| gclib 1.32.6 Communications API for Galil controllers and PLCs |

gclibo.c
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1
11 #include "gclibo.h"
12
13 #ifndef _CRT_SECURE_NO_WARNINGS
14 #define _CRT_SECURE_NO_WARNINGS //use traditional C calls like strncpy()
15 #endif
16
17 #include <stdlib.h> //atoi, atof
18 #include <string.h> //strcpy
19 #include <stdio.h> //fopen
20 #include <math.h> //log()
21 #include <time.h>
22
23
24 void GCALL GSleep(unsigned int timeout_ms)
25 {
26 GUtility(0, G_UTIL_SLEEP, &timeout_ms, 0);
27 }
28
29 GReturn GCALL GVersion(GCStringOut ver, GSize ver_len)
30 {
31 int str_len;
32 GReturn rc;
33 if ((rc = GUtility(0, G_UTIL_VERSION, ver, &ver_len)) != G_NO_ERROR)
34 return rc;
35
36 #ifdef G_USE_GCAPS
37 str_len = strlen(ver) + 1;
38 ver_len -= str_len;
39 if (ver_len > 0
40 && GUtility(0, G_UTIL_GCAPS_VERSION, ver + str_len, &ver_len) == G_NO_ERROR)
41 {
42 ver[str_len - 1] = ' '; //add a delimiter
43 }
44 #endif
45
46 return rc;
47 }
48
49 GReturn GCALL GInfo(GCon g, GCStringOut info, GSize info_len)
50 {
51 return GUtility(g, G_UTIL_INFO, info, &info_len);
52 }
53
54 GReturn GCALL GAddresses(GCStringOut addresses, GSize addresses_len)
55 {
56 #ifdef G_USE_GCAPS
57 GReturn rc;
58 if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_ADDRESSES, addresses, &addresses_len)))
59 return rc;
60 #endif
61
62 return GUtility(0, G_UTIL_ADDRESSES, addresses, &addresses_len);
63 }
64
65 GReturn GCALL GTimeout(GCon g, short timeout_ms)
66 {
67 return GUtility(g, G_UTIL_TIMEOUT_OVERRIDE, &timeout_ms, 0);
68 }
69
70 GReturn GCALL GAssign(GCStringIn ip, GCStringIn mac)
71 {
72 /*
73 * On Linux and Apple, the IP address is pinged prior to assigning.
74 * On Windows, pinging first can make the arp table stale, and the
75 * IP address unreachable for several seconds. We skip ping so that
76 * we can immediately connect.
77 */
78
79 GReturn rc;
80 int reply = 0; //ping reply is nonzero
81
82 #ifdef G_USE_GCAPS
83
84 #if defined(__linux__) || defined(__APPLE__)
85 if (strlen(ip)) //can use null string to remove IP assignment from gcaps DHCP feature
86 {
87 GUtility(0, G_UTIL_GCAPS_PING, (void*)ip, &reply); //ping to see if IP address is already taken
88 if (reply)
89 return G_GCLIB_UTILITY_IP_TAKEN;
90 }
91 #endif
92
93 if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_ASSIGN, (void*)ip, (void*)mac)))
94 return rc;
95 #endif
96
97 #if defined(__linux__) || defined(__APPLE__)
98 GUtility(0, G_UTIL_PING, (void*)ip, &reply); //ping to see if IP address is already taken
99 if (reply)
100 return G_GCLIB_UTILITY_IP_TAKEN;
101 #endif
102
103 return GUtility(0, G_UTIL_ASSIGN, (void*)ip, (void*)mac);
104 }
105
106 GReturn GCALL GIpRequests(GCStringOut requests, GSize requests_len)
107 {
108 GReturn rc;
109 #ifdef G_USE_GCAPS
110 rc = GUtility(0, G_UTIL_GCAPS_IPREQUEST, requests, &requests_len);
111 if (rc == G_NO_ERROR)
112 {
113 if (requests_len == 0 || strlen(requests))
114 return rc;
115 else
116 {
117 //try once more after a 5 second wait
118 GSleep(5000);
119 return GUtility(0, G_UTIL_GCAPS_IPREQUEST, requests, &requests_len);
120 }
121 }
122 #endif
123
124 //non-gcaps version opens port listens for 5 seconds, and closes
125 return GUtility(0, G_UTIL_IPREQUEST, requests, &requests_len);
126 }
127
128 GReturn GCALL GSetServer(GCStringIn server_name)
129 {
130 GReturn rc;
131 #ifdef G_USE_GCAPS
132 rc = GUtility(0, G_UTIL_GCAPS_SET_SERVER, (void*)server_name, 0);
133 #else
134 rc = G_GCAPS_OPEN_ERROR;
135 #endif
136
137 #ifdef GCLIB_LOGGING
138 if (rc != G_NO_ERROR)
139 {
140 char buf[256];
141 sprintf(buf, "GSetServer: %d", rc);
142 LogMsg(buf);
143 }
144 #endif
145
146 return rc;
147 }
148
149 GReturn GCALL GServerStatus(GCStringOut status, GSize status_len)
150 {
151 GReturn rc = G_NO_ERROR;
152 #ifdef G_USE_GCAPS
153 rc = GUtility(0, G_UTIL_GCAPS_SERVER_STATUS, status, &status_len);
154 #else
155 rc = G_GCAPS_OPEN_ERROR;
156 #endif
157
158 #ifdef GCLIB_LOGGING
159 if (rc != G_NO_ERROR)
160 {
161 char buf[256];
162 sprintf(buf, "GServerStatus: %d", rc);
163 LogMsg(buf);
164 }
165 #endif
166 return rc;
167 }
168
169 GReturn GCALL GListServers(GCStringOut servers, GSize servers_len)
170 {
171 GReturn rc;
172 #ifdef G_USE_GCAPS
173 rc = GUtility(0, G_UTIL_GCAPS_LIST_SERVERS, servers, &servers_len);
174 #else
175 rc = G_GCAPS_OPEN_ERROR;
176 #endif
177
178 #ifdef GCLIB_LOGGING
179 if (rc != G_NO_ERROR)
180 {
181 char buf[256];
182 sprintf(buf, "GListServers: %d", rc);
183 LogMsg(buf);
184 }
185 #endif
186 return rc;
187 }
188
189 GReturn GCALL GPublishServer(GCStringIn name, GOption publish, GOption save)
190 {
191 GReturn rc;
192 #ifdef G_USE_GCAPS
193 //bit 0 -> publish = 1, remove = 0
194 //bit 1 -> save = 1, do not save = 0
195 unsigned short options = publish | (save << 1);
196
197 if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_PUBLISH_SERVER, (void*)name, &options)))
198 {
199
200 }
201 #else
202 rc = G_GCAPS_OPEN_ERROR;
203 #endif
204
205 #ifdef GCLIB_LOGGING
206 if (rc != G_NO_ERROR)
207 {
208 char buf[256];
209 sprintf(buf, "GPublishServer: %d", rc);
210 LogMsg(buf);
211 }
212 #endif
213
214 return rc;
215 }
216
217 GReturn GCALL GRemoteConnections(GCStringOut connections, GSize connections_length)
218 {
219 GReturn rc;
220 #ifdef G_USE_GCAPS
221 rc = GUtility(0, G_UTIL_GCAPS_REMOTE_CONNECTIONS, connections, &connections_length);
222 #else
223 rc = G_GCAPS_OPEN_ERROR;
224 #endif
225
226 #ifdef GCLIB_LOGGING
227 if (rc != G_NO_ERROR)
228 {
229 char buf[256];
230 sprintf(buf, "GRemoteConnections: %d", rc);
231 LogMsg(buf);
232 }
233 #endif
234 return rc;
235 }
236
237 GReturn GCALL GCmd(GCon g, GCStringIn command)
238 {
239 char buf[G_SMALL_BUFFER]; //response usually brief, e.g. :
240 return GCommand(g, command, buf, G_SMALL_BUFFER, 0);
241 }
242
243 GReturn GCALL GCmdT(GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut* front)
244 {
245 GSize read;
246 GReturn rc;
247 int i;
248 char c;
249 if ((rc = GCommand(g, command, trimmed_response, response_len, &read)) != G_NO_ERROR)
250 return rc;
251 //if here, the data is already null-terminated, just trim.
252 for (i = read - 1; i >= 0; i--) //read does NOT include null terminator.
253 {
254 c = trimmed_response[i];
255 if ((c == ':') || (c == '\n') || (c == '\r'))
256 trimmed_response[i] = 0; //trim it
257 else
258 break; //we hit non-trimmable data, bail out.
259 }
260
261 if (front) //null to skip "trim" on front.
262 {
263 *front = trimmed_response;
264 i = 0;
265 do
266 {
267 c = trimmed_response[i++];
268 if (c == ' ')
269 (*front)++;
270 else
271 break;
272 } while (1); //exit will be any non-space, including null terminator
273 }
274
275 return G_NO_ERROR;
276 }
277
278 GReturn GCALL GCmdI(GCon g, GCStringIn command, int* value)
279 {
280 char buf[G_SMALL_BUFFER]; //response should be ~19 chars
281 GSize read;
282 GReturn rc;
283 if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
284 return rc;
285 *value = atoi(buf);
286 return G_NO_ERROR;
287 }
288
289 GReturn GCALL GCmdD(GCon g, GCStringIn command, double* value)
290 {
291 char buf[G_SMALL_BUFFER]; //response should be ~19 chars
292 GSize read;
293 GReturn rc;
294 if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
295 return rc;
296 *value = atof(buf);
297 return G_NO_ERROR;
298 }
299
300 GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
301 {
302 char pred[] = "_BGm=0"; //predicate for polling the axis' motion status, m is a place holder replaced below.
303 GReturn rc;
304 GSize i = 0; //C, not C++
305 GSize len = strlen(axes);
306
307 for (i = 0; i < len; i++) //iterate through all chars in axes
308 {
309 pred[3] = axes[i]; //set the axis
310 rc = GWaitForBool(g, pred, -1); //poll forever. Change this if a premature exit is desired.
311 if (rc != G_NO_ERROR)
312 return rc;
313 }//axes
314
315 return G_NO_ERROR;
316 }
317
318 GReturn GCALL GWaitForBool(GCon g, GCStringIn predicate, int trials)
319 {
320 char cmd[G_LINE_BUFFER];
321 char buf[G_LINE_BUFFER];
322 int rc;
323 strcpy(cmd, "MG (");
324 strcat(cmd, predicate);
325 strcat(cmd, ")"); //enclose in parenthesis
326
327 for (; trials != 0; --trials) //negative value will poll "forever"
328 {
329 rc = GCommand(g, cmd, buf, G_SMALL_BUFFER, 0); //check the predicate
330 if (rc != G_NO_ERROR)
331 return rc;
332
333 if (atoi(buf)) //nonzero is true, bad atoi returns 0
334 return G_NO_ERROR;
335 else
336 GSleep(POLLINGINTERVAL);
337 }
338 //if we're here, the trials ran out
339 return G_GCLIB_POLLING_FAILED;
340 }
341
342 GReturn GCALL GRecordRate(GCon g, double period_ms)
343 {
344 char buf[G_SMALL_BUFFER];
345 double dt;
346 double period_arg;
347
348 if (period_ms == 0) //turn off
349 return GCmd(g, "DR 0");
350
351 if (GCmdD(g, "TM?", &dt) == G_NO_ERROR)
352 {
353 dt /= 1024.0; //ms per controller sample
354 if (!dt) dt = 1; //don't want to divide by zero below
355 }
356 else
357 {
358 dt = 0.9765625; //RIO doesn't have TM
359 }
360
361 period_arg = period_ms / dt; //data record specified in samples between records
362
363 if (GCmdT(g, "\x12\x16", buf, sizeof(buf), 0) == G_NO_ERROR) //Revision string, ^R^V
364 {
365 if (strstr(buf, "DMC18")) //PCI controller
366 period_arg = log(period_arg) / log(2.0); //PCI DR arg is 2^n.
367 else if ((strstr(buf, "DMC40") != NULL) //4000
368 || (strstr(buf, "DMC500") != NULL) //50000
369 || (strstr(buf, "RIO") != NULL)) // RIO
370 {
371 if (period_arg < 2) period_arg = 2; //lowest non-zero DR
372 }
373 else if ((strstr(buf, "DMC41") != NULL) || (strstr(buf, "DMC21") != NULL)) //4103, 2103
374 {
375 if (period_arg < 8) period_arg = 8; //lowest non-zero DR
376 }
377 else if ((strstr(buf, "DMC3") != NULL)) //30010, 31010
378 {
379 if (period_arg < 4) period_arg = 4; //lowest non-zero DR
380 }
381 }
382
383 sprintf(buf, "DR %d", (int)period_arg);
384 return GCmd(g, buf);
385 }
386
387 GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
388 {
389 FILE *file;
390 long file_size;
391 char* program_buffer;
392 GReturn rc = G_NO_ERROR;
393
394 if (!(file = fopen(file_path, "rb"))) //open file for reading, binary mode
395 return G_BAD_FILE;
396
397 fseek(file, 0, SEEK_END); //find end of file
398 file_size = ftell(file); //add one to null terminate below
399 rewind(file);
400
401 if (file_size) //don't malloc 0.
402 {
403
404 if (!(program_buffer = malloc(file_size + 1))) //allocate memory for the data, +1 for null termination below
405 {
406 fclose(file);
407 return G_BAD_FULL_MEMORY;
408 }
409
410 if (file_size != fread(program_buffer, 1, file_size, file))
411 {
412 fclose(file);
413 free(program_buffer); //free memory
414 return G_BAD_FILE;
415 }
416 program_buffer[file_size] = 0; //null terminate, malloc was one byte larger for this
417 }
418 else
419 {
420 program_buffer = ""; //nullstring
421 }
422
423 fclose(file); //done with file, close it
424
425 rc = GProgramDownload(g, program_buffer, preprocessor); //call the gclib downloader
426 if (file_size) free(program_buffer); //free memory
427 return rc;
428 }
429
430 GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
431 {
432 FILE *file;
433 GReturn rc = G_NO_ERROR;
434 char* program_buffer;
435 long file_size;
436
437 if (!(file = fopen(file_path, "wb"))) //open file for writing, binary mode
438 return G_BAD_FILE;
439
440 if (!(program_buffer = malloc(MAXPROG))) //allocate memory for the data
441 {
442 fclose(file);
443 return G_BAD_FULL_MEMORY;
444 }
445
446 if ((rc = GProgramUpload(g, program_buffer, MAXPROG)) == G_NO_ERROR)
447 {
448 file_size = strlen(program_buffer);
449 if (file_size != fwrite(program_buffer, 1, file_size, file))
450 rc = G_BAD_FILE;
451 }
452
453 fclose(file);
454 free(program_buffer);
455 return rc;
456 }
457
458
459 void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
460 {
461 char* error_message;
462
463 switch (rc)
464 {
465 case G_NO_ERROR:
466 error_message = G_NO_ERROR_S;
467 break;
468
469 case G_GCLIB_ERROR:
470 error_message = G_GCLIB_ERROR_S;
471 break;
472
473 case G_GCLIB_UTILITY_ERROR:
474 error_message = G_GCLIB_UTILITY_ERROR_S;
475 break;
476
477 case G_GCLIB_UTILITY_IP_TAKEN:
478 error_message = G_GCLIB_UTILITY_IP_TAKEN_S;
479 break;
480
481 case G_GCLIB_NON_BLOCKING_READ_EMPTY:
482 error_message = G_GCLIB_NON_BLOCKING_READ_EMPTY_S;
483 break;
484
485 case G_TIMEOUT:
486 error_message = G_TIMEOUT_S;
487 break;
488
489 case G_OPEN_ERROR:
490 error_message = G_OPEN_ERROR_S;
491 break;
492
493 case G_READ_ERROR:
494 error_message = G_READ_ERROR_S;
495 break;
496
497 case G_WRITE_ERROR:
498 error_message = G_WRITE_ERROR_S;
499 break;
500
501 case G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND:
502 error_message = G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND_S;
503 break;
504
505 case G_DATA_RECORD_ERROR:
506 error_message = G_DATA_RECORD_ERROR_S;
507 break;
508
509 case G_UNSUPPORTED_FUNCTION:
510 error_message = G_UNSUPPORTED_FUNCTION_S;
511 break;
512
513 case G_BAD_ADDRESS:
514 error_message = G_BAD_ADDRESS_S;
515 break;
516
517 case G_BAD_FIRMWARE_LOAD:
518 error_message = G_BAD_FIRMWARE_LOAD_S;
519 break;
520
521 case G_FIRMWARE_LOAD_NOT_SUPPORTED:
522 error_message = G_FIRMWARE_LOAD_NOT_SUPPORTED_S;
523 break;
524
525 case G_ARRAY_NOT_DIMENSIONED:
526 error_message = G_ARRAY_NOT_DIMENSIONED_S;
527 break;
528
529 case G_CONNECTION_NOT_ESTABLISHED:
530 error_message = G_CONNECTION_NOT_ESTABLISHED_S;
531 break;
532
533 case G_ILLEGAL_DATA_IN_PROGRAM:
534 error_message = G_ILLEGAL_DATA_IN_PROGRAM_S;
535 break;
536
537 case G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT:
538 error_message = G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S;
539 break;
540
541 case G_INVALID_PREPROCESSOR_OPTIONS:
542 error_message = G_INVALID_PREPROCESSOR_OPTIONS_S;
543 break;
544
545 case G_BAD_RESPONSE_QUESTION_MARK:
546 error_message = G_BAD_RESPONSE_QUESTION_MARK_S;
547 break;
548
549 case G_BAD_VALUE_RANGE:
550 error_message = G_BAD_VALUE_RANGE_S;
551 break;
552
553 case G_BAD_FULL_MEMORY:
554 error_message = G_BAD_FULL_MEMORY_S;
555 break;
556
557 case G_BAD_LOST_DATA:
558 error_message = G_BAD_LOST_DATA_S;
559 break;
560
561 case G_BAD_FILE:
562 error_message = G_BAD_FILE_S;
563 break;
564
565 case G_GCAPS_OPEN_ERROR:
566 error_message = G_GCAPS_OPEN_ERROR_S;
567 break;
568
569 case G_GCAPS_SUBSCRIPTION_ERROR:
570 error_message = G_GCAPS_SUBSCRIPTION_ERROR_S;
571 break;
572
573 default:
574 error_message = "internal error";
575 break;
576 }
577
578 strncpy(error, error_message, error_len);
579 error[error_len - 1] = 0; //ensure null termination
580 }
581
582 #ifdef GCLIB_LOGGING
583 void LogMsg(const char* msg)
584 {
585 time_t rawtime;
586 struct tm * timeinfo;
587
588 time(&rawtime);
589 timeinfo = localtime(&rawtime);
590 char* time_string = asctime(timeinfo);
591
592 #ifdef _WIN32
593 const char* filename = "C:/ProgramData/Galil/gcaps/gclib_mdns_log.txt";
594 #else
595 const char* filename = "/var/tmp/gclib_mdns_log.txt";
596 #endif // _WIN32
597
598 FILE *logfile;
599 logfile = fopen(filename, "a");
600 fprintf(logfile, "%s | %s", msg, time_string);
601 fclose(logfile);
602 }
603 #endif
604
gclibo.h
GMotionComplete
GCLIB_DLL_EXPORTED GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
Blocking call that returns once all axes specified have completed their motion.
Definition: gclibo.c:300
GUtility
GCLIB_DLL_EXPORTED GReturn GCALL GUtility(GCon g, GOption request, GMemory memory1, GMemory memory2)
Provides read/write access to driver settings and convenience features based on the request variable.
GPublishServer
GCLIB_DLL_EXPORTED GReturn GCALL GPublishServer(GCStringIn name, GOption publish, GOption save)
Uses GUtility(), G_UTIL_GCAPS_PUBLISH_SERVER to publish local gcaps server to the local network.
Definition: gclibo.c:189
GCmdT
GCLIB_DLL_EXPORTED GReturn GCALL GCmdT(GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut *front)
Wrapper around GCommand that trims the response.
Definition: gclibo.c:243
GAssign
GCLIB_DLL_EXPORTED GReturn GCALL GAssign(GCStringIn ip, GCStringIn mac)
Uses GUtility(), G_UTIL_GCAPS_ASSIGN or G_UTIL_ASSIGN to assign an IP address over the Ethernet to a ...
Definition: gclibo.c:70
GProgramDownloadFile
GCLIB_DLL_EXPORTED GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
Program download from file.
Definition: gclibo.c:387
GIpRequests
GCLIB_DLL_EXPORTED GReturn GCALL GIpRequests(GCStringOut requests, GSize requests_len)
Uses GUtility(), G_UTIL_GCAPS_IPREQUEST or G_UTIL_IPREQUEST to provide a list of all Galil controller...
Definition: gclibo.c:106
GSleep
GCLIB_DLL_EXPORTED void GCALL GSleep(unsigned int timeout_ms)
Uses GUtility() and G_UTIL_SLEEP to provide a blocking sleep call which can be useful for timing-base...
Definition: gclibo.c:24
GTimeout
GCLIB_DLL_EXPORTED GReturn GCALL GTimeout(GCon g, short timeout_ms)
Uses GUtility() and G_UTIL_TIMEOUT_OVERRIDE to set the library timeout.
Definition: gclibo.c:65
GListServers
GCLIB_DLL_EXPORTED GReturn GCALL GListServers(GCStringOut servers, GSize servers_len)
Uses GUtility(), G_UTIL_GCAPS_LIST_SERVERS to provide a list of all available gcaps services on the l...
Definition: gclibo.c:169
GVersion
GCLIB_DLL_EXPORTED GReturn GCALL GVersion(GCStringOut ver, GSize ver_len)
Uses GUtility(), G_UTIL_VERSION and G_UTIL_GCAPS_VERSION to provide the library and gcaps version num...
Definition: gclibo.c:29
GCommand
GCLIB_DLL_EXPORTED GReturn GCALL GCommand(GCon g, GCStringIn command, GBufOut buffer, GSize buffer_len, GSize *bytes_returned)
Performs a command-and-response transaction on the connection.
GRemoteConnections
GCLIB_DLL_EXPORTED GReturn GCALL GRemoteConnections(GCStringOut connections, GSize connections_length)
Uses GUtility(), G_UTIL_GCAPS_REMOTE_CONNECTIONS to get a list of remote addresses connected to the l...
Definition: gclibo.c:217
GProgramUpload
GCLIB_DLL_EXPORTED GReturn GCALL GProgramUpload(GCon g, GBufOut buffer, GSize buffer_len)
Uploads a program from the controller's program buffer.
GError
GCLIB_DLL_EXPORTED void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
Provides a human-readable description string for return codes.
Definition: gclibo.c:459
GProgramUploadFile
GCLIB_DLL_EXPORTED GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
Program upload to file.
Definition: gclibo.c:430
GRecordRate
GCLIB_DLL_EXPORTED GReturn GCALL GRecordRate(GCon g, double period_ms)
Sets the asynchronous data record to a user-specified period via DR.
Definition: gclibo.c:342
GCmdI
GCLIB_DLL_EXPORTED GReturn GCALL GCmdI(GCon g, GCStringIn command, int *value)
Wrapper around GCommand that provides the return value of a command parsed into an int.
Definition: gclibo.c:278
GServerStatus
GCLIB_DLL_EXPORTED GReturn GCALL GServerStatus(GCStringOut status, GSize status_len)
Uses GUtility(), G_UTIL_GCAPS_SERVER_STATUS to get information on the local server name and if it is ...
Definition: gclibo.c:149
GProgramDownload
GCLIB_DLL_EXPORTED GReturn GCALL GProgramDownload(GCon g, GCStringIn program, GCStringIn preprocessor)
Downloads a program to the controller's program buffer.
GWaitForBool
GCLIB_DLL_EXPORTED GReturn GCALL GWaitForBool(GCon g, GCStringIn predicate, int trials)
Blocking call that returns when the controller evaluates the predicate as true.
Definition: gclibo.c:318
GInfo
GCLIB_DLL_EXPORTED GReturn GCALL GInfo(GCon g, GCStringOut info, GSize info_len)
Uses GUtility() and G_UTIL_INFO to provide a useful connection string.
Definition: gclibo.c:49
GSetServer
GCLIB_DLL_EXPORTED GReturn GCALL GSetServer(GCStringIn server_name)
Uses GUtility(), G_UTIL_GCAPS_SET_SERVER to set the new active server.
Definition: gclibo.c:128
GCmdD
GCLIB_DLL_EXPORTED GReturn GCALL GCmdD(GCon g, GCStringIn command, double *value)
Wrapper around GCommand that provides the return value of a command parsed into a double.
Definition: gclibo.c:289
GCmd
GCLIB_DLL_EXPORTED GReturn GCALL GCmd(GCon g, GCStringIn command)
Wrapper around GCommand for use when the return value is not desired.
Definition: gclibo.c:237
GAddresses
GCLIB_DLL_EXPORTED GReturn GCALL GAddresses(GCStringOut addresses, GSize addresses_len)
Uses GUtility(), G_UTIL_GCAPS_ADDRESSES or G_UTIL_ADDRESSES to provide a listing of all available con...
Definition: gclibo.c:54
G_BAD_RESPONSE_QUESTION_MARK
#define G_BAD_RESPONSE_QUESTION_MARK
Operation received a ?, indicating controller has a TC error.
Definition: gclib_errors.h:70
G_WRITE_ERROR
#define G_WRITE_ERROR
Device write failed. E.G. Socket was closed by remote host. See G_UTIL_GCAPS_KEEPALIVE.
Definition: gclib_errors.h:40
G_DATA_RECORD_ERROR
#define G_DATA_RECORD_ERROR
Data record error, e.g. DR attempted on serial connection.
Definition: gclib_errors.h:49
G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND
#define G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND
GCommand() was called with an illegal command, e.g. ED, DL or QD.
Definition: gclib_errors.h:46
GReturn
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:93
G_BAD_VALUE_RANGE
#define G_BAD_VALUE_RANGE
Bad value or range, e.g. GCon g variable passed to function was bad.
Definition: gclib_errors.h:73
G_UTIL_INFO
#define G_UTIL_INFO
GUtility(), get a connection info string.
Definition: gclib.h:63
GOption
int GOption
Option integer for various formatting, etc.
Definition: gclib.h:96
G_BAD_FIRMWARE_LOAD
#define G_BAD_FIRMWARE_LOAD
Bad firmware upgrade.
Definition: gclib_errors.h:88
POLLINGINTERVAL
#define POLLINGINTERVAL
Interval, in milliseconds, for polling commands, e.g. GWaitForBool().
Definition: gclibo.h:40
G_SMALL_BUFFER
#define G_SMALL_BUFFER
Most reads from Galil are small. This value will easily hold most, e.g. TH, TZ, etc.
Definition: gclib.h:89
G_GCLIB_ERROR
#define G_GCLIB_ERROR
General library error. Indicates internal API caught an unexpected error. Contact Galil support if th...
Definition: gclib_errors.h:16
G_GCAPS_OPEN_ERROR
#define G_GCAPS_OPEN_ERROR
gcaps connection couldn't open. Server is not running or is not reachable.
Definition: gclib_errors.h:91
G_OPEN_ERROR
#define G_OPEN_ERROR
Device could not be opened. E.G. Serial port or PCI device already open.
Definition: gclib_errors.h:34
G_NO_ERROR
#define G_NO_ERROR
Return value if function succeeded.
Definition: gclib_errors.h:13
G_INVALID_PREPROCESSOR_OPTIONS
#define G_INVALID_PREPROCESSOR_OPTIONS
GProgramDownload was called with a bad preprocessor directive.
Definition: gclib_errors.h:43
G_UTIL_GCAPS_IPREQUEST
#define G_UTIL_GCAPS_IPREQUEST
GUtility(), get a list of hardware requesting IPs from the gcaps server.
Definition: gclib.h:76
G_UTIL_GCAPS_PUBLISH_SERVER
#define G_UTIL_GCAPS_PUBLISH_SERVER
GUtility(), make local gcaps server discoverable by other gcaps servers on the local network.
Definition: gclib.h:80
G_BAD_FULL_MEMORY
#define G_BAD_FULL_MEMORY
Not enough memory for an operation, e.g. all connections allowed for a process already taken.
Definition: gclib_errors.h:76
GSize
unsigned int GSize
Size of buffers, etc.
Definition: gclib.h:95
GCALL
#define GCALL
Specify calling convention for Windows.
Definition: gclib.h:38
G_UTIL_PING
#define G_UTIL_PING
GUtility(), uses ICMP ping to determine if an IP address is reachable and assigned.
Definition: gclib.h:69
G_UTIL_VERSION
#define G_UTIL_VERSION
GUtility(), get a library version string.
Definition: gclib.h:62
G_UTIL_GCAPS_PING
#define G_UTIL_GCAPS_PING
GUtility(), uses ICMP ping to determine if an IP address is reachable and assigned....
Definition: gclib.h:78
G_UTIL_IPREQUEST
#define G_UTIL_IPREQUEST
GUtility(), get a list of hardware requesting IPs.
Definition: gclib.h:66
G_ARRAY_NOT_DIMENSIONED
#define G_ARRAY_NOT_DIMENSIONED
Array operation was called on an array that was not in the controller's array table,...
Definition: gclib_errors.h:58
MAXPROG
#define MAXPROG
Maximum size for a program.
Definition: gclibo.h:38
G_UTIL_GCAPS_SERVER_STATUS
#define G_UTIL_GCAPS_SERVER_STATUS
GUtility(), get information on the local server's name and if it is published to the local network.
Definition: gclib.h:82
G_UTIL_ASSIGN
#define G_UTIL_ASSIGN
GUtility(), assign IP addresses over the network.
Definition: gclib.h:67
G_UTIL_TIMEOUT_OVERRIDE
#define G_UTIL_TIMEOUT_OVERRIDE
GUtility(), read/write access to timeout override.
Definition: gclib.h:60
G_FIRMWARE_LOAD_NOT_SUPPORTED
#define G_FIRMWARE_LOAD_NOT_SUPPORTED
Firmware is not supported on this bus, e.g. Ethernet for the DMC-21x3 series.
Definition: gclib_errors.h:55
G_UTIL_GCAPS_ADDRESSES
#define G_UTIL_GCAPS_ADDRESSES
GUtility(), get a list of available connections from the gcaps server.
Definition: gclib.h:75
G_UTIL_ADDRESSES
#define G_UTIL_ADDRESSES
GUtility(), get a list of available connections.
Definition: gclib.h:65
G_BAD_ADDRESS
#define G_BAD_ADDRESS
Bad address.
Definition: gclib_errors.h:85
GCon
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen().
Definition: gclib.h:94
G_GCAPS_SUBSCRIPTION_ERROR
#define G_GCAPS_SUBSCRIPTION_ERROR
GMessage(), GRecord(), GInterrupt() called on a connection without –subscribe switch.
Definition: gclib_errors.h:94
G_UTIL_GCAPS_ASSIGN
#define G_UTIL_GCAPS_ASSIGN
GUtility(), assign IP addresses over the network from the gcaps server.
Definition: gclib.h:77
G_CONNECTION_NOT_ESTABLISHED
#define G_CONNECTION_NOT_ESTABLISHED
Function was called with no connection.
Definition: gclib_errors.h:61
G_GCLIB_UTILITY_ERROR
#define G_GCLIB_UTILITY_ERROR
An invalid request value was specified to GUtility.
Definition: gclib_errors.h:19
G_UTIL_SLEEP
#define G_UTIL_SLEEP
GUtility(), specify an interval to sleep.
Definition: gclib.h:64
G_UNSUPPORTED_FUNCTION
#define G_UNSUPPORTED_FUNCTION
Function cannot be called on this bus. E.G. GInterrupt() on serial.
Definition: gclib_errors.h:52
G_UTIL_GCAPS_SET_SERVER
#define G_UTIL_GCAPS_SET_SERVER
GUtility(), set the new active gcaps server.
Definition: gclib.h:81
G_BAD_FILE
#define G_BAD_FILE
Bad file path, bad file contents, or bad write.
Definition: gclib_errors.h:82
G_GCLIB_POLLING_FAILED
#define G_GCLIB_POLLING_FAILED
GWaitForBool out of polling trials.
Definition: gclib_errors.h:28
G_READ_ERROR
#define G_READ_ERROR
Device read failed. E.G. Socket was closed by remote host. See G_UTIL_GCAPS_KEEPALIVE.
Definition: gclib_errors.h:37
G_BAD_LOST_DATA
#define G_BAD_LOST_DATA
Lost data, e.g. GCommand() response buffer was too small for the controller's response.
Definition: gclib_errors.h:79
G_UTIL_GCAPS_LIST_SERVERS
#define G_UTIL_GCAPS_LIST_SERVERS
GUtility(), get a list of all available gcaps servers on the local network.
Definition: gclib.h:79
G_GCLIB_NON_BLOCKING_READ_EMPTY
#define G_GCLIB_NON_BLOCKING_READ_EMPTY
GMessage, GInterrupt, and GRecord can be called with a zero timeout. If there wasn't data waiting in ...
Definition: gclib_errors.h:25
GCStringOut
char * GCStringOut
C-string output from the library. Implies null-termination.
Definition: gclib.h:97
GCStringIn
const char * GCStringIn
C-string input to the library. Implies null-termination.
Definition: gclib.h:98
G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT
#define G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT
Program preprocessor could not compress the program within the user's constraints.
Definition: gclib_errors.h:67
G_GCLIB_UTILITY_IP_TAKEN
#define G_GCLIB_UTILITY_IP_TAKEN
The IP cannot be assigned because ping returned a reply.
Definition: gclib_errors.h:22
G_UTIL_GCAPS_VERSION
#define G_UTIL_GCAPS_VERSION
GUtility(), get the version of the gcaps server.
Definition: gclib.h:73
G_TIMEOUT
#define G_TIMEOUT
Operation timed out. Timeout is set by the –timeout option in GOpen() and can be overriden by GSettin...
Definition: gclib_errors.h:31
G_UTIL_GCAPS_REMOTE_CONNECTIONS
#define G_UTIL_GCAPS_REMOTE_CONNECTIONS
GUtility(), get a list of remote addresses connected to local server.
Definition: gclib.h:83
G_ILLEGAL_DATA_IN_PROGRAM
#define G_ILLEGAL_DATA_IN_PROGRAM
Data to download not valid, e.g. \ in data.
Definition: gclib_errors.h:64
G_LINE_BUFFER
#define G_LINE_BUFFER
For writes, via command interpreter, to the Galil.
Definition: gclib.h:91
error
void error(GCon g, GReturn rc)
An example of error handling and debugging information.
Definition: examples.h:40