gclib  528
Communications API for Galil controllers and PLCs
gclibo.c
Go to the documentation of this file.
1 
11 #include "gclibo.h"
12 
13 #ifndef _CRT_SECURE_NO_WARNINGS
14 #define _CRT_SECURE_NO_WARNINGS //use traditional C calls like strncpy()
15 #endif
16 
17 #include <stdlib.h> //atoi, atof
18 #include <string.h> //strcpy
19 #include <stdio.h> //fopen
20 #include <math.h> //log()
21 #include <time.h>
22 
23 
24 void GCALL GSleep(unsigned int timeout_ms)
25 {
26  GUtility(0, G_UTIL_SLEEP, &timeout_ms, 0);
27 }
28 
30 {
31  int str_len;
32  GReturn rc;
33  if ((rc = GUtility(0, G_UTIL_VERSION, ver, &ver_len)) != G_NO_ERROR)
34  return rc;
35 
36 #ifdef G_USE_GCAPS
37  str_len = strlen(ver) + 1;
38  ver_len -= str_len;
39  if (ver_len > 0
40  && GUtility(0, G_UTIL_GCAPS_VERSION, ver + str_len, &ver_len) == G_NO_ERROR)
41  {
42  ver[str_len - 1] = ' '; //add a delimiter
43  }
44 #endif
45 
46  return rc;
47 }
48 
50 {
51  return GUtility(g, G_UTIL_INFO, info, &info_len);
52 }
53 
54 GReturn GCALL GAddresses(GCStringOut addresses, GSize addresses_len)
55 {
56 #ifdef G_USE_GCAPS
57  GReturn rc;
58  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_ADDRESSES, addresses, &addresses_len)))
59  return rc;
60 #endif
61 
62  return GUtility(0, G_UTIL_ADDRESSES, addresses, &addresses_len);
63 }
64 
65 GReturn GCALL GTimeout(GCon g, short timeout_ms)
66 {
67  return GUtility(g, G_UTIL_TIMEOUT_OVERRIDE, &timeout_ms, 0);
68 }
69 
71 {
72  /*
73  * On Linux and Apple, the IP address is pinged prior to assigning.
74  * On Windows, pinging first can make the arp table stale, and the
75  * IP address unreachable for several seconds. We skip ping so that
76  * we can immediately connect.
77  */
78 
79  GReturn rc;
80  int reply = 0; //ping reply is nonzero
81 
82 #ifdef G_USE_GCAPS
83 
84 #if defined(__linux__) || defined(__APPLE__)
85  GUtility(0, G_UTIL_GCAPS_PING, (void*)ip, &reply); //ping to see if IP address is already taken
86  if (reply)
88 #endif
89 
90  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_ASSIGN, (void*)ip, (void*)mac)))
91  return rc;
92 #endif
93 
94 #if defined(__linux__) || defined(__APPLE__)
95  GUtility(0, G_UTIL_PING, (void*)ip, &reply); //ping to see if IP address is already taken
96  if (reply)
98 #endif
99 
100  return GUtility(0, G_UTIL_ASSIGN, (void*)ip, (void*)mac);
101 }
102 
103 GReturn GCALL GIpRequests(GCStringOut requests, GSize requests_len)
104 {
105 #ifdef G_USE_GCAPS
106  GReturn rc;
107  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_IPREQUEST, requests, &requests_len)))
108  return rc;
109 #endif
110 
111  return GUtility(0, G_UTIL_IPREQUEST, requests, &requests_len);
112 }
113 
115 {
116  GReturn rc;
117 #ifdef G_USE_GCAPS
118  rc = GUtility(0, G_UTIL_GCAPS_SET_SERVER, (void*)server_name, 0);
119 #else
120  rc = G_GCAPS_OPEN_ERROR;
121 #endif
122 
123 #ifdef GCLIB_LOGGING
124  if (rc != G_NO_ERROR)
125  {
126  char buf[256];
127  sprintf(buf, "GSetServer: %d", rc);
128  LogMsg(buf);
129  }
130 #endif
131 
132  return rc;
133 }
134 
136 {
137  GReturn rc = G_NO_ERROR;
138 #ifdef G_USE_GCAPS
139  rc = GUtility(0, G_UTIL_GCAPS_SERVER_STATUS, status, &status_len);
140 #else
141  rc = G_GCAPS_OPEN_ERROR;
142 #endif
143 
144 #ifdef GCLIB_LOGGING
145  if (rc != G_NO_ERROR)
146  {
147  char buf[256];
148  sprintf(buf, "GServerStatus: %d", rc);
149  LogMsg(buf);
150  }
151 #endif
152  return rc;
153 }
154 
156 {
157  GReturn rc;
158 #ifdef G_USE_GCAPS
159  rc = GUtility(0, G_UTIL_GCAPS_LIST_SERVERS, servers, &servers_len);
160 #else
161  rc = G_GCAPS_OPEN_ERROR;
162 #endif
163 
164 #ifdef GCLIB_LOGGING
165  if (rc != G_NO_ERROR)
166  {
167  char buf[256];
168  sprintf(buf, "GListServers: %d", rc);
169  LogMsg(buf);
170  }
171 #endif
172  return rc;
173 }
174 
176 {
177  GReturn rc;
178 #ifdef G_USE_GCAPS
179  //bit 0 -> publish = 1, remove = 0
180  //bit 1 -> save = 1, do not save = 0
181  unsigned short options = publish | (save << 1);
182 
183  if (G_NO_ERROR == (rc = GUtility(0, G_UTIL_GCAPS_PUBLISH_SERVER, (void*)name, &options)))
184  {
185 
186  }
187 #else
188  rc = G_GCAPS_OPEN_ERROR;
189 #endif
190 
191 #ifdef GCLIB_LOGGING
192  if (rc != G_NO_ERROR)
193  {
194  char buf[256];
195  sprintf(buf, "GPublishServer: %d", rc);
196  LogMsg(buf);
197  }
198 #endif
199 
200  return rc;
201 }
202 
203 GReturn GCALL GRemoteConnections(GCStringOut connections, GSize connections_length)
204 {
205  GReturn rc;
206 #ifdef G_USE_GCAPS
207  rc = GUtility(0, G_UTIL_GCAPS_REMOTE_CONNECTIONS, connections, &connections_length);
208 #else
209  rc = G_GCAPS_OPEN_ERROR;
210 #endif
211 
212 #ifdef GCLIB_LOGGING
213  if (rc != G_NO_ERROR)
214  {
215  char buf[256];
216  sprintf(buf, "GRemoteConnections: %d", rc);
217  LogMsg(buf);
218  }
219 #endif
220  return rc;
221 }
222 
224 {
225  char buf[G_SMALL_BUFFER]; //response usually brief, e.g. :
226  return GCommand(g, command, buf, G_SMALL_BUFFER, 0);
227 }
228 
229 GReturn GCALL GCmdT(GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut* front)
230 {
231  GSize read;
232  GReturn rc;
233  int i;
234  char c;
235  if ((rc = GCommand(g, command, trimmed_response, response_len, &read)) != G_NO_ERROR)
236  return rc;
237  //if here, the data is already null-terminated, just trim.
238  for (i = read - 1; i >= 0; i--) //read does NOT include null terminator.
239  {
240  c = trimmed_response[i];
241  if ((c == ':') || (c == '\n') || (c == '\r'))
242  trimmed_response[i] = 0; //trim it
243  else
244  break; //we hit non-trimmable data, bail out.
245  }
246 
247  if (front) //null to skip "trim" on front.
248  {
249  *front = trimmed_response;
250  i = 0;
251  do
252  {
253  c = trimmed_response[i++];
254  if (c == ' ')
255  (*front)++;
256  else
257  break;
258  } while (1); //exit will be any non-space, including null terminator
259  }
260 
261  return G_NO_ERROR;
262 }
263 
264 GReturn GCALL GCmdI(GCon g, GCStringIn command, int* value)
265 {
266  char buf[G_SMALL_BUFFER]; //response should be ~19 chars
267  GSize read;
268  GReturn rc;
269  if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
270  return rc;
271  *value = atoi(buf);
272  return G_NO_ERROR;
273 }
274 
275 GReturn GCALL GCmdD(GCon g, GCStringIn command, double* value)
276 {
277  char buf[G_SMALL_BUFFER]; //response should be ~19 chars
278  GSize read;
279  GReturn rc;
280  if ((rc = GCommand(g, command, buf, G_SMALL_BUFFER, &read)) != G_NO_ERROR)
281  return rc;
282  *value = atof(buf);
283  return G_NO_ERROR;
284 }
285 
287 {
288  char pred[] = "_BGm=0"; //predicate for polling the axis' motion status, m is a place holder replaced below.
289  GReturn rc;
290  GSize i = 0; //C, not C++
291  GSize len = strlen(axes);
292 
293  for (i = 0; i < len; i++) //iterate through all chars in axes
294  {
295  pred[3] = axes[i]; //set the axis
296  rc = GWaitForBool(g, pred, -1); //poll forever. Change this if a premature exit is desired.
297  if (rc != G_NO_ERROR)
298  return rc;
299  }//axes
300 
301  return G_NO_ERROR;
302 }
303 
304 GReturn GCALL GWaitForBool(GCon g, GCStringIn predicate, int trials)
305 {
306  char cmd[G_LINE_BUFFER];
307  char buf[G_LINE_BUFFER];
308  int rc;
309  strcpy(cmd, "MG (");
310  strcat(cmd, predicate);
311  strcat(cmd, ")"); //enclose in parenthesis
312 
313  for (; trials != 0; --trials) //negative value will poll "forever"
314  {
315  rc = GCommand(g, cmd, buf, G_SMALL_BUFFER, 0); //check the predicate
316  if (rc != G_NO_ERROR)
317  return rc;
318 
319  if (atoi(buf)) //nonzero is true, bad atoi returns 0
320  return G_NO_ERROR;
321  else
323  }
324  //if we're here, the trials ran out
325  return G_GCLIB_POLLING_FAILED;
326 }
327 
328 GReturn GCALL GRecordRate(GCon g, double period_ms)
329 {
330  char buf[G_SMALL_BUFFER];
331  double dt;
332  double period_arg;
333 
334  if (period_ms == 0) //turn off
335  return GCmd(g, "DR 0");
336 
337  if (GCmdD(g, "TM?", &dt) == G_NO_ERROR)
338  {
339  dt /= 1024.0; //ms per controller sample
340  if (!dt) dt = 1; //don't want to divide by zero below
341  }
342  else
343  {
344  dt = 0.9765625; //RIO doesn't have TM
345  }
346 
347  period_arg = period_ms / dt; //data record specified in samples between records
348 
349  if (GCmdT(g, "\x12\x16", buf, sizeof(buf), 0) == G_NO_ERROR) //Revision string, ^R^V
350  {
351  if (strstr(buf, "DMC18")) //PCI controller
352  period_arg = log(period_arg) / log(2.0); //PCI DR arg is 2^n.
353  else if ((strstr(buf, "DMC40") != NULL) //4000
354  || (strstr(buf, "DMC500") != NULL) //50000
355  || (strstr(buf, "RIO") != NULL)) // RIO
356  {
357  if (period_arg < 2) period_arg = 2; //lowest non-zero DR
358  }
359  else if ((strstr(buf, "DMC41") != NULL) || (strstr(buf, "DMC21") != NULL)) //4103, 2103
360  {
361  if (period_arg < 8) period_arg = 8; //lowest non-zero DR
362  }
363  else if ((strstr(buf, "DMC3") != NULL)) //30010, 31010
364  {
365  if (period_arg < 4) period_arg = 4; //lowest non-zero DR
366  }
367  }
368 
369  sprintf(buf, "DR %d", (int)period_arg);
370  return GCmd(g, buf);
371 }
372 
374 {
375  FILE *file;
376  long file_size;
377  char* program_buffer;
378  GReturn rc = G_NO_ERROR;
379 
380  if (!(file = fopen(file_path, "rb"))) //open file for reading, binary mode
381  return G_BAD_FILE;
382 
383  fseek(file, 0, SEEK_END); //find end of file
384  file_size = ftell(file); //add one to null terminate below
385  rewind(file);
386 
387  if (file_size) //don't malloc 0.
388  {
389 
390  if (!(program_buffer = malloc(file_size + 1))) //allocate memory for the data, +1 for null termination below
391  {
392  fclose(file);
393  return G_BAD_FULL_MEMORY;
394  }
395 
396  if (file_size != fread(program_buffer, 1, file_size, file))
397  {
398  fclose(file);
399  free(program_buffer); //free memory
400  return G_BAD_FILE;
401  }
402  program_buffer[file_size] = 0; //null terminate, malloc was one byte larger for this
403  }
404  else
405  {
406  program_buffer = ""; //nullstring
407  }
408 
409  fclose(file); //done with file, close it
410 
411  rc = GProgramDownload(g, program_buffer, preprocessor); //call the gclib downloader
412  if (file_size) free(program_buffer); //free memory
413  return rc;
414 }
415 
417 {
418  FILE *file;
419  GReturn rc = G_NO_ERROR;
420  char* program_buffer;
421  long file_size;
422 
423  if (!(file = fopen(file_path, "wb"))) //open file for writing, binary mode
424  return G_BAD_FILE;
425 
426  if (!(program_buffer = malloc(MAXPROG))) //allocate memory for the data
427  {
428  fclose(file);
429  return G_BAD_FULL_MEMORY;
430  }
431 
432  if ((rc = GProgramUpload(g, program_buffer, MAXPROG)) == G_NO_ERROR)
433  {
434  file_size = strlen(program_buffer);
435  if (file_size != fwrite(program_buffer, 1, file_size, file))
436  rc = G_BAD_FILE;
437  }
438 
439  fclose(file);
440  free(program_buffer);
441  return rc;
442 }
443 
444 
445 void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
446 {
447  char* error_message;
448 
449  switch (rc)
450  {
451  case G_NO_ERROR:
452  error_message = G_NO_ERROR_S;
453  break;
454 
455  case G_GCLIB_ERROR:
456  error_message = G_GCLIB_ERROR_S;
457  break;
458 
460  error_message = G_GCLIB_UTILITY_ERROR_S;
461  break;
462 
464  error_message = G_GCLIB_UTILITY_IP_TAKEN_S;
465  break;
466 
468  error_message = G_GCLIB_NON_BLOCKING_READ_EMPTY_S;
469  break;
470 
471  case G_TIMEOUT:
472  error_message = G_TIMEOUT_S;
473  break;
474 
475  case G_OPEN_ERROR:
476  error_message = G_OPEN_ERROR_S;
477  break;
478 
479  case G_READ_ERROR:
480  error_message = G_READ_ERROR_S;
481  break;
482 
483  case G_WRITE_ERROR:
484  error_message = G_WRITE_ERROR_S;
485  break;
486 
488  error_message = G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND_S;
489  break;
490 
491  case G_DATA_RECORD_ERROR:
492  error_message = G_DATA_RECORD_ERROR_S;
493  break;
494 
496  error_message = G_UNSUPPORTED_FUNCTION_S;
497  break;
498 
499  case G_BAD_ADDRESS:
500  error_message = G_BAD_ADDRESS_S;
501  break;
502 
503  case G_BAD_FIRMWARE_LOAD:
504  error_message = G_BAD_FIRMWARE_LOAD_S;
505  break;
506 
508  error_message = G_FIRMWARE_LOAD_NOT_SUPPORTED_S;
509  break;
510 
512  error_message = G_ARRAY_NOT_DIMENSIONED_S;
513  break;
514 
516  error_message = G_CONNECTION_NOT_ESTABLISHED_S;
517  break;
518 
520  error_message = G_ILLEGAL_DATA_IN_PROGRAM_S;
521  break;
522 
524  error_message = G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S;
525  break;
526 
528  error_message = G_INVALID_PREPROCESSOR_OPTIONS_S;
529  break;
530 
532  error_message = G_BAD_RESPONSE_QUESTION_MARK_S;
533  break;
534 
535  case G_BAD_VALUE_RANGE:
536  error_message = G_BAD_VALUE_RANGE_S;
537  break;
538 
539  case G_BAD_FULL_MEMORY:
540  error_message = G_BAD_FULL_MEMORY_S;
541  break;
542 
543  case G_BAD_LOST_DATA:
544  error_message = G_BAD_LOST_DATA_S;
545  break;
546 
547  case G_BAD_FILE:
548  error_message = G_BAD_FILE_S;
549  break;
550 
551  case G_GCAPS_OPEN_ERROR:
552  error_message = G_GCAPS_OPEN_ERROR_S;
553  break;
554 
556  error_message = G_GCAPS_SUBSCRIPTION_ERROR_S;
557  break;
558 
559  default:
560  error_message = "internal error";
561  break;
562  }
563 
564  strncpy(error, error_message, error_len);
565  error[error_len - 1] = 0; //ensure null termination
566 }
567 
568 #ifdef GCLIB_LOGGING
569 void LogMsg(const char* msg)
570 {
571  time_t rawtime;
572  struct tm * timeinfo;
573 
574  time(&rawtime);
575  timeinfo = localtime(&rawtime);
576  char* time_string = asctime(timeinfo);
577 
578 #ifdef _WIN32
579  const char* filename = "C:/ProgramData/Galil/gcaps/gclib_mdns_log.txt";
580 #else
581  const char* filename = "/var/tmp/gclib_mdns_log.txt";
582 #endif // _WIN32
583 
584  FILE *logfile;
585  logfile = fopen(filename, "a");
586  fprintf(logfile, "%s | %s", msg, time_string);
587  fclose(logfile);
588 }
589 #endif
590 
#define G_UTIL_GCAPS_PUBLISH_SERVER
GUtility(), make local gcaps server discoverable by other gcaps servers on the local network.
Definition: gclib.h:80
#define G_UTIL_VERSION
GUtility(), get a library version string.
Definition: gclib.h:62
#define G_UTIL_GCAPS_LIST_SERVERS
GUtility(), get a list of all available gcaps servers on the local network.
Definition: gclib.h:79
#define G_ARRAY_NOT_DIMENSIONED
Array operation was called on an array that was not in the controller's array table,...
Definition: gclib_errors.h:58
#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:25
#define G_TIMEOUT
Operation timed out. Timeout is set by the –timeout option in GOpen() and can be overriden by GSettin...
Definition: gclib_errors.h:31
#define POLLINGINTERVAL
Interval, in milliseconds, for polling commands, e.g. GWaitForBool().
Definition: gclibo.h:40
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:229
GCLIB_DLL_EXPORTED GReturn GCALL GRecordRate(GCon g, double period_ms)
Sets the asynchronous data record to a user-specified period via DR.
Definition: gclibo.c:328
#define G_BAD_FIRMWARE_LOAD
Bad firmware upgrade.
Definition: gclib_errors.h:88
#define G_UTIL_ADDRESSES
GUtility(), get a list of available connections.
Definition: gclib.h:65
#define G_WRITE_ERROR
Device write failed. E.G. Socket was closed by remote host. See G_UTIL_GCAPS_KEEPALIVE.
Definition: gclib_errors.h:40
void * GCon
Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen().
Definition: gclib.h:92
#define G_UTIL_GCAPS_SERVER_STATUS
GUtility(), get information on the local server's name and if it is published to the local network.
Definition: gclib.h:82
#define G_BAD_VALUE_RANGE
Bad value or range, e.g. GCon g variable passed to function was bad.
Definition: gclib_errors.h:73
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 MAXPROG
Maximum size for a program.
Definition: gclibo.h:38
#define G_GCLIB_ERROR
General library error. Indicates internal API caught an unexpected error. Contact Galil support if th...
Definition: gclib_errors.h:16
#define G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND
GCommand() was called with an illegal command, e.g. ED, DL or QD.
Definition: gclib_errors.h:46
#define G_READ_ERROR
Device read failed. E.G. Socket was closed by remote host. See G_UTIL_GCAPS_KEEPALIVE.
Definition: gclib_errors.h:37
#define G_GCLIB_UTILITY_IP_TAKEN
The IP cannot be assigned because ping returned a reply.
Definition: gclib_errors.h:22
#define G_BAD_RESPONSE_QUESTION_MARK
Operation received a ?, indicating controller has a TC error.
Definition: gclib_errors.h:70
#define G_UTIL_ASSIGN
GUtility(), assign IP addresses via Boot-P reply.
Definition: gclib.h:67
#define G_BAD_FILE
Bad file path, bad file contents, or bad write.
Definition: gclib_errors.h:82
#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:76
#define G_GCAPS_SUBSCRIPTION_ERROR
GMessage(), GRecord(), GInterrupt() called on a connection without –subscribe switch.
Definition: gclib_errors.h:94
GCLIB_DLL_EXPORTED void GCALL GError(GReturn rc, GCStringOut error, GSize error_len)
Provides a human-readable description string for return codes.
Definition: gclibo.c:445
GCLIB_DLL_EXPORTED 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:29
GCLIB_DLL_EXPORTED GReturn GCALL GWaitForBool(GCon g, GCStringIn predicate, int trials)
Blocking call that returns when the controller evaluates the predicate as true.
Definition: gclibo.c:304
#define G_OPEN_ERROR
Device could not be opened. E.G. Serial port or PCI device already open.
Definition: gclib_errors.h:34
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.
#define G_UTIL_INFO
GUtility(), get a connection info string.
Definition: gclib.h:63
GCLIB_DLL_EXPORTED GReturn GCALL GSetServer(GCStringIn server_name)
Uses GUtility(), G_UTIL_GCAPS_SET_SERVER to set the new active server.
Definition: gclibo.c:114
const char * GCStringIn
C-string input to the library. Implies null-termination.
Definition: gclib.h:96
#define G_UTIL_GCAPS_IPREQUEST
GUtility(), get a list of hardware requesting IPs from the gcaps server.
Definition: gclib.h:76
GCLIB_DLL_EXPORTED 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:49
#define G_BAD_ADDRESS
Bad address.
Definition: gclib_errors.h:85
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 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:103
GCLIB_DLL_EXPORTED GReturn GCALL GServerStatus(GCStringOut status, GSize status_len)
Uses GUtility(), G_UTIL_GCAPS_SERVER_STATUS to get information on the local server name and if it is ...
Definition: gclibo.c:135
#define GCALL
Specify calling convention for Windows.
Definition: gclib.h:38
#define G_DATA_RECORD_ERROR
Data record error, e.g. DR attempted on serial connection.
Definition: gclib_errors.h:49
#define G_UTIL_GCAPS_ADDRESSES
GUtility(), get a list of available connections from the gcaps server.
Definition: gclib.h:75
GCLIB_DLL_EXPORTED GReturn GCALL GPublishServer(GCStringIn name, GOption publish, GOption save)
Uses GUtility(), G_UTIL_GCAPS_PUBLISH_SERVER to publish local gcaps server to the local network.
Definition: gclibo.c:175
#define G_CONNECTION_NOT_ESTABLISHED
Function was called with no connection.
Definition: gclib_errors.h:61
#define G_NO_ERROR
Return value if function succeeded.
Definition: gclib_errors.h:13
unsigned int GSize
Size of buffers, etc.
Definition: gclib.h:93
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
int GOption
Option integer for various formatting, etc.
Definition: gclib.h:94
GCLIB_DLL_EXPORTED 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:264
GCLIB_DLL_EXPORTED 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:54
#define G_UTIL_GCAPS_PING
GUtility(), uses ICMP ping to determine if an IP address is reachable and assigned....
Definition: gclib.h:78
#define G_UTIL_GCAPS_VERSION
GUtility(), get the version of the gcaps server.
Definition: gclib.h:73
char * GCStringOut
C-string output from the library. Implies null-termination.
Definition: gclib.h:95
GCLIB_DLL_EXPORTED GReturn GCALL GMotionComplete(GCon g, GCStringIn axes)
Blocking call that returns once all axes specified have completed their motion.
Definition: gclibo.c:286
#define G_UTIL_TIMEOUT_OVERRIDE
GUtility(), read/write access to timeout override.
Definition: gclib.h:60
#define G_UTIL_PING
GUtility(), uses ICMP ping to determine if an IP address is reachable and assigned.
Definition: gclib.h:69
#define G_UNSUPPORTED_FUNCTION
Function cannot be called on this bus. E.G. GInterrupt() on serial.
Definition: gclib_errors.h:52
#define G_GCAPS_OPEN_ERROR
gcaps connection couldn't open. Server is not running or is not reachable.
Definition: gclib_errors.h:91
#define G_UTIL_SLEEP
GUtility(), specify an interval to sleep.
Definition: gclib.h:64
#define G_GCLIB_UTILITY_ERROR
An invalid request value was specified to GUtility.
Definition: gclib_errors.h:19
#define G_UTIL_IPREQUEST
GUtility(), get a list of hardware requesting IPs.
Definition: gclib.h:66
GCLIB_DLL_EXPORTED 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:24
#define G_LINE_BUFFER
For writes, via command interpreter, to the Galil.
Definition: gclib.h:89
#define G_SMALL_BUFFER
Most reads from Galil are small. This value will easily hold most, e.g. TH, TZ, etc.
Definition: gclib.h:87
GCLIB_DLL_EXPORTED GReturn GCALL GRemoteConnections(GCStringOut connections, GSize connections_length)
Uses GUtility(), G_UTIL_GCAPS_REMOTE_CONNECTIONS to get a list of remote addresses connected to the l...
Definition: gclibo.c:203
#define G_INVALID_PREPROCESSOR_OPTIONS
GProgramDownload was called with a bad preprocessor directive.
Definition: gclib_errors.h:43
GCLIB_DLL_EXPORTED 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:275
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:223
GCLIB_DLL_EXPORTED GReturn GCALL GProgramUploadFile(GCon g, GCStringIn file_path)
Program upload to file.
Definition: gclibo.c:416
#define G_GCLIB_POLLING_FAILED
GWaitForBool out of polling trials.
Definition: gclib_errors.h:28
#define G_UTIL_GCAPS_ASSIGN
GUtility(), assign IP addresses via Boot-P reply from the gcaps server.
Definition: gclib.h:77
#define G_UTIL_GCAPS_REMOTE_CONNECTIONS
GUtility(), get a list of remote addresses connected to local server.
Definition: gclib.h:83
#define G_ILLEGAL_DATA_IN_PROGRAM
Data to download not valid, e.g. \ in data.
Definition: gclib_errors.h:64
#define G_UTIL_GCAPS_SET_SERVER
GUtility(), set the new active gcaps server.
Definition: gclib.h:81
#define G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT
Program preprocessor could not compress the program within the user's constraints.
Definition: gclib_errors.h:67
#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:55
#define G_BAD_LOST_DATA
Lost data, e.g. GCommand() response buffer was too small for the controller's response.
Definition: gclib_errors.h:79
int GReturn
Every function returns a value of type GReturn. See gclib_errors.h for possible values.
Definition: gclib.h:91
GCLIB_DLL_EXPORTED GReturn GCALL GProgramUpload(GCon g, GBufOut buffer, GSize buffer_len)
Uploads a program from the controller's program buffer.
GCLIB_DLL_EXPORTED GReturn GCALL GListServers(GCStringOut servers, GSize servers_len)
Uses GUtility(), G_UTIL_GCAPS_LIST_SERVERS to provide a list of all available gcaps services on the l...
Definition: gclibo.c:155
GCLIB_DLL_EXPORTED GReturn GCALL GAssign(GCStringIn ip, GCStringIn mac)
Uses GUtility(), G_UTIL_GCAPS_ASSIGN or G_UTIL_ASSIGN to assign an IP address over the Ethernet to a ...
Definition: gclibo.c:70
GCLIB_DLL_EXPORTED GReturn GCALL GProgramDownloadFile(GCon g, GCStringIn file_path, GCStringIn preprocessor)
Program download from file.
Definition: gclibo.c:373