Examples

Table of Contents

• Controller Addresses
• Connection Management
• Commands
• Errors
• Program & Arrays
• Unsolicited Data
• Galil Connect
• Example Project: Record and Replay

Controller Addresses

A core feature of gclib is the ability to connect to a controller over ethernet, serial, or PCI, using a single connection API.

• C/C++ Use gclib_addresses() to see the different addresses that are available.

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        char addresses[1024];
     
        gclib_addresses(addresses, sizeof(addresses));
        printf("Address, Model, Serial\n%s\n", addresses);
    }

  • Output

    > .\addresses.exe
    Address, Model, Serial
    192.168.0.40, DMC4040 Rev 1.3i, 10601
    COM5, DMC-41x3
    GALILPCI0

  If using an ethernet controller that doesn't have an IP address yet, it will show up in gclib_ip_requests(). Use gclib_assign_ip() to give the controller an IP. If successful, the controller will begin showing up in gclib_addresses() under the new address.

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        char result[1024];
     
        gclib_ip_requests(result, sizeof(result));
        printf("Address, Model, Serial\n%s\n", result);
     
        gclib_assign_ip("00:50:4C:20:29:69", "192.168.0.40");
    }

  • Output

    > .\ip-requests.exe
    Address, Model, Serial
    00:50:4C:20:29:69, DMC4000, 10601

• Python

  Use gclib.py.GAddresses() to see the different addresses that are available.

  >>> import gclib
  >>> gclib.py().GAddresses()
  {'192.168.0.40': ' DMC4040 Rev 1.3i', 'GALILPCI1': '', 'COM5': ''}

  If using an ethernet controller that doesn't have an IP address yet, it will show up in gclib.py.GIpRequests(). Use gclib.py.GAssign() to give the controller an IP. If successful, the controller will begin showing up in gclib.py.GAddresses() under the new address.

  >>> gclib.py().GIpRequests()
  {'DMC4000-10601': '00:50:4C:20:29:69'}
  >>> gclib.py().GAssign('192.168.0.40', '00:50:4C:20:29:69')

• Java Use gclibjava.GclibJava.GAddresses() to see the different addresses that are available.

  • Code

    import gclibjava.*;
     
    public class Addresses {
        public static void main(String[] args) throws GclibJavaException {
            System.out.println(String.format(new GclibJava().GAddresses()));
        }
    }

  • Output

    > java Addresses
    192.168.0.40, DMC4040 Rev 1.3i, 192.168.0.1, Ethernet
    GALILPCI1
    COM5

  If using an ethernet controller that doesn't have an IP address yet, it will show up in gclibjava.GclibJava.GIpRequests(). Use gclibjava.GclibJava.GAssign() to give the controller an IP. If successful, the controller will begin showing up in gclibjava.GclibJava.GAddresses() under the new address.

  • Code

    import gclibjava.*;
     
    public class IpRequests {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava gclib = new GclibJava();
            System.out.println(gclib.GIpRequests());
            gclib.GAssign("192.168.0.40", "00:50:4C:20:29:69");
        }
    }

  • Output

    > java IpRequests
    DMC4000, 10601, 00:50:4C:20:29:69, Ethernet, 192.168.0.1, 0.0.0.0

• C# Use gclib.GAddresses() to see the different addresses that are available.

  • Code

    string[] addresses = new gclib().GAddresses();
    System.Console.WriteLine(string.Join("\n", addresses));

  • Output

    > dotnet run --project Addresses
    192.168.0.40, DMC4040 Rev 1.3i, 192.168.0.1, Ethernet
    GALILPCI1
    COM5

  If using an ethernet controller that doesn't have an IP address yet, it will show up in gclib.GIpRequests(). Use gclib.GAssign() to give the controller an IP. If successful, the controller will begin showing up in gclib.GAddresses() under the new address.

  • Code

    gclib connection = new gclib();
    string[] ipRequests = connection.GIpRequests();
    System.Console.WriteLine(string.Join("\n", ipRequests));
    connection.GAssign("192.168.0.40", "00:50:4C:20:29:69");

  • Output

    > dotnet run --project IpRequests
    DMC4000, 10601, 00:50:4C:20:29:69, Ethernet, 192.168.0.1, 0.0.0.0

• VB Use Gclib.GAddresses() to see the different addresses that are available.

  • Code

    Module Program
        Sub Main(args As string())
            System.Console.WriteLine(string.Join(Environment.NewLine, new Gclib().GAddresses()))
        End Sub
    End Module

  • Output

    > dotnet run --project Addresses
    192.168.0.40, DMC4040 Rev 1.3i, 192.168.0.1, Ethernet
    GALILPCI1
    COM5

  If using an ethernet controller that doesn't have an IP address yet, it will show up in Gclib.GIpRequests(). Use Gclib.GAssign() to give the controller an IP. If successful, the controller will begin showing up in Gclib.GAddresses() under the new address.

  • Code

    Module Program
        Sub Main(args As String())
            Dim Gclib As new Gclib()
            System.Console.WriteLine(string.Join(Environment.NewLine, Gclib.GIpRequests()))
            Gclib.GAssign("192.168.0.40", "00:50:4C:20:29:69")
        End Sub
    End Module

  • Output

    > dotnet run IpRequests
    DMC4000, 10601, 00:50:4C:20:29:69, Ethernet, 192.168.0.1, 0.0.0.0

• LabVIEW Use G Addresses to see the different addresses that are available.

  Addresses.vi

  • Front Panel  
  • Block Diagram  

  If using an ethernet controller that doesn't have an IP address yet, it will show up in G Ip Requests. Use G Assign to give the controller an IP. If successful, the controller will begin showing up in G Addresses under the new address.

  IP Requests.vi

  • Front Panel  
  • Block Diagram  

Connection Management

• C/C++ To use a controller with gclib, first pass the address to gclib_open() to receive a handle to the connection, which will be used in all gclib calls which operate on that connection. After you are done, close the connection with gclib_close().

  Note

  If you need to change the baud rate, call gclib_set_baud_rate() after gclib_open().

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        gclib_handle h = 0;
        char address[32], revision[1024];
        uint32_t serial;
     
        gclib_open(&h, argv[1]);
        gclib_address(h, address, sizeof(address));
        gclib_revision_information(h, revision, sizeof(revision));
        gclib_serial_number(h, &serial);
        printf("Address: %s\nRevision: %s\nSerial: %i\n", address, revision, serial);
        gclib_close(&h);
    }

  • Output

    > .\connection.exe 192.168.0.40
    Address: 192.168.0.40
    Revision: DMC4040 Rev 1.3i
    Serial: 10601
    

  Attention

  If the program exits before calling gclib_close(), the controller may be left in an inconsistent state.

• Python To use a controller with gclib, first create a gclib.py() object, then pass an address to gclib.py.GOpen().

  >>> connection = gclib.py()
  >>> connection.GOpen('192.168.0.40')

  Now we can use gclib.py.GInfo() to show basic info about the open connection.

  >>> connection.GInfo()
  192.168.0.40, DMC4040 Rev 1.3i, 10601

  After you are done with the connection, close it with gclib.py.GClose().

  >>> connection.GClose()

  Attention

  If the program exits before calling gclib.py.GClose(), the controller may be left in an inconsistent state.

• Java To use a controller with gclib, first create a gclibjava.GclibJava() object, then pass an address to gclibjava.GclibJava.GOpen(). After you are done, close the connection with gclibjava.GclibJava.GClose().

  • Code

    import gclibjava.*;
     
    public class Connection {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
            System.out.println(connection.GInfo());
            connection.GClose();
        }
    }

  • Output

    > java Connection 192.168.0.40
    192.168.0.40, DMC4040 Rev 1.3i, 10601
    

  Attention

  If the program exits before calling GClose(), the controller may be left in an inconsistent state.

• C# To use a controller with gclib, first create a gclib() object, then pass an address to gclib.GOpen(). After you are done, close the connection with gclib.GClose().

  • Code

    gclib connection = new gclib();
    connection.GOpen(args[0]);
    System.Console.WriteLine(connection.GInfo());
    connection.GClose();

  • Output

    > dotnet run --project Connection 192.168.0.40
    192.168.0.40, DMC4040 Rev 1.3i, 10601

  Attention

  If the program exits before calling gclib.GClose(), the controller may be left in an inconsistent state.

• VB To use a controller with gclib, first create a Gclib() object, then pass an address to Gclib.GOpen(). After you are done, close the connection with Gclib.GClose().

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As new Gclib()
            connection.GOpen(args(0))
            System.Console.WriteLine(connection.GInfo())
            connection.GClose()
        End Sub
    End Module

  • Output

    > dotnet run --project Connection 192.168.0.40
    192.168.0.40, DMC4040 Rev 1.3i, 10601

  Attention

  If the program exits before calling Gclib.GClose(), the controller may be left in an inconsistent state.

• LabVIEW To use a controller with gclib, first pass the address to G Open to receive a handle to the connection. This handle will be used in future library calls such as G Info, which we use to display some information about the open connection. After you are done, close the connection with G Close.

  Connection.vi

  • Front Panel
    
  • Block Diagram
    

  Attention

  If the program exits before calling G Close, the controller may be left in an inconsistent state.

Commands

• C/C++ To issue commands, use gclib_command() with an open connection. The following example uses gclib_command() to implement a basic terminal.

  • Code

    #include <gclibo.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        gclib_handle h = NULL;
        char command[80];
        char response[1024];
     
        gclib_open(&h, argv[1]);
        gclib_revision_information(h, response, sizeof(response));
        printf("Connected to %s. Press %s to exit.\n:", response,
            #ifdef WIN32
                "Ctrl+Z then Enter"
            #else
                "Ctrl+D"
            #endif
        );
        while (fgets(command, sizeof(command), stdin)) {
            gclib_command(h, command, response, sizeof(response));
            printf("%s%s:", response, strlen(response) ? "\n" : "");
        }
        gclib_close(&h);
        printf("\n");
        return 0;
    }

  • Output

    > .\commands.exe 192.168.0.40
    Connected to DMC4040 Rev 1.3i. Press Ctrl+Z then Enter to exit.
    :MG "Hello World"
    Hello World
    :^Z

• Python To issue commands, use gclib.py.GCommand() with an open connection.

  >>> connection.GOpen('192.168.0.40')
  >>> connection.GCommand('Hello World')
  'Hello World'

• Java To issue commands, use gclibjava.GclibJava.GCommand() with an open connection. The following example uses gclibjava.GclibJava.GCommand() to implement a basic terminal.

  • Code

    import gclibjava.*;
     
    import java.util.NoSuchElementException;
    import java.util.Scanner;
     
    public class Commands {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
            System.out.println(connection.GInfo());
            System.out.print(":");
            Scanner scanner = new Scanner(System.in);
            try {
                while (true) {
                    String result = connection.GCommand(scanner.nextLine());
                    System.out.print(result.equals(":") ? result : result + "\r\n:");
                }
            } catch (NoSuchElementException e) {}
            scanner.close();
            connection.GClose();
        }
    }

  • Output

    > java Commands 192.168.0.40
    Connected to 192.168.0.40, DMC4040 Rev 1.3i, 10601
    Use Ctrl+C to exit.
    :MG "Hello World"
    Hello World
    :^C

• C# To issue commands, use gclib.GCommand() with an open connection. The following example uses gclib.GCommand() to implement a basic terminal.

  • Code

    gclib connection = new gclib();
    connection.GOpen(args[0]);
    System.Console.WriteLine(connection.GInfo());
    System.Console.Write(':');
    while (true) {
        string result = connection.GCommand(System.Console.ReadLine());
        System.Console.Write(result.Length == 0 ? ":" : result + "\r\n:");
    }
    connection.GClose();

  • Output

    > dotnet run --project Commands 192.168.0.40
    Connected to 192.168.0.40, DMC4040 Rev 1.3i, 10601
    Use Ctrl+C to exit.
    :MG "Hello World"
    Hello World
    :^C

• VB To issue commands, use Gclib.GCommand() with an open connection. The following example uses Gclib.GCommand() to implement a basic terminal.

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As new Gclib()
            connection.GOpen(args(0))
            System.Console.WriteLine(connection.GInfo())
            System.Console.Write(":")
            While (true)
                Dim result As String = connection.GCommand(System.Console.ReadLine())
                System.Console.Write(If(result.Length = 0, ":", result + Environment.NewLine + ":"))
            End While
            connection.GClose()
        End Sub
    End Module

  • Output

    > dotnet run --project Commands 192.168.0.40
    Connected to 192.168.0.40, DMC4040 Rev 1.3i, 10601
    Use Ctrl+C to exit.
    :MG "Hello World"
    Hello World
    :^C

• LabVIEW To issue commands, use G Command with an open connection.

  Commands.vi

  • Front Panel
    
  • Block Diagram
    

Errors

• C/C++ All gclib functions provide a gclib_result value to indicate the error, with zero (GCLIB_SUCCESS) indicating success. Use gclib_error() to get a string description of the error.

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        gclib_handle h;
        char buf[128];
     
        gclib_open(&h, argv[1]);
     
        gclib_result ret = gclib_command(h, "invalid", NULL, 0);
        if (ret == GCLIB_COMMAND_ERROR) {
            printf("Error: %s\n", gclib_error(h));
            gclib_command(h, "TC1", buf, sizeof(buf));
            printf("TC1 returned: %s\n", buf);
        }
     
        gclib_close(&h);
    }

  • Output

    > .\errors.exe 192.168.0.40
    Command "invalid" caused error code 1
    TC1 returned: 1 Unrecognized command

• Python If a gclib call is unsuccessful, a gclib.GclibError will be thrown with a description of the error.

  >>> connection.GCommand('invalid')
  Traceback (most recent call last):
  ...
  gclib.GclibError: question mark returned by controller

• Java If a gclib call is unsuccessful, a gclibjava.GclibJavaException() will be thrown with the error code and description.
  • Code

    import gclibjava.*;
     
    public class Errors {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
            try {
                connection.GCommand("invalid");
            } catch (GclibJavaException e) {
                System.out.println(String.format("Command 'invalid' returned %d: %s", e.getErrorCode(), e.getMessage()));
            }
            connection.GClose();
        }
    }

  • Output

    > java Errors 192.168.0.40
    Command "invalid" returned -10000: "question mark returned by controller"

• C# If a gclib call is unsuccessful, an exception will be thrown with the error code and description.
  • Code

    gclib connection = new gclib();
    connection.GOpen(args[0]);
    try {
        System.Console.WriteLine(connection.GCommand("invalid"));
    } catch (System.Exception e) {
        System.Console.WriteLine("Command 'invalid' returned " + e.Message);
    }
    connection.GClose();

  • Output

    > dotnet run --project Errors 192.168.0.40
    Command "invalid" returned -10000: "question mark returned by controller"

• VB If a gclib call is unsuccessful, an exception will be thrown with the error code and description.
  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As new Gclib()
            connection.GOpen(args(0))
            Try
                connection.GCommand("invalid")
            Catch e As System.Exception
                System.Console.WriteLine("Command 'invalid' returned " + e.Message)
            End Try
            connection.GClose()
        End Sub
    End Module

  • Output

    > dotnet run --project Errors 192.168.0.40
    Command "invalid" returned -10000: "question mark returned by controller"

• LabVIEW Standard error chaining is supported by gclib. See gclib_errors.h for a full list of error codes.
  Errors.vi

  • Front Panel
    
  • Block Diagram
    

Program & Arrays

• C/C++ Use gclib_program() to get the controller's program, and use gclib_set_program() to set it.

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        gclib_handle h;
        char program[1024];
     
        gclib_open(&h, argv[1]);
     
        gclib_set_program(h,
            "#AUTO\n"
            "MG \"Hello World\"\n"
            "EN", NULL);
        gclib_program(h, program, sizeof(program));
        printf("%s\n", program);
     
        gclib_close(&h);
    }

  • Output

    > .\program.exe 192.168.0.40
    MG "Hello World"

  Use gclib_array() to get an array from the controller, and use gclib_set_array() to set it. Use the start and end arguments to transfer only a subset of the array.

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        gclib_handle h;
        char array[128];
     
        gclib_open(&h, argv[1]);
        gclib_command(h, "DM test[5]", NULL, 0);
        
        gclib_set_array(h, "test", "1,2,3,4,5", 0, 4);
        gclib_array(h, "test", array, sizeof(array), 1, 3);
        printf("%s\n", array);
     
        gclib_command(h, "DA test[5]", NULL, 0);
        gclib_close(&h);
    }

  • Output

    > .\arrays.exe 192.168.0.40
    2.0000, 3.0000, 4.0000

• Python Use gclib.py.GProgramUpload() to get the controller's program, and use gclib.py.GProgramDownload() to set it.

  >>> connection.GProgramDownload('MG "Hello World"')
  >>> connection.GProgramUpload()
  'MG "Hello World"'

  Use gclib.py.GArrayUpload() and gclib.py.GArrayDownload() similarly for arrays. Use the first and last arguments to transfer only part of the array.

  >>> connection.GCommand('DM test[5]')
  >>> connection.GArrayDownload('test', 0, 4, [1, 2, 3, 4, 5])
  >>> connection.GArrayUpload('test', 1, 3)
  [2.0, 3.0, 4.0]

• Java Use gclibjava.GclibJava.GProgramUpload() to get the controller's program, and use gclibjava.GclibJava.GProgramDownload() to set it. See the gclib Program Preprocessor for advanced usage.

  • Code

    import gclibjava.*;
     
    public class Program {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
            connection.GProgramDownload("MG \"Hello World\"");
            System.out.println(connection.GProgramUpload());
            connection.GClose();
        }
    }

  • Output

    > java Program 192.168.0.40
    MG "Hello World"

  Use gclibjava.GclibJava.GArrayUpload() to get an array from the controller, and use gclibjava.GclibJava.GArrayDownload() to set it.

  • Code

    import gclibjava.*;
     
    public class Arrays {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
            connection.GCommand("DM test[5]");
            connection.GArrayDownload("test", java.util.Arrays.asList(1.0, 2.0, 3.0, 4.0, 5.0));
            System.out.println(connection.GArrayUpload("test"));
            connection.GClose();
        }
    }

  • Output

    > java Arrays 192.168.0.40
    2.0000, 3.0000, 4.0000

• C# Use gclib.GProgramUpload() to get the controller's program, and use gclib.GProgramDownload() to set it. See the gclib Program Preprocessor for advanced usage.

  • Code

    gclib connection = new gclib();
    connection.GOpen(args[0]);
    connection.GProgramDownload("MG \"Hello World\"");
    System.Console.WriteLine(connection.GProgramUpload());
    connection.GClose();

  • Output

    > dotnet run --project Program 192.168.0.40
    MG "Hello World"

  Use gclib.GArrayUpload() to get an array from the controller, and use gclib.GArrayDownload() to set it.

  • Code

    gclib connection = new gclib();
    connection.GOpen(args[0]);
    connection.GCommand("DM test[5]");
    List<double> test = new List<double>{1, 2, 3, 4, 5};
    connection.GArrayDownload("test", ref test);
    System.Console.WriteLine(string.Join(", ", connection.GArrayUpload("test")));
    connection.GClose();

  • Output

    > dotnet run --project Arrays 192.168.0.40
    2.0000, 3.0000, 4.0000

• VB Use Gclib.GProgramUpload() to get the controller's program, and use Gclib.GProgramDownload() to set it. See the gclib Program Preprocessor for advanced usage.

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As Gclib  = new Gclib()
            connection.GOpen(args(0))
            connection.GCommand("DM test[5]")
            connection.GProgramDownload("MG ""Hello World""")
            System.Console.WriteLine(connection.GProgramUpload())
            connection.GClose()
        End Sub
    End Module

  • Output

    > dotnet run --project Program 192.168.0.40
    MG "Hello World"

  Use Gclib.GArrayUpload() to get an array from the controller, and use Gclib.GArrayDownload() to set it.

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As Gclib  = new Gclib()
            connection.GOpen(args(0))
            connection.GCommand("DM test[5]")
            connection.GArrayDownload("test", new List(Of Double)({1, 2, 3, 4, 5}))
            System.Console.WriteLine(string.Join(", ", connection.GArrayUpload("test")))
            connection.GClose()
        End Sub
    End Module

  • Output

    > dotnet run --project Arrays 192.168.0.40
    2.0000, 3.0000, 4.0000

• LabVIEW Use G Program Upload to get the controller's program, and use G Program Download to set it. See the gclib Program Preprocessor for advanced usage.

  Program.vi

  • Front Panel
    
  • Block Diagram
    

  Use G Array Upload to get an array from the controller, and use G Array Download to set it.

  • Use the first and last inputs to transfer only part of the array.
  Arrays.vi

  • Front Panel
    
  • Block Diagram
    

Unsolicited Data

• C/C++ The unsolicited data API can be used in blocking mode or callback mode.

  Blocking mode is simpler to use, but has tradeoffs. If you want unsolicited data as soon as it arrives, you must block the thread to wait for it, which may not be ideal. If you want to keep the thread running, then you must periodically check for queued unsolicited data, which can add unwanted latency.

  Callback mode allows your thread to stay running while enabling immediate response to unsolicited data. When data arrives, your callback function will be invoked on a separate, dedicated thread. Due to this, callback mode can be more complicated to use if you are not familiar with thread synchronization.

  • Blocking For synchronous usage, subscribe without providing a callback or user data pointer.

    gclib_subscribe_messages(h, NULL, NULL);

    Once subscribed, you can then wait a specified amount of time for unsolicited data to arrive.

    // Time out if message doesn't arrive within one second
    gclib_message(h, message_buf, sizeof(message_buf), 1000);

    • Code

      #include <gclib.h>
      #include <stdio.h>
       
      int main(int argc, char* argv[]) {
          gclib_handle h;
          char buf[32];
       
          gclib_open(&h, argv[1]);
       
          gclib_subscribe_messages(h, NULL, NULL);
          gclib_subscribe_interrupts(h, NULL, NULL);
          gclib_subscribe_data_records(h, NULL, NULL);
       
          gclib_set_interrupts(h, GCLIB_PROGRAM_STOPPED, 0, 0);
          gclib_set_data_records(h, 8);
       
          gclib_set_program(h, "MG \"Hello World\"; EN", NULL);
          gclib_command(h, "XQ", NULL, 0);
       
          gclib_message(h, buf, sizeof(buf), -1);
          printf("Got message: %s\n", buf);
       
          gclib_interrupt_t interrupt;
          gclib_interrupt(h, &interrupt, -1);
          printf("Got interrupt status byte: %i\n", interrupt.status);
       
          gclib_data_record_handle data_record;
          gclib_data_record(h, &data_record, -1);
          printf("Got data record, sample %i\n", gclib_data_record_sample(data_record));
       
          gclib_set_data_records(h, 0);
          gclib_close(&h);
      }

    • Output

      > .\unsolicited.exe 192.168.0.40
      Got message Hello World
      Got data record, sample 39306
      Got interrupt 240

  • Callback For asynchronous usage, subscribe with a callback function and an arbitrary data pointer (which can be NULL). Each time unsolicited data arrives, your callback will be invoked and the pointer will be passed to it.

    void handle_message(void*, const char* message) {
        printf("Message received: %s", message);
    };

    gclib_subscribe_messages(h, handle_message, NULL);

    Attention

    The callback will be invoked on a separate thread. Be sure to protect any shared data!

    • Code

      #include <gclib.h>
      #include <stdio.h>
      #include "sleep.h"
       
      void handle_message(void* user_data, const char* message) {
          printf("Got message: %s\n", message);
      }
      void handle_interrupt(void* user_data, gclib_interrupt_t interrupt) {
          printf("Got interrupt status byte: %i\n", interrupt.status);
      }
      void handle_data_record(void* user_data, gclib_data_record_handle data_record) {
          printf("Got data record, sample %i\n", gclib_data_record_sample(data_record));
      }
       
      int main(int argc, char* argv[]) {
          gclib_handle h;
          gclib_open(&h, argv[1]);
       
          gclib_subscribe_messages(h, handle_message, NULL);
          gclib_subscribe_interrupts(h, handle_interrupt, NULL);
          gclib_subscribe_data_records(h, handle_data_record, NULL);
       
          gclib_set_interrupts(h, GCLIB_PROGRAM_STOPPED, 0, 0);
          gclib_set_data_records(h, 200);
       
          char buf[16];
          gclib_set_program(h, "WT 100; MG \"Hello World\"; EN", NULL);
          gclib_command(h, "XQ", NULL, 0);
       
          msleep(300);
          gclib_close(&h);
      }

    • Output

      > .\callback.exe 192.168.0.40
      Got message Hello World
      Got data record, sample 39306
      Got interrupt 240

  For a full list of data record fields, see the Data Record API.

  Note

  Controllers with default settings will not generate interrupts or data records. Use gclib_set_interrupts() and gclib_set_data_records() to configure your controller if needed.

• Python

  >>> connection.GClose()
  >>> connection.GOpen('192.168.0.40 --subscribe ALL')

  Use gclib.py.GMessage() to get unsolicited messages from the controller, and gclib.py.GInterrupt() to get event interrupts. If there is no data available, these methods will block up to five seconds before timing out.

  >>> connection.GProgramDownload('MG "Hello World"; UI0; EN')
  >>> connection.GCommand('XQ')
  ''
  >>> connection.GMessage()
  'Hello World\r\n'
  >>> connection.GInterrupt()
  240

• Java Use gclibjava.GclibJava.GMessage() to get unsolicited messages from the controller, gclibjava.GclibJava.GInterrupt() to get event interrupts, and gclibjava.GclibJava.GRecord() to get data records. If there is no data available, these methods will block up to five seconds before timing out.

  • Code

    import gclibjava.*;
     
    public class Unsolicited {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
     
            connection.GProgramDownload("MG \"Hello World\"; UI0; EN");
            connection.GCommand("XQ");
     
            System.out.println("Got message " + connection.GMessage());
            System.out.println("Got interrupt " + connection.GInterrupt());
     
            connection.GClose();
        }
    }

  • Output

    > java Unsolicited "192.168.0.40 --subscribe ALL"
    Got message Hello World
    Got data record 39306
    Got interrupt 240

• C# Use gclib.GMessage() to get unsolicited messages from the controller, gclib.GInterrupt() to get event interrupts, and gclib.GRecord() to get data records. If there is no data available, these methods will block up to five seconds before timing out.

  • Code

    using Galil;
    Gclib connection = new Gclib();
     
    connection.GOpen(args[0] + " --subscribe ALL");
    connection.GProgramDownload("MG \"Hello World\"; UI0; EN");
    connection.GCommand("XQ");
    System.Console.Write("Got message " + connection.GMessage());
    System.Console.WriteLine("Got interrupt " + connection.GInterrupt());
     
    connection.GCommand("DR8");
    System.Console.WriteLine("Got data record " + connection.GRecord<Gclib.GDataRecord4000>(true).sample_number);
    connection.GCommand("DR0");
    connection.GClose();

  • Output

    > dotnet run --project Unsolicited 192.168.0.40
    Got message Hello World
    Got data record 39306
    Got interrupt 240

• VB Use Gclib.GMessage() to get unsolicited messages from the controller, Gclib.GInterrupt() to get event interrupts, and Gclib.GRecord() to get data records. If there is no data available, these methods will block up to five seconds before timing out.

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As new Gclib()
     
            connection.GOpen(args(0) + " --subscribe ALL")
            connection.GProgramDownload("MG ""Hello World""; UI0; EN")
            connection.GCommand("XQ")
            System.Console.Write("Got message " + connection.GMessage())
            System.Console.WriteLine("Got interrupt {0}", connection.GInterrupt().ToString())
     
            connection.GCommand("DR8")
            System.Console.WriteLine("Got data record {0}", connection.GRecord(Of Gclib.GDataRecord4000)(true).sample_number)
            connection.GCommand("DR0")
            connection.GClose()
        End Sub
    End Module

  • Output

    > dotnet run --project Unsolicited 192.168.0.40
    Got message Hello World
    Got data record 39306
    Got interrupt 240

• LabVIEW Use G Message to get unsolicited messages from the controller, G Interrupt to get event interrupts, and G Record to get data records. If there is no data available, these methods will block up to five seconds before timing out.

  For G Record, note that memory must be allocated using the 'Initialize Array' node to store the data record packet. This memory space is filled with the information in the data record packet and then parsed using the 'Index Array' and 'Join Numbers' nodes.

  Unsolicited.vi

  • Front Panel
    
  • Block Diagram
    

Galil Connect

Galil Connect allows gclib to issue commands through a remote gcaps server. This makes debugging closed or distant systems much easier.

• C/C++ On the device hosting the remote gcaps server, use gclib_set_published().

  • Code

    #include <gclib.h>
    #include <stdio.h>
    #include <stdbool.h>
     
    int main(int argc, char* argv[]) {
        gclib_set_published(argv[1]);
        printf("Published remote gcaps server \"%s\"\n", argv[1]);
    }

  • Output

    > .\server.exe pi
    Published remote gcaps server "pi"

  On the client, use gclib_list_servers() to view all available gcaps servers. Pass a server name to gclib_set_server() for future gclib calls to be routed through that gcaps server. When done, pass NULL to gclib_set_server() to disconnect from the remote gcaps server.

  • Code

    #include <gclib.h>
    #include <stdio.h>
     
    int main(int argc, char* argv[]) {
        char buf[1024];
        gclib_handle h;
     
        gclib_list_servers(buf, sizeof(buf));
        printf("Available servers:\n%s\n", buf);
        gclib_set_server(argv[1]);
     
        gclib_addresses(buf, sizeof(buf));
        printf("\nAddresses reported by %s:\n%s", argv[1], buf);
        gclib_open(&h, argv[2]);
        gclib_revision_information(h, buf, sizeof(buf));
        printf("\nConnected to %s\n", buf);
        gclib_close(&h);
     
        gclib_set_server(NULL);
    }

  • Output

    > .\client.exe pi COM5
    Available servers:
    pi
     
    Addresses reported by pi:
    COM5
     
    Connected to COM5, DMC31010 Rev 1.4f, 12345

• Python

  On the device hosting the remote gcaps server (in this example a Raspberry Pi), use gclib.py.GPublishServer().

  >>> connection.GPublishServer('pi', True, True)

  On the client, use gclib.py.GListServers() to view all available gcaps servers. Pass a server name to gclib.py.GSetServer() for future gclib calls to be routed through that gcaps server. When done, pass the special string "Local" to gclib.py.GSetServer() to disconnect from the remote gcaps server.

  >>> connection.GListServers()
  'pi'
  >>> connection.GSetServer('pi')
  >>> connection.GAddresses()
  {'COM5': ''}
  >>> connection.GOpen("COM5")
  >>> connection.GInfo()
  'COM5, DMC31010 Rev 1.4f, 12345'
  >>> connection.GClose()
  >>> connection.GSetServer('Local')

• Java On the device hosting the remote gcaps server (in this example a Raspberry Pi), use gclibjava.GclibJava.GPublishServer().

  • Code

    import gclibjava.*;
     
    public class Server {
        public static void main(String[] args) throws GclibJavaException {
            new GclibJava().GPublishServer(args[0], 1, 1);
            System.out.println("Published remote gcaps server " + args[0]);
        }
    }

  • Output

    > java Server pi
    Published gcaps server "pi"

  On the client, use gclibjava.GclibJava.GListServers() to view all available gcaps servers. Pass a server name to gclibjava.GclibJava.GSetServer() for future gclib calls to be routed through that gcaps server. When done, pass the special string "Local" to gclibjava.GclibJava.GSetServer() to disconnect from the remote gcaps server.

  • Code

    import gclibjava.*;
     
    public class Client {
        public static void main(String[] args) throws GclibJavaException {
            GclibJava connection = new GclibJava();
            System.out.println(connection.GListServers());
            connection.GSetServer(args[0]);
     
            System.out.println("Addresses reported by pi: " + connection.GAddresses());
            connection.GOpen(args[1]);
            System.out.println(connection.GInfo());
            connection.GClose();
     
            connection.GSetServer("Local");
        }
    }

  • Output

    > java Client pi COM5
    Available servers:
    pi
     
    Addresses reported by pi:
    COM5
     
    Connected to COM5, DMC31010 Rev 1.4f, 12345

• C# On the device hosting the remote gcaps server (in this example a Raspberry Pi), use gclib.GPublishServer().

  • Code

    gclib connection = new gclib();
    connection.GPublishServer(args[0], true, true);
    System.Console.WriteLine("Published remote gcaps server " + args[0]);

  • Output

    > dotnet run --project Server pi
    Published gcaps server "pi"

  On the client, use gclib.GListServers() to view all available gcaps servers. Pass a server name to gclib.GSetServer() for future gclib calls to be routed through that gcaps server.

  • Code

    gclib connection = new gclib();
    System.Console.WriteLine("Available servers:" + Environment.NewLine + string.Join(Environment.NewLine, connection.GListServers()));
    connection.GSetServer(args[0]);
    System.Console.WriteLine(Environment.NewLine + "Addresses reported by pi: " + Environment.NewLine + string.Join(Environment.NewLine, connection.GAddresses()));
    connection.GOpen(args[1]);
    System.Console.WriteLine(Environment.NewLine + "Connected to " + connection.GInfo());
    connection.GSetServer("Local");

  • Output

    > dotnet run --project Client pi COM5
    Available servers:
    pi
     
    Addresses reported by pi:
    COM5
     
    Connected to COM5, DMC31010 Rev 1.4f, 12345

• VB On the device hosting the remote gcaps server (in this example a Raspberry Pi), use Gclib.GPublishServer().

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As new Gclib()
            connection.GPublishServer(args(0), true, true)
            System.Console.WriteLine("Published remote gcaps server " + args(0))
        End Sub
    End Module

  • Output

    > dotnet run --project Server pi
    Published gcaps server "pi"

  On the client, use Gclib.GListServers() to view all available gcaps servers. Pass a server name to Gclib.GSetServer() for future gclib calls to be routed through that gcaps server.

  • Code

    Module Program
        Sub Main(args As String())
            Dim connection As new Gclib()
            System.Console.WriteLine("Available servers: " + Environment.NewLine +  String.Join(Environment.NewLine, connection.GListServers()))
            connection.GSetServer(args(0))
            System.Console.WriteLine(Environment.NewLine + "Addresses reported by pi: " + Environment.NewLine + String.Join(Environment.NewLine, connection.GAddresses()))
            connection.GOpen(args(1))
            System.Console.WriteLine(Environment.NewLine + "Connected to " + connection.GInfo())
            connection.GSetServer("Local")
        End Sub
    End Module

  • Output

    > dotnet run --project Client pi COM5
    Available servers:
    pi
     
    Addresses reported by pi:
    COM5
     
    Connected to COM5, DMC31010 Rev 1.4f, 12345

• LabVIEW On the device hosting the remote gcaps server (in this example a Raspberry Pi), use G Publish Server.

  Server.vi

  • Front Panel
    
  • Block Diagram
    

  On the client, use G List Servers to view all available gcaps servers. Pass a server name to G Set Server for future gclib calls to be routed through that gcaps server. When done, pass the special string "Local" to G Set Server to disconnect from the remote gcaps server.

  Client.vi

  • Front Panel
    
  • Block Diagram
    

Example Project: Record and Replay

This project contains two example programs.

• C/C++ The 'Record' example uses RA in continuous mode along with GArrayUpload() to allow recording movement for an arbitrary amount of time. It produces a file with the recorded positions of all axes.

  • Code

    #include <gclib.h>
    #include <stdio.h>
    #include <stdlib.h>
    #include <string.h>
    #include <time.h>
    #include "sleep.h"
     
    void check(gclib_result ret, gclib_handle h) {
        char error[128];
        if (ret == GCLIB_SUCCESS) {
            return;
        } else if (ret == GCLIB_COMMAND_ERROR) {
            gclib_command(h, "TC1", error, sizeof(error));
            printf("%s\n", error);
        }
     
        fprintf(stderr, "Error %i: %s\n", ret, gclib_error(h));
        gclib_close(&h);
        exit(ret);
    }
     
    int main(int argc, char* argv[]) {
        if (argc != 3) {
            fprintf(stderr, "Usage: record.exe ADDRESS SECONDS\n");
            return 1;
        }
     
        char* buf = (char*)malloc(16384);
     
        gclib_result ret = GCLIB_SUCCESS;
        union GDataRecord record;
        size_t bytesReturned;
     
        gclib_handle h = NULL;
        if (gclib_open(&h, argv[1]) != GCLIB_SUCCESS) {
            fprintf(stderr, "Failed to open connection to controller");
            exit(1);
        }
     
        char arrayName[5];
        sprintf(arrayName, "posA");
     
        gclib_command(h, "MO", NULL, 0);
        gclib_command(h, "DM posA[1000]", NULL, 0);
        gclib_command(h, "RA posA[]", NULL, 0);
        gclib_command(h, "RD _TPA", NULL, 0);
        gclib_command(h, "RC 1,-1000", NULL, 0);
     
        size_t start = 0, end;
        char* positions = (char*)malloc(16384);
        char* token;
        int count;
        time_t startTime = time(NULL);
        FILE* file = fopen("positions.txt", "w");
        while (difftime(time(NULL), startTime) < atof(argv[2])) {
            msleep(500);
            gclib_command(h, "MG_RD", buf, 16384);
            end = atoi(buf);
            check(gclib_array(h, arrayName, positions, 16384, start, end < start ? 0 : end), h);
            printf("%zu\n", strlen(positions));
            if (end < start) {
                check(gclib_array(h, arrayName, buf, 16384, 0, end), h);
                printf("%zu\n", strlen(buf));
                strcat(positions, ", ");
                strcat(positions, buf);
            }
            count = end - start;
            if (end < start)
                count += 1000;
            for (int i = 0; i < count; i++) {
                token = strtok( i == 0 ? positions : NULL, " ,");
                if (token == NULL)
                    break;
                fprintf(file, "%s", token);
                fputc('\n', file);
            }
            start = end;
        }
        fclose(file);
     
        gclib_command(h, "RC 0", NULL, 0);
        gclib_close(&h);
    }

  • Output

    > .\record.exe 192.168.0.40 5

  The 'Replay' example uses the file produced by 'Record' along with CM to accurately reproduce the recorded movement. Note that all axes must be properly set up for motion.

  • Code

    #include <gclib.h>
    #include <stdio.h>
    #include <stdlib.h>
    #include "sleep.h"
     
    void check(gclib_result ret, gclib_handle h) {
        char error[128];
        if (ret == GCLIB_SUCCESS)
            return;
        if (ret == GCLIB_COMMAND_ERROR) {
            gclib_command(h, "TC1", error, sizeof(error));
            printf("%s\n", error);
        }
        fprintf(stderr, "Error %i: %s\n", ret, gclib_error(h));
        gclib_close(&h);
        exit(ret);
    }
     
    int main(int argc, char* argv[]) {
        if (argc != 2) {
            fprintf(stderr, "Usage: replay.exe ADDRESS\n");
            return 0;
        }
     
        char* buf = (char*)malloc(16384);
     
        GCon h = NULL;
        if (gclib_open(&h, argv[1]) != GCLIB_SUCCESS) {
            fprintf(stderr, "Failed to open connection to controller");
            exit(1);
        }
        
        gclib_command(h, "MG_CM", NULL, 0);
        int contourSpace = atof(buf);
     
        gclib_command(h, "SH A", NULL, 0);
        gclib_command(h, "CM A", NULL, 0);
        gclib_command(h, "DT -1", NULL, 0);
     
        FILE* f = fopen("positions.txt", "r");
        if (f == NULL) {
            fprintf(stderr, "Failed to open positions.txt");
            return 1;
        }
     
        int lastPosition;
        int position;
        fgets(buf, 16384, f);
        lastPosition = atof(buf);
        while (fgets(buf, 16384, f)) {
            position = atof(buf);
            sprintf(buf, "CD %i", position - lastPosition);
            lastPosition = position;
            if (gclib_command(h, buf, NULL, 0) == GCLIB_COMMAND_ERROR) {
                check(gclib_command(h, "MG_TC", buf, 16384), h);
                if ((int)atof(buf) == 32) {
                    gclib_command(h, "MG_DT", buf, 16384);
                    if ((int)atof(buf) == -1)
                        gclib_command(h, "DT 1", NULL, 0);
                    msleep(100);
                }
            }
        }
     
        do {
            gclib_command(h, "MG_CM", buf, 0);
        } while ((int)atof(buf) < contourSpace);
        fclose(f);
     
        gclib_command(h, "CD 0=0", NULL, 0);
        gclib_command(h, "MO", NULL, 0);
        gclib_close(&h);
    }

  • Output

    > .\replay.exe 192.168.0.40

• Python The 'Record' example uses RA in continuous mode along with gclib.py.GProgramUpload() to allow recording movement for an arbitrary amount of time. It produces a file with the recorded positions of all axes.

  • Code

    import gclib
    import sys
    import time
     
    def main():
        if (len(sys.argv) != 3):
            print(f"Usage: record.py ADDRESS SECONDS", file=sys.stderr)
            return
     
        connection = gclib.py()
        try:
            connection.GOpen(sys.argv[1])
     
            connection.GCommand('MO')
            connection.GCommand('DM posA[1000]')
            connection.GCommand('RA posA[]')
            connection.GCommand('RD _TPA')
            connection.GCommand('RC 1,-1000') # Assuming TM1000, record at 2ms intervals (1ms on DMC30010 / EDD37010 / RIO47000)
     
            start = 0
            end = -1
            positions = None
            startTime = time.time()
            f = open("positions.txt", "w")
            while (time.time() - startTime < float(sys.argv[2])):
                time.sleep(0.5); # Assumes TM1000
                end = int(float(connection.GCommand("MG_RD")))
                positions = connection.GArrayUpload('posA', start, -1 if end < start else end)
                if end < start:
                    positions += connection.GArrayUpload('posA', 0, end)
                for i in range(end - start if end > start else 1000 - start + end):
                    f.write(str(positions[i]) + '\n')
                start = end
            f.close()
        except gclib.GclibError as e:
            print(e)
        connection.GCommand("RC 0")
        connection.GClose()
     
    if __name__ == '__main__':
        main()

  • Output

    > python record.py 192.168.0.40 5

  The 'Replay' example uses the file produced by 'Record' along with CM to accurately reproduce the recorded movement. Note that all axes must be properly set up for motion.

  • Code

    import gclib
    import sys
    import time
     
    def main():
        if len(sys.argv) != 2:
            print(f'Usage: replay.py ADDRESS', file=sys.stderr)
            return 1
     
        connection = gclib.py()
        try:
            connection.GOpen(sys.argv[1])
            connection.GCommand('SH A')
            connection.GCommand('CM A')
            connection.GCommand('DT -1')
     
            contourSpace = int(float(connection.GCommand('MG_CM')))
     
            f = open("positions.txt", "r")
            
            lastPosition = None
            for line in f.read().splitlines():
                position = int(float(line))
                if lastPosition:
                    movement = position - lastPosition
                    try:
                        connection.GCommand(f'CD {str(movement)}')
                    except gclib.GclibError:
                        if (connection.GCommand('TC1') != '32 Segment buffer full'):
                            raise
                        if (int(float(connection.GCommand('MG_DT'))) == -1):
                            connection.GCommand('DT 1')
                        time.sleep(0.1)
                lastPosition = position
            f.close()
     
            while int(float(connection.GCommand('MG_CM'))) < contourSpace:
                time.sleep(0.5)
     
        except gclib.GclibError as e:
            print(e)
        except OSError:
            print('Failed to open positions.txt')
        connection.GCommand('CD 0=0')
        connection.GCommand('MO')
        connection.GClose()
     
    if __name__ == '__main__':
        main()

  • Output

    > python replay.py 192.168.0.40

• Java The 'Record' example uses RA in continuous mode along with gclibjava.GclibJava.GProgramUpload() to allow recording movement for an arbitrary amount of time. It produces a file with the recorded positions of all axes.

  • Code

    import gclibjava.*;
     
    import java.util.NoSuchElementException;
    import java.util.Scanner;
    import java.util.List;
    import java.util.ArrayList;
    import java.util.Collections;
    import java.io.FileWriter;
    import java.io.IOException;
     
    public class Record {
        public static void main(String[] args) throws GclibJavaException, IOException, InterruptedException {
            if (args.length != 2) {
                System.out.println("Usage: Record ADDRESS SECONDS");
                return;
            }
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
     
            connection.GCommand("MO");
            connection.GCommand("DM posA[1000]");
            connection.GCommand("RA posA[]");
            connection.GCommand("RD _TPA");
            connection.GCommand("RC 1,-1000"); // Assuming TM1000, record at 2ms intervals (1ms on DMC30010 / EDD37010 / RIO47000)
     
            List<Double> array = new ArrayList<Double>();
            long startTime = System.currentTimeMillis();
            short start = 0, end;
     
            try(FileWriter fw = new FileWriter("positions.txt")) {
                while (System.currentTimeMillis() - startTime < Float.parseFloat(args[1]) * 1000) {
                    Thread.sleep(500);
                    end = (short)Float.parseFloat(connection.GCommand("MG_RD"));
                    array = connection.GArrayUpload("posA", start, end < start ? (short)-1 : end);
                    if (end < start) {
                        array.addAll(connection.GArrayUpload("posA", 0, end));
                    }
                    for (int i = 0; i < (end > start ? end - start : 1000 - start + end); i++) {
                        fw.write(array.get(i).toString() + System.lineSeparator());
                    }
                    start = end;
                }
            }
            connection.GCommand("RC 0");
            connection.GClose();
        }
    }

  • Output

    > java record 192.168.0.40 5

  The 'Replay' example uses the file produced by 'Record' along with CM to accurately reproduce the recorded movement. Note that all axes must be properly set up for motion.

  • Code

    import gclibjava.*;
     
    import java.util.NoSuchElementException;
    import java.util.Scanner;
    import java.util.List;
    import java.util.ArrayList;
    import java.util.Collections;
    import java.io.FileReader;
    import java.io.BufferedReader;
    import java.io.IOException;
    import java.io.FileNotFoundException;
     
    public class Replay {
        public static void main(String[] args) throws GclibJavaException, IOException, InterruptedException {
            if (args.length != 1) {
                System.out.println("Usage: Replay ADDRESS");
                System.exit(1);
            }
            GclibJava connection = new GclibJava();
            connection.GOpen(args[0]);
     
            connection.GCommand("SH A");
            connection.GCommand("CM A");
            connection.GCommand("DT -1");
     
            int contourSpace = (int)Float.parseFloat(connection.GCommand("MG_CM"));
     
            long startTime = System.currentTimeMillis();
            try(BufferedReader br = new BufferedReader(new FileReader("positions.txt"))) {
                String line = br.readLine();
                Float position;
                Float lastPosition = null;
                String movement;
                while (line != null) {
                    position = Float.parseFloat(line);
                    if (lastPosition == null) {
                        lastPosition = position;
                        continue;
                    }
                    movement = String.valueOf((int)(position - lastPosition));
                    try {
                        connection.GCommand("CD " + movement);
                    } catch (GclibJavaException e) {
                        if (!(e.getErrorCode() == -10000 && connection.GCommand("TC1").startsWith("32")))
                            throw e;
                        if ((int)Float.parseFloat(connection.GCommand("MG_DT")) == -1)
                            connection.GCommand("DT 1");
                        Thread.sleep(500);
                    }
                    lastPosition = position;
                    line = br.readLine();
                }
            } catch (FileNotFoundException e) {
                System.out.println("Failed to open positions.txt");
                System.exit(1);
            }
     
            while ((int)Float.parseFloat(connection.GCommand("MG_CM")) < contourSpace)
                Thread.sleep(500);
     
            connection.GCommand("CD 0=0");
            connection.GCommand("MO");
            connection.GClose();
        }
    }

  • Output

    > java replay 192.168.0.40

• C# The 'Record' example uses RA in continuous mode along with Gclib.GProgramUpload() to allow recording movement for an arbitrary amount of time. It produces a file with the recorded positions of all axes.

  • Code

    if (args.Length != 2) {
        System.Console.WriteLine("Usage: record.exe ADDRESS SECONDS");
        return 1;
    }
     
    gclib connection = new gclib();
    try {
        connection.GOpen(args[0]);
     
        connection.GCommand("MO");
        connection.GCommand("DM posA[1000]");
        connection.GCommand("RA posA[]");
        connection.GCommand("RD _TPA");
        connection.GCommand("RC 1,-1000"); // Assuming TM1000, record at 2ms intervals (1ms on DMC30010 / EDD37010 / RIO47000)
     
        List<double> positions = new List<double>();
        int startTime = DateTime.Now.Second;
        short start = 0, end;
        using (StreamWriter file = new StreamWriter("positions.txt")) {
            while (DateTime.Now.Second - startTime < float.Parse(args[1])) {
                System.Threading.Thread.Sleep(500);
                end = (short)float.Parse(connection.GCommand("MG_RD"));
                positions = connection.GArrayUpload("posA", start, end < start ? (short)-1 : end);
                if (end < start)
                    positions.AddRange(connection.GArrayUpload("posA", 0, end));
                for (int i = 0; i < (end > start ? end - start : 1000 - start + end); i++)
                    file.WriteLine(positions[i].ToString());
                start = end;
            }
        }
    } catch (System.Exception e) {
        if (e.Message.StartsWith("-10000"))
            System.Console.WriteLine(connection.GCommand("TC1"));
        else
            System.Console.WriteLine(e.Message);
    }
    connection.GCommand("RC 0");
    connection.GClose();
    return 0;

  • Output

    > dotnet run --project Record 192.168.0.40 5

  The 'Replay' example uses the file produced by 'Record' along with CM to accurately reproduce the recorded movement. Note that all axes must be properly set up for motion.

  • Code

    if (args.Length != 1) {
        System.Console.WriteLine("Usage: record.exe ADDRESS");
        return 1;
    }
     
    gclib connection = new gclib();
    try {
        connection.GOpen(args[0]);
     
        connection.GCommand("SH A");
        connection.GCommand("CM A");
        connection.GCommand("DT -1"); // Assuming TM1000, record at 2ms intervals (1ms on DMC30010 / EDD37010 / RIO47000)
     
        int contourSpace = (int)float.Parse(connection.GCommand("MG_CM"));
     
        int startTime = DateTime.Now.Second;
        try {
            using (StreamReader sr = new StreamReader("positions.txt")) {
                string? line = sr.ReadLine();
                int position;
                int? lastPosition = null;
                while (line != null) {
                    position = int.Parse(line);
                    if (lastPosition == null) {
                        lastPosition = position;
                        continue;
                    }
                    try {
                        connection.GCommand($"CD {position - lastPosition}");
                    } catch (System.Exception e) {
                        if (!(e.Message.StartsWith("-10000") && connection.GCommand("TC1").StartsWith("32")))
                            throw;
                        if ((int)float.Parse(connection.GCommand("MG_DT")) == -1)
                            connection.GCommand("DT 1");
                        System.Threading.Thread.Sleep(500);
                    }
                    lastPosition = position;
                    line = sr.ReadLine();
                }
            }
        } catch (System.Exception) {
            Console.WriteLine("Failed to open positions.txt");
        }
        while ((int)float.Parse(connection.GCommand("MG_CM")) < contourSpace)
            System.Threading.Thread.Sleep(500);
    } catch (System.Exception e) {
        if (e.Message.StartsWith("-10000"))
            System.Console.WriteLine(connection.GCommand("TC1"));
        else
            System.Console.WriteLine(e.Message);
    }
    connection.GCommand("CD 0=0");
    connection.GCommand("MO");
    connection.GClose();
    return 0;

  • Output

    > dotnet run --project Replay 192.168.0.40

• VB The 'Record' example uses RA in continuous mode along with Gclib.GProgramUpload() to allow recording movement for an arbitrary amount of time. It produces a file with the recorded positions of all axes.

  • Code

    Module Program
        Function Main(args As String()) As Integer
            If args.Length <> 2
                System.Console.WriteLine("Usage: record.exe ADDRESS SECONDS")
                Return 1
            End If
     
            Dim connection As new gclib()
            Try
                connection.GOpen(args(0))
     
                connection.GCommand("MO")
                connection.GCommand("DM posA[1000]")
                connection.GCommand("RA posA[]")
                connection.GCommand("RD _TPA")
                connection.GCommand("RC 1,-1000") ' Assuming TM1000, record at 2ms intervals (1ms on DMC30010 / EDD37010 / RIO47000)
     
                Dim positions As List(Of Double)
                Dim startTime As Date = Now
                Dim endTime As Date = DateAdd("s", Single.Parse(args(1)), startTime)
                Dim first As Short = 0
                Dim last As Short
                first = 0
                Using writer As System.IO.StreamWriter = New System.IO.StreamWriter("positions.txt")
                    While Now < endTime
                        System.Threading.Thread.Sleep(500)
                        last = Single.Parse(connection.GCommand("MG_RD"))
                        positions = connection.GArrayUpload("posA", first, If(last < first, -1, last))
                        If (last < first)
                            positions.AddRange(connection.GArrayUpload("posA", 0, last))
                        End If
                        For i = 0 To If(last > first, last - first, 1000 - first + last)
                            writer.WriteLine(positions(i).ToString())
                        Next
                        first = last
                    End While
                End Using
            Catch e as System.Exception
                If e.Message.StartsWith("-10000")
                    System.Console.WriteLine(connection.GCommand("TC1"))
                Else
                    System.Console.WriteLine(e.Message)
                End If
            End Try
            connection.GCommand("RC 0")
            connection.GClose()
            Return 0
        End Function
    End Module

  • Output

    > dotnet run --project record 192.168.0.40 5

  The 'Replay' example uses the file produced by 'Record' along with CM to accurately reproduce the recorded movement. Note that all axes must be properly set up for motion.

  • Code

    Module Program
        Function Main(args As String()) As Integer
            If args.Length <> 1
                System.Console.WriteLine("Usage: record.exe ADDRESS")
                Return 1
            End If
     
            Dim connection As new gclib()
            Try
                connection.GOpen(args(0))
     
                connection.GCommand("SH A")
                connection.GCommand("CM A")
                connection.GCommand("DT -1") ' Assuming TM1000, record at 2ms intervals (1ms on DMC30010 / EDD37010 / RIO47000)
     
                Dim contourSpace As Integer = Single.Parse(connection.GCommand("MG_CM"))
     
                Dim startTime As Integer = DateTime.Now.Second
                Try
                    Using sr As System.IO.StreamReader = new System.IO.StreamReader("positions.txt")
                        Dim line As String = sr.ReadLine()
                        Dim position As Integer
                        Dim lastPosition As Integer? = Nothing
                        While line <> Nothing
                            position = Integer.Parse(line)
                            If lastPosition Is Nothing
                                lastPosition = position
                                Continue While
                            End If
                            Try
                                connection.GCommand($"CD {position - lastPosition}")
                            Catch E As System.Exception
                                If Not(E.Message.StartsWith("-10000") And connection.GCommand("TC1").StartsWith("32"))
                                    Throw
                                End If
                                If CType(Single.Parse(connection.GCommand("MG_DT")), Integer) = -1
                                    connection.GCommand("DT 1")
                                End If
                                System.Threading.Thread.Sleep(500)
                            End Try
                            lastPosition = position
                            line = sr.ReadLine()
                        End While
                    End Using
                Catch E As System.Exception
                    Console.WriteLine("Failed to open positions.txt")
                    Console.WriteLine(e.Message)
                End Try
     
                While CType(Single.Parse(connection.GCommand("MG_CM")), Integer) < contourSpace
                    System.Threading.Thread.Sleep(500)
                End While
     
            Catch e As System.Exception
                If (e.Message.StartsWith("-10000"))
                    System.Console.WriteLine(connection.GCommand("TC1"))
                Else
                    System.Console.WriteLine(e.Message)
                End If
            End Try
            connection.GCommand(String.Format("CD 0=0"))
            connection.GCommand("MO")
            connection.GClose()
            Return 0
        End Function
    End Module

  • Output

    > dotnet run --project replay 192.168.0.40