Reference Interface (RII) Synchronisation

jpd

Hi all,

I'm a new RobotWare user and have been going through the documentation and sample RRI programs. We want to use our robot via the RRI interface. From the docs I've read so far it's not clear to me where in the RAPID module (ito time or execution order) message are sent and received. Can someone shed some light on some of the following questions? (Pointing me to docs would be good).

Say I have a single loop in main and I've enabled comms via SiConnect, SiGetCyclic and SiSetCyclic.

1) Can there be data races between messages being received and me using it in the loop?
2) what happens if my loop runs at a lower rate than the rate specified for the comms?
3) Can I get some notification of when a message has been received?
4) Some docs mention hooks and register/deregister. Where are the hooks located?

Any help appreciated.

regards
jp