	        <Data>0200</Data> <!-- -10..+10V  -->
<!--                <Data>0200</Data> <!-- -10..+10V  -->-->
<!--                <Data>0E00</Data> <!--   0..+10V  -->-->
<!--                <Data>1100</Data> <!-- -20..+20mA -->-->
<!--                <Data>1200</Data> <!--   0..+20mA -->-->
<!--                <Data>1300</Data> <!--   4..+20mA -->-->
<!--                <Data>1400</Data> <!--   4..+20mA (NAMUR) -->-->
	    </InitCmd>

	    <InitCmd>
	        <Transition>PS</Transition>
	        <Comment><![CDATA[Input Type]]></Comment>
	        <Timeout>0</Timeout>
	        <Ccs>1</Ccs>
	        <Index>32829</Index>
	        <SubIndex>17</SubIndex>
	        <Data>0200</Data> <!-- -10..+10V  -->
<!--                <Data>0200</Data> <!-- -10..+10V  -->-->
<!--                <Data>0E00</Data> <!--   0..+10V  -->-->
<!--                <Data>1100</Data> <!-- -20..+20mA -->-->
<!--                <Data>1200</Data> <!--   0..+20mA -->-->
<!--                <Data>1300</Data> <!--   4..+20mA -->-->
<!--                <Data>1400</Data> <!--   4..+20mA (NAMUR) -->-->

	    </InitCmd>

	</InitCmds>
    </CoE>
</EtherCATMailbox>
```

--------------------------------

### startOp

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1container_1_1module

Performs final initialization before entering Operation mode.

```APIDOC
## bool startOp()

### Description
Prepares the module for Operation mode. Can be called multiple times to reset state variables or counters.

### Return
- **bool** - Returns true on success.
```

--------------------------------

### Get Delta Time

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1state__machine_1_1statemachine

Retrieves the delta time in seconds.

```cpp
inline double getDtSec() const
```

--------------------------------

### Get Module Status

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1user__parameters_1_1module

Retrieves the current status of the module.

```cpp
Status getStatus() const
```

--------------------------------

### Get Error Publisher

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1state__machine_1_1errorhandle

Retrieves the error publisher instance.

```cpp
inline const ErrorPublisher & getErrorPublisher() const
```

--------------------------------

### Example output of mixed state

Source: https://docs.motorcortex.io/docs/frequently-asked-questions/ethercat/faq-ecat1

A sample output showing some devices in OP state while others remain in PREOP.

```text
0  0:0  OP  +  EK1914, 2 Ch. Safety Input/Output 24V,  TwinSAFE
1  0:1  OP  +  EL6910, TwinSAFE PLC
2  0:2  PREOP  +  EK1110 EtherCAT-Verlngerung
3  0:3  SOMANET CiA402 Drive
4  0:4  SOMANET CiA402 Drive
5  0:5  SOMANET CiA402 Drive
6  0:6  SOMANET CiA402 Drive
7  0:7  SOMANET CiA402 Drive
8  0:8  SOMANET CiA402 Drive
```

--------------------------------

### Get MpmcQueue Size

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1utils_1_1mpmcqueue

Returns the current size of the queue.

```cpp
inline uint32_t size() const
```

--------------------------------

### create

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1log_1_1module

Executes the 'Create' phase of module initialization.

```APIDOC
## void create(const char * name, parameter_server::Parameter * parameter_server, uint64_t dt_micro_s = 0)

### Description
Executes the 'Create' phase of initialization for the module.

### Parameters
- **name** (const char *) - Required - The name of the module.
- **parameter_server** (parameter_server::Parameter *) - Required - Pointer to the parameter server.
- **dt_micro_s** (uint64_t) - Optional - Cycle time in microseconds.
```

--------------------------------

### Get MpmcQueue Position

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1utils_1_1mpmcqueue

Returns the current position in the queue.

```cpp
inline uint32_t pos() const
```

--------------------------------

### Get Event Function

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1state__machine_1_1eventbase

Retrieves the associated event pointer.

```cpp
inline Event< STATE > * getEvent() const
```

--------------------------------

### gotoEngage()

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1drive_1_1switchon

Transitions the drive state to Engage.

```APIDOC
### Method
`virtual state_machine::EventStatus gotoEngage() override`

Transitions the state machine to the Engage state. Reimplements `mcx::drive::Cia402FsmBase::gotoEngage`.
```

--------------------------------

### Run QEMU with Custom Parameters

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/virtual-machine

Manually invoke the QEMU system emulator with specific hardware configurations, including KVM acceleration and VirtIO networking.

```bash
sudo qemu-system-x86_64 -drive file=mcx-image-mcx-intel.rootfs-2026.05.1-0-g34c0e28-20260508091432.wic,format=raw,if=virtio \
  -m 4090 -bios /usr/share/ovmf/OVMF.fd \
  -cpu Skylake-Client \
  -smp cores=4 \
  -enable-kvm \
  -netdev tap,id=net0,ifname=tap0,script=network-up.sh,downscript=network-down.sh \
  -device virtio-net-pci,netdev=net0
```

--------------------------------

### Get Name

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1state__machine_1_1errorpublisher

Retrieves the identifier name of the error publisher.

```cpp
inline const std::string & getName() const
```

--------------------------------

### Get Active Error

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1state__machine_1_1errorpublisher

Retrieves the primary active error.

```cpp
MotorcortexError getActiveError() const
```

--------------------------------

### Get Info Pointer

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1signal__monitor_1_1signalid

Retrieves a pointer to the info data.

```cpp
const uint32_t * getInfoPtr() const
```

--------------------------------

### Create Modules

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1fbus_1_1manager

Instantiates modules based on the provided system mode, parameter server, and path.

```cpp
std::vector< container::Module * > create(
    cmd_line::SystemMode system_mode,
    parameter_server::Parameter * param_server,
    const std::string & path
)
```

--------------------------------

### Get Key

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1signal__monitor_1_1signalid

Retrieves the unique key associated with the signal.

```cpp
uint64_t getKey() const
```

--------------------------------

### Get Parameter Timestamp

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1parameter__server_1_1reqhandle

Retrieves the timestamp associated with the parameter.

```cpp
const struct timespec & getTime() const
```

--------------------------------

### Create Disk Image

Source: https://docs.motorcortex.io/docs/getting-started/install-mcxos/install/usb

Create a 6GB empty image file named temp.img.

```bash
truncate -s 6G temp.img
ls -lart
```

```text
-rw-r--r-- 1 root  root   6442450944 Jan  6 12:01 temp.img
```

--------------------------------

### Get parameter info

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1parameter__server_1_1parameterbase

Returns the metadata information for the parameter.

```cpp
virtual const ParameterInfo & getInfo() const =0
```

--------------------------------

### startRealTime

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/modules/group__utils

Activates real-time mode and isolates specified CPUs.

```APIDOC
## bool startRealTime(...)

### Description
Activates Real-time mode and isolates CPUs. Multiple overloads are available to specify memory size, CPU lists, or configuration options.

### Parameters
- **size_mb** (size_t) - Optional - Size of RAM to reserve in Megabytes.
- **cpu_list** (std::vector<uint32_t>) - Optional - List of the CPUs to isolate.
- **opt** (cmd_line::Realtime) - Optional - Struct with realtime options.

### Return
- **bool** - true on success.
```

--------------------------------

### Get Parameter Size

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1parameter__server_1_1paramhandle

Returns the size of the parameter data.

```cpp
size_t size() const
```

--------------------------------

### Module Constructor

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1watchdog_1_1module

Initializes a new Module instance with the specified system mode, watchdog type, and device identifier.

```cpp
Module(
    utils::SystemMode system_mode,
    WatchdogType type,
    const char * device
)
```

--------------------------------

### Get reply ID

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1parameter__server_1_1parameterbase

Retrieves the identifier for the last reply.

```cpp
virtual uint32_t getReplyId() =0
```

--------------------------------

### create

Source: https://docs.motorcortex.io/docs/developing-control-applications/api/classes/classmcx_1_1fbus_1_1manager

Creates and returns a collection of modules based on the provided system configuration.

```APIDOC
## std::vector< container::Module * > create(cmd_line::SystemMode system_mode, parameter_server::Parameter * param_server, const std::string & path)

### Description
Instantiates modules based on the provided system mode, parameter server, and configuration path.

### Parameters
- **system_mode** (cmd_line::SystemMode) - Required - The operating mode of the system.
- **param_server** (parameter_server::Parameter*) - Required - Pointer to the parameter server instance.
- **path** (const std::string&) - Required - The file system path or configuration path for the modules.

### Returns
- **std::vector< container::Module * >** - A vector containing pointers to the created modules.
```
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