C

Topics
	Connection
	Controller

Classes
struct	gclib_interrupt_t
	An interrupt generated by the controller. More...

Typedefs
typedef struct gclib_context *	gclib_handle
	A handle to an open connection given by gclib_open() for use in future API calls.
typedef void *	gclib_data_record_handle
	A handle to a data record, for use in Data Record API calls.
typedef enum gclib_result	gclib_result
typedef enum gclib_interrupt_type	gclib_interrupt_type
typedef struct gclib_interrupt_t	gclib_interrupt_t
	An interrupt generated by the controller.
typedef enum gclib_digital_input_flags	gclib_digital_input_flags
	Flags to enable or disable GCLIB_DIGITAL_INPUT_LOW interrupts per digital input, for use in gclib_set_interrupts().
typedef enum gclib_axis_flags	gclib_axis_flags
	Flags for building an axis mask, for example in gclib_set_interrupts().

Enumerations
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 }
enum	gclib_interrupt_type {   GCLIB_NO_INTERRUPTS = 0 ,   GCLIB_USER_INTERRUPT = 0 ,   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 }
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 }
	Flags to enable or disable GCLIB_DIGITAL_INPUT_LOW interrupts per digital input, for use in gclib_set_interrupts(). More...
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 }
	Flags for building an axis mask, for example in gclib_set_interrupts(). More...

Functions
gclib_result	gclib_version (char *version, size_t len)
	Get library version.
gclib_result	gclib_gcaps_version (char *gcaps_version, size_t len)
	Get library version used by current gcaps server.

Detailed Description

Typedef Documentation

gclib_handle

typedef struct gclib_context* gclib_handle

A handle to an open connection given by gclib_open() for use in future API calls.

Definition at line 23 of file gclib.h.

gclib_data_record_handle

typedef void* gclib_data_record_handle

A handle to a data record, for use in Data Record API calls.

Definition at line 25 of file gclib.h.

gclib_result

typedef enum gclib_result gclib_result

All gclib function return values. See gclib_error() for a more detailed error string.

gclib_interrupt_type

typedef enum gclib_interrupt_type gclib_interrupt_type

All interrupt status types. Used in gclib_set_interrupts() to configure which interrupts should be generated by the controller, and in gclib_interrupt_t once an interrupt has been read from the controller.

gclib_interrupt_t

typedef struct gclib_interrupt_t gclib_interrupt_t

An interrupt generated by the controller.

gclib_digital_input_flags

typedef enum gclib_digital_input_flags gclib_digital_input_flags

Flags to enable or disable GCLIB_DIGITAL_INPUT_LOW interrupts per digital input, for use in gclib_set_interrupts().

gclib_axis_flags

typedef enum gclib_axis_flags gclib_axis_flags

Flags for building an axis mask, for example in gclib_set_interrupts().

Enumeration Type Documentation

gclib_result

enum gclib_result

All gclib function return values. See gclib_error() for a more detailed error string.

Enumerator
GCLIB_SUCCESS
GCLIB_INVALID_ARGUMENT
GCLIB_INTERNAL_ERROR
GCLIB_TIMEOUT
GCLIB_COMMAND_ERROR
GCLIB_BUFFER_TOO_SMALL
GCLIB_NOT_CONNECTED
GCLIB_NOT_SUBSCRIBED

Definition at line 29 of file gclib.h.

gclib_interrupt_type

enum gclib_interrupt_type

All interrupt status types. Used in gclib_set_interrupts() to configure which interrupts should be generated by the controller, and in gclib_interrupt_t once an interrupt has been read from the controller.

Enumerator
GCLIB_NO_INTERRUPTS
GCLIB_USER_INTERRUPT
GCLIB_MOTION_COMPLETE
GCLIB_ALL_AXES_MOTION_COMPLETE
GCLIB_EXCESS_POSITION_ERROR	Must be reenabled with gclib_set_interrupts() after occurrence.
GCLIB_LIMIT_SWITCH	Must be reenabled with gclib_set_interrupts() after each occurrence.
GCLIB_WATCHDOG_TIMER
GCLIB_PROGRAM_STOPPED	If multiple threads are running, this interrupt is only triggered when all threads are finished.
GCLIB_COMMAND_DONE
GCLIB_DIGITAL_INPUT_LOW	Must be reenabled with gclib_set_interrupts() after each occurrence.
GCLIB_ALL_INTERRUPTS

Definition at line 41 of file gclib.h.

gclib_digital_input_flags

enum gclib_digital_input_flags

Flags to enable or disable GCLIB_DIGITAL_INPUT_LOW interrupts per digital input, for use in gclib_set_interrupts().

Enumerator
GCLIB_NO_DIGITAL_INPUTS
GCLIB_DIGITAL_INPUT_1
GCLIB_DIGITAL_INPUT_2
GCLIB_DIGITAL_INPUT_3
GCLIB_DIGITAL_INPUT_4
GCLIB_DIGITAL_INPUT_5
GCLIB_DIGITAL_INPUT_6
GCLIB_DIGITAL_INPUT_7
GCLIB_DIGITAL_INPUT_8
GCLIB_ALL_DIGITAL_INPUTS

Definition at line 65 of file gclib.h.

gclib_axis_flags

enum gclib_axis_flags

Flags for building an axis mask, for example in gclib_set_interrupts().

Enumerator
GCLIB_NO_AXES
GCLIB_AXIS_A
GCLIB_AXIS_B
GCLIB_AXIS_C
GCLIB_AXIS_D
GCLIB_AXIS_E
GCLIB_AXIS_F
GCLIB_AXIS_G
GCLIB_AXIS_H
GCLIB_ALL_AXES

Definition at line 78 of file gclib.h.

Function Documentation

gclib_version()

gclib_result gclib_version	(	char *	version,
		size_t	len )

Get library version.

Parameters

version	Output buffer for gclib library version.
len	Length of output buffer.

Returns

GCLIB_BUFFER_TOO_SMALL if output does not fit in buffer.

gclib_gcaps_version()

gclib_result gclib_gcaps_version	(	char *	gcaps_version,
		size_t	len )

Get library version used by current gcaps server.

Parameters

gcaps_version	Output buffer for gcaps library version.
len	Length of output buffer.

Returns

GCLIB_NOT_CONNECTED if unable to reach gcaps