gclib  386
Communications API for Galil controllers and PLCs
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Borland C++

The following instructions were performed on:

Embarcadero C++ 7.10 for Win32 Copyright (c) 1993-2015 Embarcadero Technologies, Inc.

For brevity, these instructions assume the default installation location of "C:\Program Files (x86)\Galil\gclib".

Copy Files

Copy "gclib\examples\borland" to a convenient, writable location, e.g. "C:\temp". Run C:\temp\borland\copy_source.bat to copy all files.

C:\temp>cd borland

C:\temp\borland>copy_source.bat
\Program Files (x86)\Galil\gclib\examples\cpp\x_arrays.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_examples.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_examples.h
\Program Files (x86)\Galil\gclib\examples\cpp\x_gcommand.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_ginterrupt.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_gmessage.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_gmotioncomplete.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_gread_gwrite.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_grecord.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_nonblocking.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_programs.cpp
\Program Files (x86)\Galil\gclib\examples\cpp\x_simple.c
       12 file(s) copied.
\Program Files (x86)\Galil\gclib\include\gclib.h
\Program Files (x86)\Galil\gclib\include\gclibo.h
\Program Files (x86)\Galil\gclib\include\gclib_errors.h
\Program Files (x86)\Galil\gclib\include\gclib_record.h
        4 file(s) copied.
\Program Files (x86)\Galil\gclib\lib\dynamic\x86\gclib.lib
\Program Files (x86)\Galil\gclib\lib\dynamic\x86\gclibo.lib
        2 file(s) copied.
\Program Files (x86)\Galil\gclib\dll\x86\gclib.dll
\Program Files (x86)\Galil\gclib\dll\x86\gclibo.dll
        2 file(s) copied.

C:\temp\borland>

Modify Path

  • Add Borland's compiler to the PATH variable.
C:\temp\borland>set PATH=c:\Program Files (x86)\Embarcadero\Studio\17.0\bin;%PATH%

Convert lib files

C:\temp\borland>move gclib.lib _gclib.lib
    1 file(s) moved.

C:\temp\borland>move gclibo.lib _gclibo.lib
    1 file(s) moved.

C:\temp\borland>coff2omf.exe _gclib.lib gclib.lib
COFF to OMF Converter Version 1.2.0 Copyright (c) 1999-2009 Embarcadero Technologies, Inc.
All rights reserved.

C:\temp\borland>coff2omf.exe _gclibo.lib gclibo.lib
COFF to OMF Converter Version 1.2.0 Copyright (c) 1999-2009 Embarcadero Technologies, Inc.
All rights reserved. 

x_simple.c

Edit GOpen() call as necessary

In a text editor, open x_simple.c. Find the GOpen() call and update the address to match the desired hardware. See the documentation for GOpen() for address formatting options.

Compile

C:\temp\borland>bcc32 gclib.lib gclibo.lib x_simple.c
Embarcadero C++ 7.10 for Win32 Copyright (c) 1993-2015 Embarcadero Technologies, Inc.
x_simple.c:
Turbo Incremental Link 6.72 Copyright (c) 1997-2015 Embarcadero Technologies, Inc.

Execute

C:\temp\borland>x_simple.exe
version: 130.115.279
info: 192.168.0.43, DMC4143 Rev 1.2b, 9998
response:  61016.0000
:

x_examples.cpp

Review and Modify source

  • In a text editor, open x_examples.cpp. Find the GOpen() call and update the address to match the desired hardware. See the documentation for GOpen() for address formatting options.
  • Find the #if 0 preprocessor block enclosing the example calls. Change to #if 1 to run the examples. Comment out the function calls to be avoided. Note some calls attempt to move motors and not all functions are compatible with all Galil products.

Compile

C:\temp\borland>bcc32 -c  *.cpp

Link

C:\temp\borland>bcc32 -o examples.exe *.obj gclib.lib gclibo.lib

Execute

C:\temp\borland>examples.exe
Library version: 130.115.279

192.168.0.43, DMC4020 Rev 1.2b, 291


************************************************************************
Example GRead() and GWrite() usage
************************************************************************

Read 155 QR bytes.

************************************************************************
Example GCommand() usage
************************************************************************
Revision report, ^R^V
DMC4020 Rev 1.2b
:

Command Values
val is 10
val is 11
val is 3.1415
val is 9.869

Command Trimming
> 95653016.0000
:<
> 95653016.0000<
>95653016.0000<

Receiving Binary Data
QR read 155 bytes

Error handling
QD correctly trapped, not allowed, try GArrayDownload()
DL correctly trapped, not allowed, try GProgramDownload()

Modifying timeout
Burning program...OK

************************************************************************
Example GProgramDownload() and GProgramUpload() usage
************************************************************************
GProgramDownload() correctly errored. Can't fit with level 3 compression
Program Downloaded with compression level 4
Uploading program:
#A;i=0;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i
i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;EN

Program executed as expected
************************************************************************
Example GArrayDownload() and GArrayUpload() usage
************************************************************************
2.0000, 4.0000, 6.0000, 8.0000, 10.0000, 12.0000, 14.0000, 16.0000, 18.000
0000

2.0000, 1.0000, 3.0000, 5.0000, 10.0000, 12.0000, 14.0000, 16.0000, 18.000
0000

3.0000, 5.0000, 10.0000

************************************************************************
Example GRecord() usage
************************************************************************

QR-based data record
38564
393216000

DR-based data record
38670
38772
38874
38976
39078
39180
39282
39384
39486
39588
39690

QR-based data record with offsets
39692
39692

************************************************************************
Example GMessage() usage
************************************************************************
 0.0000
 1.0000
 2.0000
 3.0000
 4.0000
 5.0000
 6.0000
 7.0000
 8.0000
 9.0000

************************************************************************
Example GInterrupt() usage
************************************************************************
"UI 8" executed.

************************************************************************
Example GMotionComplete() usage
************************************************************************

Position: 0, 0
Beginning independent motion... Motion Complete on A
Position: 8000, 0

Position: 0, 0
Beginning vector motion... Motion Complete on vector plane S
Position: 6000, 0


examples.cpp executed OK
main() is finished. Press Enter to exit: