gclib.h

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#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdarg.h>
 
#include "gclib_compat.h"
 
#ifndef _WIN32
#pragma GCC visibility push(default)
#endif

typedef struct Context* gclib_handle;
typedef struct DataRecord* gclib_data_record_handle;

typedef enum gclib_result {
    GCLIB_SUCCESS,
    GCLIB_INVALID_ARGUMENT,
    GCLIB_INTERNAL_ERROR,
    GCLIB_TIMEOUT,
    GCLIB_COMMAND_ERROR,
    GCLIB_BUFFER_TOO_SMALL,
    GCLIB_NOT_CONNECTED,
    GCLIB_NOT_SUBSCRIBED
} gclib_result;

typedef enum gclib_interrupt_type {
    GCLIB_NO_INTERRUPTS = 0,
    GCLIB_USER_INTERRUPT = 0, // Cannot be enabled or disabled
    GCLIB_MOTION_COMPLETE = 1 << 0,
    GCLIB_ALL_AXES_MOTION_COMPLETE = 1 << 8,
    GCLIB_EXCESS_POSITION_ERROR = 1 << 9, 
    GCLIB_LIMIT_SWITCH = 1 << 10, 
    GCLIB_WATCHDOG_TIMER = 1 << 11,
    GCLIB_PROGRAM_STOPPED = 1 << 13, 
    GCLIB_COMMAND_DONE = 1 << 14,
    GCLIB_DIGITAL_INPUT_LOW = 1 << 15, 
    GCLIB_ALL_INTERRUPTS = (1 << 16) - 1,
} gclib_interrupt_type;

typedef struct gclib_interrupt_t {
    gclib_interrupt_type type;
    union {
        char axis; 
        uint8_t digital_input; 
        uint8_t user_interrupt; 
    };
    uint8_t status; 
} gclib_interrupt_t;

typedef enum gclib_digital_input_flags {
    GCLIB_NO_DIGITAL_INPUTS = 0,
    GCLIB_DIGITAL_INPUT_1 = 1 << 0,
    GCLIB_DIGITAL_INPUT_2 = 1 << 1,
    GCLIB_DIGITAL_INPUT_3 = 1 << 2,
    GCLIB_DIGITAL_INPUT_4 = 1 << 3,
    GCLIB_DIGITAL_INPUT_5 = 1 << 4,
    GCLIB_DIGITAL_INPUT_6 = 1 << 5,
    GCLIB_DIGITAL_INPUT_7 = 1 << 6,
    GCLIB_DIGITAL_INPUT_8 = 1 << 7,
    GCLIB_ALL_DIGITAL_INPUTS = (1 << 8) - 1
} gclib_digital_input_flags;

typedef enum gclib_axis_flags {
    GCLIB_NO_AXES = 0,
    GCLIB_AXIS_A = 1 << 0,
    GCLIB_AXIS_B = 1 << 1,
    GCLIB_AXIS_C = 1 << 2,
    GCLIB_AXIS_D = 1 << 3,
    GCLIB_AXIS_E = 1 << 4,
    GCLIB_AXIS_F = 1 << 5,
    GCLIB_AXIS_G = 1 << 6,
    GCLIB_AXIS_H = 1 << 7,
    GCLIB_ALL_AXES = (1 << 8) - 1
} gclib_axis_flags;
 

gclib_result gclib_version(char* version, size_t len);

gclib_result gclib_gcaps_version(char* gcaps_version, size_t len);

 

gclib_result gclib_addresses(char* addresses, size_t len);

gclib_result gclib_ip_requests(char* ip_requests, size_t len);

gclib_result gclib_assign_ip(const char* mac, const char* ip);

 

gclib_result gclib_list_servers(char* servers, size_t len);

gclib_result gclib_server(char* name, size_t len);

gclib_result gclib_set_server(const char* name);

gclib_result gclib_published(char* name, size_t len);

gclib_result gclib_set_published(const char* name);

 

void gclib_force_gcaps(bool on);

gclib_result gclib_open(gclib_handle* h, const char* address);

gclib_result gclib_set_baud_rate(gclib_handle h, size_t baud_rate);

gclib_result gclib_close(gclib_handle* h);

const char* gclib_error(gclib_handle h);

gclib_result gclib_address(gclib_handle h, char* address, size_t len);
typedef enum gclib_connection_t {
    GCLIB_ETHERNET = 1,
    GCLIB_SERIAL,
    GCLIB_PCI
} gclib_connection_t;

gclib_result gclib_connection_type(gclib_handle h, gclib_connection_t* type);

 

gclib_result gclib_revision_information(gclib_handle h, char* rev_info, size_t len);

gclib_result gclib_serial_number(gclib_handle h, uint32_t* serial_number);

gclib_result gclib_command(gclib_handle h, const char* command, char* buf, size_t len);
 

 

gclib_result gclib_set_interrupts(gclib_handle h, gclib_interrupt_type interrupt_mask, gclib_axis_flags motion_complete_axes, gclib_digital_input_flags digital_inputs);

gclib_result gclib_set_data_records(gclib_handle h, size_t period_ms);

gclib_result gclib_subscribe_messages(gclib_handle h, void(callback)(void* user_data, const char* message), void* user_data);

gclib_result gclib_subscribe_interrupts(gclib_handle h, void(callback)(void* user_data, gclib_interrupt_t interrupt), void* user_data);

gclib_result gclib_subscribe_data_records(gclib_handle h, void(callback)(void* user_data, gclib_data_record_handle data_record), void* user_data);

gclib_result gclib_subscribe_progress(gclib_handle h, void(callback)(void* user_data, size_t current, size_t max), void* user_data);

gclib_result gclib_unsubscribe(gclib_handle h, void* callback);

gclib_result gclib_message(gclib_handle h, char* message, size_t len, int timeout);

gclib_result gclib_interrupt(gclib_handle h, gclib_interrupt_t* interrupt, int timeout);

gclib_result gclib_data_record(gclib_handle h, gclib_data_record_handle* data_record, int timeout);

 

gclib_result gclib_program(gclib_handle h, char* program, size_t len);

gclib_result gclib_set_program(gclib_handle h, const char* program, const char* insert);

gclib_result gclib_array(gclib_handle h, const char* name, char* buf, size_t len, size_t start, size_t end);

gclib_result gclib_set_array(gclib_handle h, const char* name, const char* buf, size_t start, size_t end);

gclib_result gclib_set_firmware(gclib_handle h, const char* file_path);



typedef enum gclib_mode_of_motion_t {
    GCLIB_NO_MOTION,
    GCLIB_CONTOUR,
    GCLIB_POSITION_ABSOLUTE,
    GCLIB_POSITION_RELATIVE,
    GCLIB_FIND_EDGE,
    GCLIB_FIND_INDEX,
    GCLIB_HOME,
    GCLIB_VECTOR_MOVE,
    GCLIB_LINEAR_MOVE = GCLIB_VECTOR_MOVE
} gclib_mode_of_motion_t;

typedef enum gclib_ethernet_status_t {
    HANDLE_FREE = 0,
    UDP_SLAVE = 1,
    TCP_SLAVE = 2,
    UDP_MASTER = -1,
    TCP_MASTER = -2,
    ESTABLISHING_UDP = -5,
    ESTABLISHING_TCP = -6
} gclib_ethernet_status_t;

uint16_t gclib_data_record_sample(gclib_data_record_handle h);

bool gclib_data_record_input(gclib_data_record_handle h, size_t index);
bool gclib_data_record_output(gclib_data_record_handle h, size_t index);
uint8_t gclib_data_record_input_bank(gclib_data_record_handle h, size_t index);
uint8_t gclib_data_record_output_bank(gclib_data_record_handle h, size_t index);
uint8_t gclib_data_record_error_code(gclib_data_record_handle h);
uint32_t gclib_data_record_contour_segment_count(gclib_data_record_handle h);
uint16_t gclib_data_record_contour_buffer_available(gclib_data_record_handle h);
bool gclib_data_record_thread_running(gclib_data_record_handle h, size_t thread);

gclib_ethernet_status_t gclib_data_record_ethernet_status(gclib_data_record_handle h, char handle);

gclib_result gclib_data_record_bytes(gclib_data_record_handle h, char* data_record, size_t len);

bool gclib_data_record_motor_off(gclib_data_record_handle h, char axis);
bool gclib_data_record_latch_armed(gclib_data_record_handle h, char axis);
bool gclib_data_record_final_deceleration(gclib_data_record_handle h, char axis);
bool gclib_data_record_stopping(gclib_data_record_handle h, char axis);
bool gclib_data_record_slewing(gclib_data_record_handle h, char axis);
gclib_mode_of_motion_t gclib_data_record_mode_of_motion(gclib_data_record_handle h, char axis);
bool gclib_data_record_negative_direction_move(gclib_data_record_handle h, char axis);
bool gclib_data_record_moving(gclib_data_record_handle h, char axis);
int gclib_data_record_home_phase(gclib_data_record_handle h, char axis);
bool gclib_data_record_stepper_mode(gclib_data_record_handle h, char axis);
bool gclib_data_record_home_input(gclib_data_record_handle h, char axis);
bool gclib_data_record_reverse_limit(gclib_data_record_handle h, char axis);
bool gclib_data_record_forward_limit(gclib_data_record_handle h, char axis);
bool gclib_data_record_latch_input(gclib_data_record_handle h, char axis);
bool gclib_data_record_latch_occurred(gclib_data_record_handle h, char axis);
uint8_t gclib_data_record_stop_code(gclib_data_record_handle h, char axis);
int32_t gclib_data_record_reference_position(gclib_data_record_handle h, char axis);
int32_t gclib_data_record_position(gclib_data_record_handle h, char axis);
int32_t gclib_data_record_position_error(gclib_data_record_handle h, char axis);
int32_t gclib_data_record_aux_position(gclib_data_record_handle h, char axis);
int32_t gclib_data_record_velocity(gclib_data_record_handle h, char axis);
double gclib_data_record_torque(gclib_data_record_handle h, char axis);
double gclib_data_record_analog_input(gclib_data_record_handle h, char axis);
uint8_t gclib_data_record_halls(gclib_data_record_handle h, char axis);
int32_t gclib_data_record_variable(gclib_data_record_handle h, char axis);
bool gclib_data_record_hall_error(gclib_data_record_handle h, char axis);
bool gclib_data_record_peak_current(gclib_data_record_handle h, char axis);

bool gclib_data_record_over_current(gclib_data_record_handle h, size_t amp);
bool gclib_data_record_over_voltage(gclib_data_record_handle h, size_t amp);
bool gclib_data_record_over_temp(gclib_data_record_handle h, size_t amp);
bool gclib_data_record_under_voltage(gclib_data_record_handle h, size_t amp);
bool gclib_data_record_electronic_lock_out(gclib_data_record_handle h, size_t amp);

uint16_t gclib_data_record_coordinated_move_segment_count(gclib_data_record_handle h, char plane);
uint16_t gclib_data_record_coordinated_move_status(gclib_data_record_handle h, char plane);
bool gclib_data_record_coordinated_move_final_deceleration(gclib_data_record_handle h, char plane);
bool gclib_data_record_coordinated_move_stopping(gclib_data_record_handle h, char plane);
bool gclib_data_record_coordinated_move_slewing(gclib_data_record_handle h, char plane);
bool gclib_data_record_coordinated_move_moving(gclib_data_record_handle h, char plane);
int32_t gclib_data_record_coordinated_move_distance(gclib_data_record_handle h, char plane);
uint16_t gclib_data_record_coordinated_move_buffer_available(gclib_data_record_handle h, char plane);
 
// Undoc methods for gclibo
void gclib_set_compat();
gclib_result gclib_set_timeout(gclib_handle h, size_t timeout);
 
#ifdef __cplusplus
}
#endif
 
#ifndef _WIN32
#pragma GCC visibility pop
#endif