| gclib 2.0.7 Communications API for Galil controllers and PLCs |

x_ginterrupt.cpp
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1
7 #include "x_examples.h"
8
9 int x_ginterrupt(GCon g)
10 {
11 cout << "\n************************************************************************\n";
12 cout << "Example GInterrupt() usage\n";
13 cout << "************************************************************************\n";
14
15 char buf[1024]; //traffic buffer
16 GSize bytes_read;
17
18 //-------------------------------------------------------------------------
19 //simple check for a interrupt support
20 bool ei_support = true;
21 if (GCommand(g, "WH", buf, 1024, &bytes_read) == G_NO_ERROR)
22 {
23 ei_support = (strstr(buf, "IH") != 0); //for this example, assume Ethernet connections supports interrupts.
24 }//else assume PCI supports
25
26 if (!ei_support)
27 {
28 cout << "No support on this bus\n";
29 return G_NO_ERROR;
30 }
31
32
33
34 //-------------------------------------------------------------------------
35 //Flush interrupts
36 x_e(GCmd(g, "EI0,0")); //turn off interrupts
37 GStatus status;
38 x_e(GTimeout(g, 0)); //zero timeout
39 while ((GInterrupt(g, &status) == G_NO_ERROR) && status); //flush interrupts, status will be zero when queue is empty
40 x_e(GTimeout(g, -1)); //restore timeout
41
42 //-------------------------------------------------------------------------
43 // User Interrupts, UI
44 GTimeout(g, 1000); //set timeout to 1 sec
45 x_e(GProgramDownload(g, "WT500\rUI8\rEN", 0));
46
47 x_e(GCmd(g, "XQ")); //execute program
48
49 x_e(GInterrupt(g, &status));
50 GTimeout(g, -1); //restore timeout
51
52 if ((status & 0xF0) == 0xF0) //UI are F0 - FF
53 {
54 cout << "\"UI " << (int)(status & 0x0F) << "\" executed.\n";
55 }
56 else
57 {
58 cout << "Unexpected interrupt, " << hex << (int)status << dec << '\n';
59 return GALIL_EXAMPLE_ERROR;
60 }
61
62
63 #if 0
64 //-------------------------------------------------------------------------
65 // Independent motion
66 x_e(GCmd(g, "DP 0,0")); //define position zero on A and B
67 x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
68 cout << "\nPosition: " << trimmed << '\n';
69 x_e(GCmd(g, "SP 4000,4000")); //set up speed
70 x_e(GCmd(g, "AC 1280000,1280000")); //acceleration
71 x_e(GCmd(g, "DC 1280000,1280000")); //deceleration
72 x_e(GCmd(g, "PR 8000,10000")); //Postion Relative. B will take longer to make its move.
73 x_e(GCmd(g, "SH AB")); //Servo Here
74 cout << "Beginning independent motion... ";
75 x_e(GCmd(g, "BG AB")); //Begin motion
76 x_e(x_ei_motioncomplete(g, "AB")); //Block until motion is complete on axes A and B
77 cout << "Motion Complete on A and B\n";
78 x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
79 cout << "Position: " << trimmed << '\n';;
80 #endif
81
82 return GALIL_EXAMPLE_OK;
83 }
84
85 int x_ei_motioncomplete(GCon g, GCStringIn axes) //Motion Complete with interrupts.
86 {
87 char buf[1024]; //traffic buffer
88 GReturn rc;
89 GStatus status;
90 unsigned char axis_mask = 0xFF; //bit mask of running axes, axes arg is trusted to provide running axes. Low bit indicates running.
91
92 int len = strlen(axes);
93 for (int i = 0; i < len; i++) //iterate through all chars in axes to make the axis mask
94 {
95 //support just A-H
96 switch (axes[i])
97 {
98 case 'A':
99 axis_mask &= 0xFE;
100 break;
101 case 'B':
102 axis_mask &= 0xFD;
103 break;
104 case 'C':
105 axis_mask &= 0xFB;
106 break;
107 case 'D':
108 axis_mask &= 0xF7;
109 break;
110 case 'E':
111 axis_mask &= 0xEF;
112 break;
113 case 'F':
114 axis_mask &= 0xDF;
115 break;
116 case 'G':
117 axis_mask &= 0xBF;
118 break;
119 case 'H':
120 axis_mask &= 0x7F;
121 break;
122 }
123 }
124 sprintf(buf, "EI %u", (unsigned char) ~axis_mask);
125 x_e(GCmd(g, buf)); //send EI axis mask to set up interrupt events.
126
127 while (axis_mask != 0xFF) //wait for all interrupts to come in
128 {
129 if ((rc = GInterrupt(g, &status)) == G_NO_ERROR)
130 {
131 switch (status)
132 {
133 case 0xD0: //Axis A complete
134 axis_mask |= 0x01;
135 break;
136 case 0xD1: //Axis B complete
137 axis_mask |= 0x02;
138 break;
139 case 0xD2: //Axis C complete
140 axis_mask |= 0x04;
141 break;
142 case 0xD3: //Axis D complete
143 axis_mask |= 0x08;
144 break;
145 case 0xD4: //Axis E complete
146 axis_mask |= 0x10;
147 break;
148 case 0xD5: //Axis F complete
149 axis_mask |= 0x20;
150 break;
151 case 0xD6: //Axis G complete
152 axis_mask |= 0x40;
153 break;
154 case 0xD7: //Axis H complete
155 axis_mask |= 0x80;
156 break;
157 }
158 }
159 }
160
161 return rc;
162 }
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
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
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.
GInterrupt
GCLIB_DLL_EXPORTED GReturn GCALL GInterrupt(GCon g, GStatus *status_byte)
Provides access to PCI and UDP interrupts from the controller.
GProgramDownload
GCLIB_DLL_EXPORTED GReturn GCALL GProgramDownload(GCon g, GCStringIn program, GCStringIn preprocessor)
Downloads a program to the controller's program buffer.
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
GReturn
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:93
GStatus
unsigned char GStatus
Interrupt status byte.
Definition: gclib.h:101
G_NO_ERROR
#define G_NO_ERROR
Return value if function succeeded.
Definition: gclib_errors.h:13
GSize
unsigned int GSize
Size of buffers, etc.
Definition: gclib.h:95
GCon
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen().
Definition: gclib.h:94
GCStringIn
const char * GCStringIn
C-string input to the library. Implies null-termination.
Definition: gclib.h:98
x_e
void x_e(GReturn rc)
A trivial, C++ style return code check used in Galil's examples and demos.
Definition: x_examples.h:30
x_examples.h
x_ginterrupt
int x_ginterrupt(GCon g)
Example GInterrupt() usage.
Definition: x_ginterrupt.cpp:9
x_ei_motioncomplete
int x_ei_motioncomplete(GCon g, GCStringIn axes)
Example of MotionComplete with interrupts.
Definition: x_ginterrupt.cpp:85