| gclib 2.0.7 Communications API for Galil controllers and PLCs |

gcl_galil.h
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1
3 #ifndef I_34E90AC4_EF44_4CB5_AF47_B9D334EE5FB7
4 #define I_34E90AC4_EF44_4CB5_AF47_B9D334EE5FB7
5
6 #include "gclibo.h" //gclib and gclibo
7 #include <unordered_map> //used for data record features
8 #include <sstream> //format source keys, string stream
9 #include <iomanip> //format source keys
10 #include <algorithm> //sort sources
11 #define MAKEDLL //Galil.h requires this for proper export declarations
12 #include "Galil.h" //gcl header
13 #define TRAFFICBUF 4096 //Memory used for buffering controller traffic. If program/array upload is getting truncated, make this larger.
14
15
16 struct Source //each data record source key (e.g. "_RPA") maps to one of these, each of which describes the position and width of the variable within the binary data record
17 {
18 int byte; //byte offset within binary data record
19 std::string type; //"SB", "UB", "SW", "UW", "SL", "UL". Specifies width within binary data record and signed/unsigned.
20 int bit; //-1 if not bit field (e.g. RPA). >= 0 if bit field (e.g. _MOA)
21 std::string units; //e.g. "counts"
22 std::string description; //e.g. "analog input 1"
23 double scale; //e.g. 32768, scale factor: most sources are 1 except TV, TT, @AN, @AO etc.
24 double offset; //needed for analog inputs and outputs
25
26 Source(int byte = 0, std::string type = "Ux", int bit = -1, std::string units = "", std::string description = "", double scale = 1, double offset = 0) :
27 byte(byte), type(type), bit(bit), units(units), description(description), scale(scale), offset(offset)
28 { /*ctor just initializes values*/ }
29 };
30
31 // Use the gcl private class name to hold useful data for the wrapper
32 class GalilPrivate
33 {
34 public:
35 GalilPrivate(Galil* galil_ptr, GCon gclib_handle)
36 : q(galil_ptr), g(gclib_handle)
37 { /*ctor just initializes values*/ }
38
39 GCon g; //gclib handle for this class
40 char tbuf[TRAFFICBUF]; //traffic buffer shared by member functions of Galil
41 std::unordered_map<std::string, Source> map; //data structure for data record calls
42 void InitializeDataRecord(); //called in Galil() ctor to create the data record map
43
44 private:
45 Galil* q; //pointer to the Galil class so we can call Command, etc.
46
47 //functions for initializing the data record for various products
48 void Init1806(int axes);
49 void Init1800(int axes, bool dmc1802);
50 void Init4000(int axes); //41x3 and 50000 too
51 void Init30010(bool dmc31010);
52 void Init2103(int axes);
53 void InitRio(bool rio3); //rio3 indicates if this connection is to an RIO-47300 which has a different length than other RIOs
54
55 void InitRio3_24Ex(); //extended I/O option for RIO-47300
56 void InitRioSer(bool rio3); //Serial encoder (quad/SSI/BISS) option for RIO
57
58 //Helper/convenience functions
59 std::string ax(std::string prefix, int axis, std::string suffix); // Creates an axis string from a prefix, axis number (0-7), and suffix.
60 void input_bits(int byte, int num); //Creates 8 digital input sources from an offset and a starting input number.
61 void output_bits(int byte, int num); //Creates 8 digital ouput sources from an offset and a starting output number.
62 void aq_analog(int byte, int input_num); //polls AQ for input_num and creates an analog input source with the proper AQ scalar
63 void dq_analog(int byte, int input_num); //polls DQ for input_num and creates an analog output source with the proper DQ scalar
64 };
65
66 void ec(GReturn rc); // Error Check. Takes a gclib error code and throws a GCL-like error string if there's a gclib error
67
68
69
70 #endif //I_34E90AC4_EF44_4CB5_AF47_B9D334EE5FB7
Galil.h
Galil
Definition: Galil.h:26
GalilPrivate
Definition: gcl_galil.h:33
gclibo.h
GReturn
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:93
GCon
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen().
Definition: gclib.h:94
Source
Definition: gcl_galil.h:17