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Communications API for Galil controllers and PLCs
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gclibo.c
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1 
7 #include "gclibo.h"
8 #define _CRT_SECURE_NO_WARNINGS //use traditional C calls like strncpy()
9 #include <stdlib.h> //atoi, atof
10 #include <string.h> //strcpy
11 #include <stdio.h> //fopen
12 #include <math.h> //log()
13 
14 
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  return GCommand(g, command, buf, G_SMALL_BUFFER, 0);
88 }
89 
90 GReturn GCALL GCmdT(GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut* front)
91 {
92  GSize read;
93  GReturn rc;
94  int i;
95  char c;
96  if ((rc = GCommand(g, command, trimmed_response, response_len, &read)) != G_NO_ERROR)
97  return rc;
98  //if here, the data is already null-terminated, just trim.
99  for (i = read - 1; i >= 0; i--) //read does NOT include null terminator.
100  {
101  c = trimmed_response[i];
102  if ((c == ':') || (c == '\n') || (c == '\r'))
103  trimmed_response[i] = 0; //trim it
104  else
105  break; //we hit non-trimmable data, bail out.
106  }
107 
108  if (front) //null to skip "trim" on front.
109  {
110  *front = trimmed_response;
111  i = 0;
112  do
113  {
114  c = trimmed_response[i++];
115  if (c == ' ')
116  (*front)++;
117  else
118  break;
119  } while (1); //exit will be any non-space, including null terminator
120  }
121 
122  return G_NO_ERROR;
123 }
124 
125 GReturn GCALL GCmdI(GCon g, GCStringIn command, int* value)
126 {
127  char buf[G_SMALL_BUFFER]; //response should be ~19 chars
128  GSize read;
129  GReturn rc;
130  if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
131  return rc;
132  *value = atoi(buf);
133  return G_NO_ERROR;
134 }
135 
136 GReturn GCALL GCmdD(GCon g, GCStringIn command, double* value)
137 {
138  char buf[G_SMALL_BUFFER]; //response should be ~19 chars
139  GSize read;
140  GReturn rc;
141  if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
142  return rc;
143  *value = atof(buf);
144  return G_NO_ERROR;
145 }
146 
148 {
149 
150  char buf[G_SMALL_BUFFER]; //response should be ~19 chars.
151  char cmd[] = "MG_BGm"; //command for polling the axis' motion status, m is a place holder replaced below.
152  GSize read;
153  GReturn rc;
154  GSize i = 0; //C, not C++
155  GSize len = strlen(axes);
156 
157  for (i = 0; i < len; i++) //iterate through all chars in axes
158  {
159  cmd[5] = axes[i]; //set the axis
160  poll:
161  if ((rc = GCommand(g, cmd, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
162  return rc;
163  if (atoi(buf))
164  {
166  goto poll;
167  }
168  }// for
169 
170  return G_NO_ERROR;
171 }
172 
173 GReturn GCALL GRecordRate(GCon g, double period_ms)
174 {
175  char buf[G_SMALL_BUFFER];
176  double dt;
177  double period_arg;
178 
179  if (period_ms == 0) //turn off
180  return GCmd(g, "DR 0");
181 
182  if (GCmdD(g, "TM?", &dt) == G_NO_ERROR)
183  {
184  dt /= 1024.0; //ms per controller sample
185  if (!dt) dt = 1; //don't want to divide by zero below
186  }
187  else
188  {
189  dt = 0.9765625; //RIO doesn't have TM
190  }
191 
192  period_arg = period_ms / dt; //data record specified in samples between records
193 
194  if (GCmdT(g, "\x12\x16", buf, sizeof(buf), 0) == G_NO_ERROR) //Revision string, ^R^V
195  {
196  if (strstr(buf, "DMC18")) //PCI controller
197  period_arg = log(period_arg) / log(2.0); //PCI DR arg is 2^n.
198  else if ((strstr(buf, "DMC40") != NULL) //4000
199  || (strstr(buf, "DMC500") != NULL) //50000
200  || (strstr(buf, "RIO") != NULL)) // RIO
201  {
202  if (period_arg < 2) period_arg = 2; //lowest non-zero DR
203  }
204  else if ((strstr(buf, "DMC41") != NULL) || (strstr(buf, "DMC21") != NULL)) //4103, 2103
205  {
206  if (period_arg < 8) period_arg = 8; //lowest non-zero DR
207  }
208  else if ((strstr(buf, "DMC3") != NULL)) //30010, 31010
209  {
210  if (period_arg < 4) period_arg = 4; //lowest non-zero DR
211  }
212  }
213 
214  sprintf(buf, "DR %d", (int)period_arg);
215  return GCmd(g, buf);
216 }
217 
219 {
220  FILE *file;
221  long file_size;
222  char* program_buffer;
223  GReturn rc = G_NO_ERROR;
224 
225  if (!(file = fopen(file_path, "rb"))) //open file for reading, binary mode
226  return G_BAD_FILE;
227 
228  fseek(file, 0, SEEK_END); //find end of file
229  file_size = ftell(file); //add one to null terminate below
230  rewind(file);
231 
232  if (file_size) //don't malloc 0.
233  {
234 
235  if (!(program_buffer = malloc(file_size + 1))) //allocate memory for the data, +1 for null termination below
236  {
237  fclose(file);
238  return G_BAD_FULL_MEMORY;
239  }
240 
241  if (file_size != fread(program_buffer, 1, file_size, file))
242  {
243  fclose(file);
244  free(program_buffer); //free memory
245  return G_BAD_FILE;
246  }
247  program_buffer[file_size] = 0; //null terminate, malloc was one byte larger for this
248  }
249  else
250  {
251  program_buffer = ""; //nullstring
252  }
253 
254  fclose(file); //done with file, close it
255 
256  rc = GProgramDownload(g, program_buffer, preprocessor); //call the gclib downloader
257  if (file_size) free(program_buffer); //free memory
258  return rc;
259 }
260 
262 {
263  FILE *file;
264  GReturn rc = G_NO_ERROR;
265  char* program_buffer;
266  long file_size;
267 
268  if (!(file = fopen(file_path, "wb"))) //open file for writing, binary mode
269  return G_BAD_FILE;
270 
271  if (!(program_buffer = malloc(MAXPROG))) //allocate memory for the data
272  {
273  fclose(file);
274  return G_BAD_FULL_MEMORY;
275  }
276 
277  if ((rc = GProgramUpload(g, program_buffer, MAXPROG)) == G_NO_ERROR)
278  {
279  file_size = strlen(program_buffer);
280  if (file_size != fwrite(program_buffer, 1, file_size, file))
281  rc = G_BAD_FILE;
282  }
283 
284  fclose(file);
285  free(program_buffer);
286  return rc;
287 }
288 
289 
290 void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
291 {
292  char* error_message;
293 
294  switch (rc)
295  {
296  case G_NO_ERROR:
297  error_message = G_NO_ERROR_S;
298  break;
299 
300  case G_GCLIB_ERROR:
301  error_message = G_GCLIB_ERROR_S;
302  break;
303 
305  error_message = G_GCLIB_UTILITY_ERROR_S;
306  break;
307 
309  error_message = G_GCLIB_UTILITY_IP_TAKEN_S;
310  break;
311 
313  error_message = G_GCLIB_NON_BLOCKING_READ_EMPTY_S;
314  break;
315 
316  case G_TIMEOUT:
317  error_message = G_TIMEOUT_S;
318  break;
319 
320  case G_OPEN_ERROR:
321  error_message = G_OPEN_ERROR_S;
322  break;
323 
325  error_message = G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND_S;
326  break;
327 
328  case G_DATA_RECORD_ERROR:
329  error_message = G_DATA_RECORD_ERROR_S;
330  break;
331 
333  error_message = G_UNSUPPORTED_FUNCTION_S;
334  break;
335 
336  case G_BAD_ADDRESS:
337  error_message = G_BAD_ADDRESS_S;
338  break;
339 
341  error_message = G_FIRMWARE_LOAD_NOT_SUPPORTED_S;
342  break;
343 
345  error_message = G_ARRAY_NOT_DIMENSIONED_S;
346  break;
347 
349  error_message = G_ILLEGAL_DATA_IN_PROGRAM_S;
350  break;
351 
353  error_message = G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S;
354  break;
355 
357  error_message = G_INVALID_PREPROCESSOR_OPTIONS_S;
358  break;
359 
361  error_message = G_BAD_RESPONSE_QUESTION_MARK_S;
362  break;
363 
364  case G_BAD_VALUE_RANGE:
365  error_message = G_BAD_VALUE_RANGE_S;
366  break;
367 
368  case G_BAD_FULL_MEMORY:
369  error_message = G_BAD_FULL_MEMORY_S;
370  break;
371 
372  case G_BAD_LOST_DATA:
373  error_message = G_BAD_LOST_DATA_S;
374  break;
375 
376  case G_BAD_FILE:
377  error_message = G_BAD_FILE_S;
378  break;
379 
380  case G_GCAPS_OPEN_ERROR:
381  error_message = G_GCAPS_OPEN_ERROR_S;
382  break;
383 
384  default:
385  error_message = "internal error";
386  break;
387  }
388 
389  strncpy(error, error_message, error_len);
390  error[error_len - 1] = 0; //ensure null termination
391 }
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:61
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:66
#define G_UTIL_IPREQUEST
GUtility(), get a list of hardware requesting IPs.
Definition: gclib.h:50
#define G_UTIL_GCAPS_IPREQUEST
GUtility(), get a list of hardware requesting IPs from the gcaps server.
Definition: gclib.h:57
#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:90
#define MAXPROG
Maximum size for a program.
Definition: gclibo.h:34
#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:261
#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:36
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:125
#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:147
#define G_UTIL_SLEEP
GUtility(), specify an interval to sleep.
Definition: gclib.h:48
#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:49
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:47
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen()...
Definition: gclib.h:65
#define G_UTIL_TIMEOUT_OVERRIDE
GUtility(), read/write access to timeout override.
Definition: gclib.h:44
#define G_UTIL_GCAPS_VERSION
GUtility(), get the version of the gcaps server.
Definition: gclib.h:54
void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
Provides a human-readable description string for return codes.
Definition: gclibo.c:290
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:64
#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:46
#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:69
#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:68
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:136
#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:56
#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:218
GReturn GCALL GRecordRate(GCon g, double period_ms)
Sets the asynchronous data record to a user-specified period via DR.
Definition: gclibo.c:173
#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:51
#define G_UTIL_GCAPS_ASSIGN
GUtility(), assign IP addresses via Boot-P reply from the gcaps server.
Definition: gclib.h:58