| gclib 329 Communications API for Galil controllers and PLCs |

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gclibo.c
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1
7 #include "gclibo.h"
8
9 #include <stdlib.h> //atoi, atof
10 #include <string.h> //strcpy
11 #include <stdio.h> //fopen
12 #include <math.h> //log()
13
14 void GCALL GSleep(unsigned int timeout_ms)
15 {
16 GUtility(0, G_UTIL_SLEEP, &timeout_ms, 0);
17 }
18
19 GReturn GCALL GVersion(GCStringOut ver, GSize ver_len)
20 {
21 return GUtility(0, G_UTIL_VERSION, ver, &ver_len);
22 }
23
24 GReturn GCALL GInfo(GCon g, GCStringOut info, GSize info_len)
25 {
26 return GUtility(g, G_UTIL_INFO, info, &info_len);
27 }
28
29 GReturn GCALL GAddresses(GCStringOut addresses, GSize addresses_len)
30 {
31 return GUtility(0, G_UTIL_ADDRESSES, addresses, &addresses_len);
32 }
33
34 GReturn GCALL GTimeout(GCon g, short timeout_ms)
35 {
36 return GUtility(g, G_UTIL_TIMEOUT_OVERRIDE, &timeout_ms, 0);
37 }
38
39 GReturn GCALL GAssign(char* ip, char* mac)
40 {
41 return GUtility(0, G_UTIL_ASSIGN, ip, mac);
42 }
43
44 GReturn GCALL GIpRequests(GCStringOut requests, GSize requests_len)
45 {
46 return GUtility(0, G_UTIL_IPREQUEST, requests, &requests_len);
47 }
48
49 GReturn GCALL GCmd(GCon g, GCStringIn command)
50 {
51 char buf[G_SMALL_BUFFER]; //response usually brief, e.g. :
52 GSize read;
53 return GCommand(g, command, buf, G_SMALL_BUFFER, &read);
54 }
55
56 GReturn GCALL GCmdT(GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut* front)
57 {
58 GSize read;
59 GReturn rc;
60 int i;
61 char c;
62 if ((rc = GCommand(g, command, trimmed_response, response_len, &read)) != G_NO_ERROR)
63 return rc;
64 //if here, the data is already null-terminated, just trim.
65 for (i = read - 1; i >= 0; i--) //read does NOT include null terminator.
66 {
67 c = trimmed_response[i];
68 if ((c == ':') || (c == '\n') || (c == '\r'))
69 trimmed_response[i] = 0; //trim it
70 else
71 break; //we hit non-trimmable data, bail out.
72 }
73
74 if (front) //null to skip "trim" on front.
75 {
76 *front = trimmed_response;
77 i = 0;
78 do
79 {
80 c = trimmed_response[i++];
81 if (c == ' ')
82 (*front)++;
83 else
84 break;
85 } while (1); //exit will be any non-space, including null terminator
86 }
87
88 return G_NO_ERROR;
89 }
90
91 GReturn GCALL GCmdI(GCon g, GCStringIn command, int* value)
92 {
93 char buf[G_SMALL_BUFFER]; //response should be ~19 chars
94 GSize read;
95 GReturn rc;
96 if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
97 return rc;
98 *value = atoi(buf);
99 return G_NO_ERROR;
100 }
101
102 GReturn GCALL GCmdD(GCon g, GCStringIn command, double* value)
103 {
104 char buf[G_SMALL_BUFFER]; //response should be ~19 chars
105 GSize read;
106 GReturn rc;
107 if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
108 return rc;
109 *value = atof(buf);
110 return G_NO_ERROR;
111 }
112
113 GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
114 {
115
116 char buf[G_SMALL_BUFFER]; //response should be ~19 chars.
117 char cmd[] = "MG_BGm"; //command for polling the axis' motion status, m is a place holder replaced below.
118 GSize read;
119 GReturn rc;
120 GSize i = 0; //C, not C++
121 GSize len = strlen(axes);
122
123 for (i = 0; i < len; i++) //iterate through all chars in axes
124 {
125 cmd[5] = axes[i]; //set the axis
126 poll:
127 if ((rc = GCommand(g, cmd, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
128 return rc;
129 if (atoi(buf))
130 {
131 GSleep(POLLINGINTERVAL);
132 goto poll;
133 }
134 }// for
135
136 return G_NO_ERROR;
137 }
138
139 GReturn GCALL GRecordRate(GCon g, double period_ms)
140 {
141 char buf[G_SMALL_BUFFER];
142 double dt;
143 double period_arg;
144
145 if (period_ms == 0) //turn off
146 return GCmd(g, "DR 0");
147
148 if (GCmdD(g, "TM?", &dt) == G_NO_ERROR)
149 {
150 dt /= 1024.0; //ms per controller sample
151 if (!dt) dt = 1; //don't want to divide by zero below
152 }
153 else
154 {
155 dt = 0.9765625; //RIO doesn't have TM
156 }
157
158 period_arg = period_ms / dt; //data record specified in samples between records
159
160 if (GCmdT(g, "\x12\x16", buf, sizeof(buf), 0) == G_NO_ERROR) //Revision string, ^R^V
161 {
162 if (strstr(buf, "DMC18")) //PCI controller
163 period_arg = log(period_arg) / log(2.0); //PCI DR arg is 2^n.
164 else if ((strstr(buf, "DMC40") != NULL) //4000
165 || (strstr(buf, "DMC500") != NULL) //50000
166 || (strstr(buf, "RIO") != NULL)) // RIO
167 {
168 if (period_arg < 2) period_arg = 2; //lowest non-zero DR
169 }
170 else if ((strstr(buf, "DMC41") != NULL) || (strstr(buf, "DMC21") != NULL)) //4103, 2103
171 {
172 if (period_arg < 8) period_arg = 8; //lowest non-zero DR
173 }
174 else if ((strstr(buf, "DMC3") != NULL)) //30010, 31010
175 {
176 if (period_arg < 4) period_arg = 4; //lowest non-zero DR
177 }
178 }
179
180 sprintf(buf, "DR %d", (int)period_arg);
181 return GCmd(g, buf);
182 }
183
184 GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
185 {
186 FILE *file;
187 long file_size;
188 char* program_buffer;
189 GReturn rc = G_NO_ERROR;
190
191 if (!(file = fopen(file_path, "rb"))) //open file for reading, binary mode
192 return G_BAD_FILE;
193
194 fseek(file, 0, SEEK_END); //find end of file
195 file_size = ftell(file); //add one to null terminate below
196 rewind(file);
197
198 if (file_size) //don't malloc 0.
199 {
200
201 if (!(program_buffer = malloc(file_size + 1))) //allocate memory for the data, +1 for null termination below
202 {
203 fclose(file);
204 return G_BAD_FULL_MEMORY;
205 }
206
207 if (file_size != fread(program_buffer, 1, file_size, file))
208 {
209 fclose(file);
210 free(program_buffer); //free memory
211 return G_BAD_FILE;
212 }
213 program_buffer[file_size] = 0; //null terminate, malloc was one byte larger for this
214 }
215 else
216 {
217 program_buffer = ""; //nullstring
218 }
219
220 fclose(file); //done with file, close it
221
222 rc = GProgramDownload(g, program_buffer, preprocessor); //call the gclib downloader
223 if (file_size) free(program_buffer); //free memory
224 return rc;
225 }
226
227 GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
228 {
229 FILE *file;
230 GReturn rc = G_NO_ERROR;
231 char* program_buffer;
232 long file_size;
233
234 if (!(file = fopen(file_path, "wb"))) //open file for writing, binary mode
235 return G_BAD_FILE;
236
237 if (!(program_buffer = malloc(MAXPROG))) //allocate memory for the data
238 {
239 fclose(file);
240 return G_BAD_FULL_MEMORY;
241 }
242
243 if ((rc = GProgramUpload(g, program_buffer, MAXPROG)) == G_NO_ERROR)
244 {
245 file_size = strlen(program_buffer);
246 if (file_size != fwrite(program_buffer, 1, file_size, file))
247 rc = G_BAD_FILE;
248 }
249
250 fclose(file);
251 free(program_buffer);
252 return rc;
253 }
254
255
256 void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
257 {
258 char* error_message;
259
260 switch (rc)
261 {
262 case G_NO_ERROR:
263 error_message = G_NO_ERROR_S;
264 break;
265
266 case G_GCLIB_ERROR:
267 error_message = G_GCLIB_ERROR_S;
268 break;
269
270 case G_GCLIB_UTILITY_ERROR:
271 error_message = G_GCLIB_UTILITY_ERROR_S;
272 break;
273
274 case G_GCLIB_UTILITY_IP_TAKEN:
275 error_message = G_GCLIB_UTILITY_IP_TAKEN_S;
276 break;
277
278 case G_GCLIB_NON_BLOCKING_READ_EMPTY:
279 error_message = G_GCLIB_NON_BLOCKING_READ_EMPTY_S;
280 break;
281
282 case G_TIMEOUT:
283 error_message = G_TIMEOUT_S;
284 break;
285
286 case G_OPEN_ERROR:
287 error_message = G_OPEN_ERROR_S;
288 break;
289
290 case G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND:
291 error_message = G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND_S;
292 break;
293
294 case G_DATA_RECORD_ERROR:
295 error_message = G_DATA_RECORD_ERROR_S;
296 break;
297
298 case G_UNSUPPORTED_FUNCTION:
299 error_message = G_UNSUPPORTED_FUNCTION_S;
300 break;
301
302 case G_BAD_ADDRESS:
303 error_message = G_BAD_ADDRESS_S;
304 break;
305
306 case G_FIRMWARE_LOAD_NOT_SUPPORTED:
307 error_message = G_FIRMWARE_LOAD_NOT_SUPPORTED_S;
308 break;
309
310 case G_ARRAY_NOT_DIMENSIONED:
311 error_message = G_ARRAY_NOT_DIMENSIONED_S;
312 break;
313
314 case G_ILLEGAL_DATA_IN_PROGRAM:
315 error_message = G_ILLEGAL_DATA_IN_PROGRAM_S;
316 break;
317
318 case G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT:
319 error_message = G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S;
320 break;
321
322 case G_INVALID_PREPROCESSOR_OPTIONS:
323 error_message = G_INVALID_PREPROCESSOR_OPTIONS_S;
324 break;
325
326 case G_BAD_RESPONSE_QUESTION_MARK:
327 error_message = G_BAD_RESPONSE_QUESTION_MARK_S;
328 break;
329
330 case G_BAD_VALUE_RANGE:
331 error_message = G_BAD_VALUE_RANGE_S;
332 break;
333
334 case G_BAD_FULL_MEMORY:
335 error_message = G_BAD_FULL_MEMORY_S;
336 break;
337
338 case G_BAD_LOST_DATA:
339 error_message = G_BAD_LOST_DATA_S;
340 break;
341
342 case G_BAD_FILE:
343 error_message = G_BAD_FILE_S;
344 break;
345
346 default:
347 error_message = "internal error";
348 break;
349 }
350
351 strncpy(error, error_message, error_len);
352 error[error_len - 1] = 0; //ensure null termination
353 }
GSleep
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:14
G_SMALL_BUFFER
#define G_SMALL_BUFFER
Most reads/writes to Galil are small. This value will easily hold most, e.g. TH, TZ, etc.
Definition: gclib.h:55
GInfo
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:24
GSize
unsigned int GSize
Size of buffers, etc.
Definition: gclib.h:60
G_UTIL_IPREQUEST
#define G_UTIL_IPREQUEST
GUtility(), get a list of hardware requesting IPs.
Definition: gclib.h:48
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:51
GCmdT
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:56
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:33
G_DATA_RECORD_ERROR
#define G_DATA_RECORD_ERROR
Data record error, e.g. DR attempted on serial connection.
Definition: gclib_errors.h:36
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:27
G_ILLEGAL_DATA_IN_PROGRAM
#define G_ILLEGAL_DATA_IN_PROGRAM
Data to download not valid, e.g. \ in data.
Definition: gclib_errors.h:48
GProgramUploadFile
GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
Program upload to file.
Definition: gclibo.c:227
G_BAD_RESPONSE_QUESTION_MARK
#define G_BAD_RESPONSE_QUESTION_MARK
Operation received a ?, indicating controller has a TC error.
Definition: gclib_errors.h:54
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...
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, see LA command.
Definition: gclib_errors.h:45
G_TIMEOUT
#define G_TIMEOUT
Operation timed out. Timeout is set by the –timeout option in GOpen() and can be overriden by GSetti...
Definition: gclib_errors.h:24
GCmdI
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:91
G_GCLIB_UTILITY_ERROR
#define G_GCLIB_UTILITY_ERROR
An invalid request value was specified to GUtility.
Definition: gclib_errors.h:15
GMotionComplete
GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
Blocking call that returns once all axes specified have completed their motion.
Definition: gclibo.c:113
G_UTIL_SLEEP
#define G_UTIL_SLEEP
GUtility(), specify an interval to sleep.
Definition: gclib.h:46
G_UNSUPPORTED_FUNCTION
#define G_UNSUPPORTED_FUNCTION
Function cannot be called on this bus. E.G. GInterrupt() on serial.
Definition: gclib_errors.h:39
GCmd
GReturn GCALL GCmd(GCon g, GCStringIn command)
Wrapper around GCommand for use when the return value is not desired.
Definition: gclibo.c:49
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:12
G_UTIL_ADDRESSES
#define G_UTIL_ADDRESSES
GUtility(), get a list of available connections.
Definition: gclib.h:47
GVersion
GReturn GCALL GVersion(GCStringOut ver, GSize ver_len)
Uses GUtility() and G_UTIL_VERSION to provide the library version number.
Definition: gclibo.c:19
G_UTIL_INFO
#define G_UTIL_INFO
GUtility(), get a connection info string.
Definition: gclib.h:45
GCon
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen()...
Definition: gclib.h:59
G_UTIL_TIMEOUT_OVERRIDE
#define G_UTIL_TIMEOUT_OVERRIDE
GUtility(), read/write access to timeout override.
Definition: gclib.h:42
GError
void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
Provides a human-readable description string for return codes.
Definition: gclibo.c:256
GProgramDownload
GCLIB_DLL_EXPORTED GReturn GCALL GProgramDownload(GCon g, GCStringIn program, GCStringIn preprocessor)
Downloads a program to the controller's program buffer.
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.
GProgramUpload
GCLIB_DLL_EXPORTED GReturn GCALL GProgramUpload(GCon g, GBufOut buffer, GSize buffer_len)
Uploads a program from the controller's program buffer.
GTimeout
GReturn GCALL GTimeout(GCon g, short timeout_ms)
Uses GUtility() and G_UTIL_TIMEOUT_OVERRIDE to set the library timeout.
Definition: gclibo.c:34
GReturn
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:58
GIpRequests
GReturn GCALL GIpRequests(GCStringOut requests, GSize requests_len)
Provides a list of all Galil controllers requesting IP addresses via BOOT-P or DHCP.
Definition: gclibo.c:44
G_INVALID_PREPROCESSOR_OPTIONS
#define G_INVALID_PREPROCESSOR_OPTIONS
GProgramDownload was called with a bad preprocessor directive.
Definition: gclib_errors.h:30
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:63
G_UTIL_VERSION
#define G_UTIL_VERSION
GUtility(), get a library version string.
Definition: gclib.h:44
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:60
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:57
GCStringIn
const char * GCStringIn
C-string input to the library. Implies null-termination.
Definition: gclib.h:63
G_NO_ERROR
#define G_NO_ERROR
Return value if function succeeded.
Definition: gclib_errors.h:9
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:21
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:42
GCStringOut
char * GCStringOut
C-string output from the library. Implies null-termination.
Definition: gclib.h:62
GAddresses
GReturn GCALL GAddresses(GCStringOut addresses, GSize addresses_len)
Uses GUtility() and G_UTIL_ADDRESSES to provide a listing of all available connection addresses...
Definition: gclibo.c:29
GAssign
GReturn GCALL GAssign(char *ip, char *mac)
Assigns IP address over the Ethernet to a controller at a given MAC address.
Definition: gclibo.c:39
GCmdD
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:102
GCALL
#define GCALL
Specify calling convention for Windows.
Definition: gclib.h:24
G_BAD_ADDRESS
#define G_BAD_ADDRESS
Bad address.
Definition: gclib_errors.h:69
GProgramDownloadFile
GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
Program download from file.
Definition: gclibo.c:184
GRecordRate
GReturn GCALL GRecordRate(GCon g, double period_ms)
Sets the asynchronous data record to a user-specified period via DR.
Definition: gclibo.c:139
G_BAD_FILE
#define G_BAD_FILE
Bad file path, bad file contents, or bad write.
Definition: gclib_errors.h:66
gclibo.h
G_UTIL_ASSIGN
#define G_UTIL_ASSIGN
GUtility(), assign.
Definition: gclib.h:49