| gclib 354 Communications API for Galil controllers and PLCs |

All Data Structures Files Functions Variables Typedefs Macros Pages
gclibo.c
Go to the documentation of this file.
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
21 GReturn GCALL GVersion(GCStringOut ver, GSize ver_len)
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
41 GReturn GCALL GInfo(GCon g, GCStringOut info, GSize info_len)
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
84 GReturn GCALL GCmd(GCon g, GCStringIn command)
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
147 GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
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 {
165 GSleep(POLLINGINTERVAL);
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
218 GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
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
261 GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
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
304 case G_GCLIB_UTILITY_ERROR:
305 error_message = G_GCLIB_UTILITY_ERROR_S;
306 break;
307
308 case G_GCLIB_UTILITY_IP_TAKEN:
309 error_message = G_GCLIB_UTILITY_IP_TAKEN_S;
310 break;
311
312 case G_GCLIB_NON_BLOCKING_READ_EMPTY:
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
324 case G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND:
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
332 case G_UNSUPPORTED_FUNCTION:
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
340 case G_FIRMWARE_LOAD_NOT_SUPPORTED:
341 error_message = G_FIRMWARE_LOAD_NOT_SUPPORTED_S;
342 break;
343
344 case G_ARRAY_NOT_DIMENSIONED:
345 error_message = G_ARRAY_NOT_DIMENSIONED_S;
346 break;
347
348 case G_ILLEGAL_DATA_IN_PROGRAM:
349 error_message = G_ILLEGAL_DATA_IN_PROGRAM_S;
350 break;
351
352 case G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT:
353 error_message = G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S;
354 break;
355
356 case G_INVALID_PREPROCESSOR_OPTIONS:
357 error_message = G_INVALID_PREPROCESSOR_OPTIONS_S;
358 break;
359
360 case G_BAD_RESPONSE_QUESTION_MARK:
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 }
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:16
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:61
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:41
GSize
unsigned int GSize
Size of buffers, etc.
Definition: gclib.h:66
G_UTIL_IPREQUEST
#define G_UTIL_IPREQUEST
GUtility(), get a list of hardware requesting IPs.
Definition: gclib.h:50
G_UTIL_GCAPS_IPREQUEST
#define G_UTIL_GCAPS_IPREQUEST
GUtility(), get a list of hardware requesting IPs from the gcaps server.
Definition: gclib.h:57
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:90
MAXPROG
#define MAXPROG
Maximum size for a program.
Definition: gclibo.h:34
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:261
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
POLLINGINTERVAL
#define POLLINGINTERVAL
Interval, in miliseconds, for polling commands, e.g. GMotionComplete().
Definition: gclibo.h:36
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:125
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:147
G_UTIL_SLEEP
#define G_UTIL_SLEEP
GUtility(), specify an interval to sleep.
Definition: gclib.h:48
G_GCAPS_OPEN_ERROR
#define G_GCAPS_OPEN_ERROR
gcaps connection couldn't open. Server is not running or is not reachable.
Definition: gclib_errors.h:72
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:84
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:49
GVersion
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
G_UTIL_INFO
#define G_UTIL_INFO
GUtility(), get a connection info string.
Definition: gclib.h:47
GCon
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen()...
Definition: gclib.h:65
G_UTIL_TIMEOUT_OVERRIDE
#define G_UTIL_TIMEOUT_OVERRIDE
GUtility(), read/write access to timeout override.
Definition: gclib.h:44
G_UTIL_GCAPS_VERSION
#define G_UTIL_GCAPS_VERSION
GUtility(), get the version of the gcaps server.
Definition: gclib.h:54
GError
void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
Provides a human-readable description string for return codes.
Definition: gclibo.c:290
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:57
GReturn
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:64
G_GCLIB_UTILITY_IP_TAKEN
#define G_GCLIB_UTILITY_IP_TAKEN
The IP cannot be assigned because ping returned a reply.
Definition: gclib_errors.h:18
GIpRequests
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
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:46
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:69
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:68
GAddresses
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
GAssign
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
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:136
GCALL
#define GCALL
Specify calling convention for Windows.
Definition: gclib.h:24
G_UTIL_GCAPS_ADDRESSES
#define G_UTIL_GCAPS_ADDRESSES
GUtility(), get a list of available connections from the gcaps server.
Definition: gclib.h:56
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:218
GRecordRate
GReturn GCALL GRecordRate(GCon g, double period_ms)
Sets the asynchronous data record to a user-specified period via DR.
Definition: gclibo.c:173
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 IP addresses via Boot-P reply.
Definition: gclib.h:51
G_UTIL_GCAPS_ASSIGN
#define G_UTIL_GCAPS_ASSIGN
GUtility(), assign IP addresses via Boot-P reply from the gcaps server.
Definition: gclib.h:58