| gclib 2.0.7 Communications API for Galil controllers and PLCs |

example.py
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1 '''! \file example.py
2 '''
3
4 import sys
5 import string
6 import gclib
7
8
9 def main():
10 g = gclib.py() #make an instance of the gclib python class
11
12 try:
13 print('gclib version:', g.GVersion())
14
15
18 '''
19 #Get Ethernet controllers requesting IP addresses
20 print('Listening for controllers requesting IP addresses...')
21 ip_requests = g.GIpRequests()
22 for id in ip_requests.keys():
23 print(id, 'at mac', ip_requests[id])
24
25 #define a mapping of my hardware to ip addresses
26 ips = {}
27 ips['DMC4000-783'] = '192.168.0.42'
28 ips['DMC4103-9998'] = '192.168.0.43'
29
30 for id in ips.keys():
31 if id in ip_requests: #if our controller needs an IP
32 print("\nAssigning", ips[id], "to", ip_requests[id])
33 g.GAssign(ips[id], ip_requests[id]) #send the mapping
34 g.GOpen(ips[id]) #connect to it
35 print(g.GInfo())
36 g.GCommand('BN') #burn the IP
37 g.GClose() #disconnect
38
39 print('\nAvailable addresses:') #print ready connections
40 available = g.GAddresses()
41 for a in sorted(available.keys()):
42 print(a, available[a])
43
44 print('\n')
45 '''
46
49 g.GOpen('192.168.0.42 -s ALL')
50 #g.GOpen('COM1')
51 print(g.GInfo())
52
53
56 '''
57 print('Programs')
58 program = '#A;i=0;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;EN';
59 #Program line above is too large to fit on any Galil controller, however it can easily fit if broken up with level 4 compression.
60 #the value of i at the end of code execution is 20.
61 try:
62 g.GProgramDownload(program, '--max 3') #program won't fit at level 3
63 except gclib.GclibError as e:
64 print(' GProgramDownload() correctly errored. Can\'t fit with level 3 compression')
65
66 g.GProgramDownload(program, '')
67 g.GProgramUploadFile('temp.dmc')
68 g.GProgramDownload('','') #erase program
69 g.GProgramDownloadFile('temp.dmc', '')
70 print(' Uploaded program:\n%s' % g.GProgramUpload())
71 g.GCommand('XQ') #execute the code
72 g.GSleep(10) #wait a brief interval for the code to complete.
73 if (float(g.GCommand('i=?')) == 20): #python can convert '20.0000' to float
74 print(' Downloaded program verified')
75 else:
76 print(' Unexpected program result')
77
78 #g.timeout = 5000 #set longish timeout
79 #g.GCommand('BP') #burn program
80 '''
81
84 '''
85 print('Arrays')
86 g.GCommand('DA *,*[]')
87 g.GCommand('DM A[5], B[10]')
88 array_a = [1, 2, 3.14, 4, 5]
89 array_b = [30, 42, 50, 60, 70]
90 g.GArrayDownload('A', 0, -1, array_a)
91 g.GArrayDownload('B', 2, -1, array_b)
92 g.GArrayUploadFile('arrays.csv', ['A','B'])
93 g.GArrayDownloadFile('arrays.csv')
94 array_b_up = g.GArrayUpload('B', 3, 5)
95 if array_b_up[0] == 42:
96 print(' Array element verified')
97 else:
98 print(' Unexpected aray element', array_b_up[0])
99 '''
100
103 '''
104 print('Messages')
105 g.GProgramDownload('WT100\rMGTIME\rEN')
106 g.GCommand('XQ')
107 print(g.GMessage())
108 '''
109
112 '''
113 firmware = r'c:\temp\dmc-4000-r12c.hex'
114 #firmware = r'~/temp/dmc-4000-r12c.hex'
115 print('Loading firmware', firmware)
116 g.GFirmwareDownload(firmware)
117 print(g.GInfo())
118 '''
119
122 '''
123 #Motion Complete
124 print('Motion Complete')
125 c = g.GCommand #alias the command callable
126 c('AB') #abort motion and program
127 c('MO') #turn off all motors
128 c('SHA') #servo A
129 c('SPA=1000') #speead, 1000 cts/sec
130 c('PRA=3000') #relative move, 3000 cts
131 print(' Starting move...')
132 c('BGA') #begin motion
133 g.GMotionComplete('A')
134 print(' done.')
135 del c #delete the alias
136 '''
137
140 except gclib.GclibError as e:
141 print('Unexpected GclibError:', e)
142
143 finally:
144 g.GClose() #don't forget to close connections!
145
146 return
147
148
149 #runs main() if example.py called from the console
150 if __name__ == '__main__':
151 main()
gclib.GclibError
Definition: gclib.py:137
gclib.py
Definition: gclib.py:141
main
int main(int argc, char *argv[])
Main function for Commands Example.
Definition: commands_example.cpp:18