gclib  339
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 #define G_USE_GCAPS
15 
16 void GCALL GSleep(unsigned int timeout_ms)
17 {
18  GUtility(0, G_UTIL_SLEEP, &timeout_ms, 0);
19 }
20 
22 {
23  int str_len;
24  GReturn rc;
25  if ((rc = GUtility(0, G_UTIL_VERSION, ver, &ver_len)) != G_NO_ERROR)
26  return rc;
27 
28 #ifdef G_USE_GCAPS
29  str_len = strlen(ver) + 1;
30  ver_len -= str_len;
31  if (ver_len > 0
32  && GUtility(0, G_UTIL_GCAPS_VERSION, ver + str_len, &ver_len) == G_NO_ERROR)
33  {
34  ver[str_len - 1] = ' '; //add a delimiter
35  }
36 #endif
37 
38  return rc;
39 }
40 
42 {
43  return GUtility(g, G_UTIL_INFO, info, &info_len);
44 }
45 
46 GReturn GCALL GAddresses(GCStringOut addresses, GSize addresses_len)
47 {
48 #ifdef G_USE_GCAPS
49  GReturn rc;
50  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_ADDRESSES, addresses, &addresses_len)))
51  return rc;
52 #endif
53 
54  return GUtility(0, G_UTIL_ADDRESSES, addresses, &addresses_len);
55 }
56 
57 GReturn GCALL GTimeout(GCon g, short timeout_ms)
58 {
59  return GUtility(g, G_UTIL_TIMEOUT_OVERRIDE, &timeout_ms, 0);
60 }
61 
62 GReturn GCALL GAssign(char* ip, char* mac)
63 {
64 #ifdef G_USE_GCAPS
65  GReturn rc;
66  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_ASSIGN, ip, mac)))
67  return rc;
68 #endif
69 
70  return GUtility(0, G_UTIL_ASSIGN, ip, mac);
71 }
72 
73 GReturn GCALL GIpRequests(GCStringOut requests, GSize requests_len)
74 {
75 #ifdef G_USE_GCAPS
76  GReturn rc;
77  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_IPREQUEST, requests, &requests_len)))
78  return rc;
79 #endif
80 
81  return GUtility(0, G_UTIL_IPREQUEST, requests, &requests_len);
82 }
83 
85 {
86  char buf[G_SMALL_BUFFER]; //response usually brief, e.g. :
87  GSize read;
88  return GCommand(g, command, buf, G_SMALL_BUFFER, &read);
89 }
90 
91 GReturn GCALL GCmdT(GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut* front)
92 {
93  GSize read;
94  GReturn rc;
95  int i;
96  char c;
97  if ((rc = GCommand(g, command, trimmed_response, response_len, &read)) != G_NO_ERROR)
98  return rc;
99  //if here, the data is already null-terminated, just trim.
100  for (i = read - 1; i >= 0; i--) //read does NOT include null terminator.
101  {
102  c = trimmed_response[i];
103  if ((c == ':') || (c == '\n') || (c == '\r'))
104  trimmed_response[i] = 0; //trim it
105  else
106  break; //we hit non-trimmable data, bail out.
107  }
108 
109  if (front) //null to skip "trim" on front.
110  {
111  *front = trimmed_response;
112  i = 0;
113  do
114  {
115  c = trimmed_response[i++];
116  if (c == ' ')
117  (*front)++;
118  else
119  break;
120  } while (1); //exit will be any non-space, including null terminator
121  }
122 
123  return G_NO_ERROR;
124 }
125 
126 GReturn GCALL GCmdI(GCon g, GCStringIn command, int* value)
127 {
128  char buf[G_SMALL_BUFFER]; //response should be ~19 chars
129  GSize read;
130  GReturn rc;
131  if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
132  return rc;
133  *value = atoi(buf);
134  return G_NO_ERROR;
135 }
136 
137 GReturn GCALL GCmdD(GCon g, GCStringIn command, double* value)
138 {
139  char buf[G_SMALL_BUFFER]; //response should be ~19 chars
140  GSize read;
141  GReturn rc;
142  if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
143  return rc;
144  *value = atof(buf);
145  return G_NO_ERROR;
146 }
147 
149 {
150 
151  char buf[G_SMALL_BUFFER]; //response should be ~19 chars.
152  char cmd[] = "MG_BGm"; //command for polling the axis' motion status, m is a place holder replaced below.
153  GSize read;
154  GReturn rc;
155  GSize i = 0; //C, not C++
156  GSize len = strlen(axes);
157 
158  for (i = 0; i < len; i++) //iterate through all chars in axes
159  {
160  cmd[5] = axes[i]; //set the axis
161  poll:
162  if ((rc = GCommand(g, cmd, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
163  return rc;
164  if (atoi(buf))
165  {
167  goto poll;
168  }
169  }// for
170 
171  return G_NO_ERROR;
172 }
173 
174 GReturn GCALL GRecordRate(GCon g, double period_ms)
175 {
176  char buf[G_SMALL_BUFFER];
177  double dt;
178  double period_arg;
179 
180  if (period_ms == 0) //turn off
181  return GCmd(g, "DR 0");
182 
183  if (GCmdD(g, "TM?", &dt) == G_NO_ERROR)
184  {
185  dt /= 1024.0; //ms per controller sample
186  if (!dt) dt = 1; //don't want to divide by zero below
187  }
188  else
189  {
190  dt = 0.9765625; //RIO doesn't have TM
191  }
192 
193  period_arg = period_ms / dt; //data record specified in samples between records
194 
195  if (GCmdT(g, "\x12\x16", buf, sizeof(buf), 0) == G_NO_ERROR) //Revision string, ^R^V
196  {
197  if (strstr(buf, "DMC18")) //PCI controller
198  period_arg = log(period_arg) / log(2.0); //PCI DR arg is 2^n.
199  else if ((strstr(buf, "DMC40") != NULL) //4000
200  || (strstr(buf, "DMC500") != NULL) //50000
201  || (strstr(buf, "RIO") != NULL)) // RIO
202  {
203  if (period_arg < 2) period_arg = 2; //lowest non-zero DR
204  }
205  else if ((strstr(buf, "DMC41") != NULL) || (strstr(buf, "DMC21") != NULL)) //4103, 2103
206  {
207  if (period_arg < 8) period_arg = 8; //lowest non-zero DR
208  }
209  else if ((strstr(buf, "DMC3") != NULL)) //30010, 31010
210  {
211  if (period_arg < 4) period_arg = 4; //lowest non-zero DR
212  }
213  }
214 
215  sprintf(buf, "DR %d", (int)period_arg);
216  return GCmd(g, buf);
217 }
218 
220 {
221  FILE *file;
222  long file_size;
223  char* program_buffer;
224  GReturn rc = G_NO_ERROR;
225 
226  if (!(file = fopen(file_path, "rb"))) //open file for reading, binary mode
227  return G_BAD_FILE;
228 
229  fseek(file, 0, SEEK_END); //find end of file
230  file_size = ftell(file); //add one to null terminate below
231  rewind(file);
232 
233  if (file_size) //don't malloc 0.
234  {
235 
236  if (!(program_buffer = malloc(file_size + 1))) //allocate memory for the data, +1 for null termination below
237  {
238  fclose(file);
239  return G_BAD_FULL_MEMORY;
240  }
241 
242  if (file_size != fread(program_buffer, 1, file_size, file))
243  {
244  fclose(file);
245  free(program_buffer); //free memory
246  return G_BAD_FILE;
247  }
248  program_buffer[file_size] = 0; //null terminate, malloc was one byte larger for this
249  }
250  else
251  {
252  program_buffer = ""; //nullstring
253  }
254 
255  fclose(file); //done with file, close it
256 
257  rc = GProgramDownload(g, program_buffer, preprocessor); //call the gclib downloader
258  if (file_size) free(program_buffer); //free memory
259  return rc;
260 }
261 
263 {
264  FILE *file;
265  GReturn rc = G_NO_ERROR;
266  char* program_buffer;
267  long file_size;
268 
269  if (!(file = fopen(file_path, "wb"))) //open file for writing, binary mode
270  return G_BAD_FILE;
271 
272  if (!(program_buffer = malloc(MAXPROG))) //allocate memory for the data
273  {
274  fclose(file);
275  return G_BAD_FULL_MEMORY;
276  }
277 
278  if ((rc = GProgramUpload(g, program_buffer, MAXPROG)) == G_NO_ERROR)
279  {
280  file_size = strlen(program_buffer);
281  if (file_size != fwrite(program_buffer, 1, file_size, file))
282  rc = G_BAD_FILE;
283  }
284 
285  fclose(file);
286  free(program_buffer);
287  return rc;
288 }
289 
290 
291 void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
292 {
293  char* error_message;
294 
295  switch (rc)
296  {
297  case G_NO_ERROR:
298  error_message = G_NO_ERROR_S;
299  break;
300 
301  case G_GCLIB_ERROR:
302  error_message = G_GCLIB_ERROR_S;
303  break;
304 
306  error_message = G_GCLIB_UTILITY_ERROR_S;
307  break;
308 
310  error_message = G_GCLIB_UTILITY_IP_TAKEN_S;
311  break;
312 
314  error_message = G_GCLIB_NON_BLOCKING_READ_EMPTY_S;
315  break;
316 
317  case G_TIMEOUT:
318  error_message = G_TIMEOUT_S;
319  break;
320 
321  case G_OPEN_ERROR:
322  error_message = G_OPEN_ERROR_S;
323  break;
324 
326  error_message = G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND_S;
327  break;
328 
329  case G_DATA_RECORD_ERROR:
330  error_message = G_DATA_RECORD_ERROR_S;
331  break;
332 
334  error_message = G_UNSUPPORTED_FUNCTION_S;
335  break;
336 
337  case G_BAD_ADDRESS:
338  error_message = G_BAD_ADDRESS_S;
339  break;
340 
342  error_message = G_FIRMWARE_LOAD_NOT_SUPPORTED_S;
343  break;
344 
346  error_message = G_ARRAY_NOT_DIMENSIONED_S;
347  break;
348 
350  error_message = G_ILLEGAL_DATA_IN_PROGRAM_S;
351  break;
352 
354  error_message = G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S;
355  break;
356 
358  error_message = G_INVALID_PREPROCESSOR_OPTIONS_S;
359  break;
360 
362  error_message = G_BAD_RESPONSE_QUESTION_MARK_S;
363  break;
364 
365  case G_BAD_VALUE_RANGE:
366  error_message = G_BAD_VALUE_RANGE_S;
367  break;
368 
369  case G_BAD_FULL_MEMORY:
370  error_message = G_BAD_FULL_MEMORY_S;
371  break;
372 
373  case G_BAD_LOST_DATA:
374  error_message = G_BAD_LOST_DATA_S;
375  break;
376 
377  case G_BAD_FILE:
378  error_message = G_BAD_FILE_S;
379  break;
380 
381  case G_GCAPS_OPEN_ERROR:
382  error_message = G_GCAPS_OPEN_ERROR_S;
383  break;
384 
385  default:
386  error_message = "internal error";
387  break;
388  }
389 
390  strncpy(error, error_message, error_len);
391  error[error_len - 1] = 0; //ensure null termination
392 }
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:16
#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:59
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:41
unsigned int GSize
Size of buffers, etc.
Definition: gclib.h:64
#define G_UTIL_IPREQUEST
GUtility(), get a list of hardware requesting IPs.
Definition: gclib.h:48
#define G_UTIL_GCAPS_IPREQUEST
GUtility(), get a list of hardware requesting IPs from the gcaps server.
Definition: gclib.h:55
#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
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:91
#define MAXPROG
Maximum size for a program.
Definition: gclibo.h:36
#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
#define G_DATA_RECORD_ERROR
Data record error, e.g. DR attempted on serial connection.
Definition: gclib_errors.h:36
#define G_OPEN_ERROR
Device could not be opened. E.G. Serial port or PCI device already open.
Definition: gclib_errors.h:27
#define G_ILLEGAL_DATA_IN_PROGRAM
Data to download not valid, e.g. \ in data.
Definition: gclib_errors.h:48
GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
Program upload to file.
Definition: gclibo.c:262
#define G_BAD_RESPONSE_QUESTION_MARK
Operation received a ?, indicating controller has a TC error.
Definition: gclib_errors.h:54
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...
#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
#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
#define POLLINGINTERVAL
Interval, in miliseconds, for polling commands, e.g. GMotionComplete().
Definition: gclibo.h:38
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:126
#define G_GCLIB_UTILITY_ERROR
An invalid request value was specified to GUtility.
Definition: gclib_errors.h:15
GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
Blocking call that returns once all axes specified have completed their motion.
Definition: gclibo.c:148
#define G_UTIL_SLEEP
GUtility(), specify an interval to sleep.
Definition: gclib.h:46
#define G_GCAPS_OPEN_ERROR
gcaps connection couldn't open. Server is not running or is not reachable.
Definition: gclib_errors.h:72
#define G_UNSUPPORTED_FUNCTION
Function cannot be called on this bus. E.G. GInterrupt() on serial.
Definition: gclib_errors.h:39
GReturn GCALL GCmd(GCon g, GCStringIn command)
Wrapper around GCommand for use when the return value is not desired.
Definition: gclibo.c:84
#define G_GCLIB_ERROR
General library error. Indicates internal API caught an unexpected error. Contact Galil support if th...
Definition: gclib_errors.h:12
#define G_UTIL_ADDRESSES
GUtility(), get a list of available connections.
Definition: gclib.h:47
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:21
#define G_UTIL_INFO
GUtility(), get a connection info string.
Definition: gclib.h:45
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen()...
Definition: gclib.h:63
#define G_UTIL_TIMEOUT_OVERRIDE
GUtility(), read/write access to timeout override.
Definition: gclib.h:42
#define G_UTIL_GCAPS_VERSION
GUtility(), get the version of the gcaps server.
Definition: gclib.h:52
void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
Provides a human-readable description string for return codes.
Definition: gclibo.c:291
GCLIB_DLL_EXPORTED GReturn GCALL GProgramDownload(GCon g, GCStringIn program, GCStringIn preprocessor)
Downloads a program to the controller's program buffer.
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.
GCLIB_DLL_EXPORTED GReturn GCALL GProgramUpload(GCon g, GBufOut buffer, GSize buffer_len)
Uploads a program from the controller's program buffer.
GReturn GCALL GTimeout(GCon g, short timeout_ms)
Uses GUtility() and G_UTIL_TIMEOUT_OVERRIDE to set the library timeout.
Definition: gclibo.c:57
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:62
#define G_GCLIB_UTILITY_IP_TAKEN
The IP cannot be assigned because ping returned a reply.
Definition: gclib_errors.h:18
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:73
#define G_INVALID_PREPROCESSOR_OPTIONS
GProgramDownload was called with a bad preprocessor directive.
Definition: gclib_errors.h:30
#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
#define G_UTIL_VERSION
GUtility(), get a library version string.
Definition: gclib.h:44
#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
#define G_BAD_VALUE_RANGE
Bad value or range, e.g. GCon g variable passed to function was bad.
Definition: gclib_errors.h:57
const char * GCStringIn
C-string input to the library. Implies null-termination.
Definition: gclib.h:67
#define G_NO_ERROR
Return value if function succeeded.
Definition: gclib_errors.h:9
#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
#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
char * GCStringOut
C-string output from the library. Implies null-termination.
Definition: gclib.h:66
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:46
GReturn GCALL GAssign(char *ip, char *mac)
Uses GUtility(), G_UTIL_GCAPS_ASSIGN or G_UTIL_ASSIGN to assign an IP address over the Ethernet to a ...
Definition: gclibo.c:62
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:137
#define GCALL
Specify calling convention for Windows.
Definition: gclib.h:24
#define G_UTIL_GCAPS_ADDRESSES
GUtility(), get a list of available connections from the gcaps server.
Definition: gclib.h:54
#define G_BAD_ADDRESS
Bad address.
Definition: gclib_errors.h:69
GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
Program download from file.
Definition: gclibo.c:219
GReturn GCALL GRecordRate(GCon g, double period_ms)
Sets the asynchronous data record to a user-specified period via DR.
Definition: gclibo.c:174
#define G_BAD_FILE
Bad file path, bad file contents, or bad write.
Definition: gclib_errors.h:66
#define G_UTIL_ASSIGN
GUtility(), assign IP addresses via Boot-P reply.
Definition: gclib.h:49
#define G_UTIL_GCAPS_ASSIGN
GUtility(), assign IP addresses via Boot-P reply from the gcaps server.
Definition: gclib.h:56