Galil.h

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#ifndef GALIL_H
#define GALIL_H
 
#include <string>
#include <vector>
 
class GalilPrivate;
 
#ifdef _MSC_VER // MSVC Compiler
   #ifdef  MAKEDLL
      #define DLL_IMPORT_EXPORT  __declspec(dllexport)
   #else
//      #define DLL_IMPORT_EXPORT  __declspec(dllimport)
  #define DLL_IMPORT_EXPORT
   #endif
#else //not Windows (e.g. Linux).  Expand to empty space
   #define DLL_IMPORT_EXPORT
#endif
 
//DLL_IMPORT_EXPORT void SetDynamicLink (void);
 
class DLL_IMPORT_EXPORT Galil //An instance of the Galil class (Galil object) represents a CONNECTION to a controller (not necessarily the controller itself).  Multiple Galil objects can connect to a single Ethernet controller.
{
  GalilPrivate * d;
public:
   static std::string              libraryVersion();                        //returns version string of Galil class library for display (e.g. "0.0.4.3 Jan 2 2008 16:04:50 libGalil.so").  Can be called WITHOUT an instance of Galil.  Note that this has nothing to do with the version of the controller (which can be found with connection() below).
   static std::vector<std::string> addresses();                             //returns list of available addresses to connect to (e.g. "1.2.3.4").  Each item in the list may be fed to the constructor Galil()
 
                                   Galil(std::string address = "");  //constructor opens connection with controller e.g. 192.168.1.2, COM1, /dev/ttyS0, GALILPCI1 /dev/galilpci0 (default constructor with no arguments will bring up a dialog)
                                  ~Galil();                                 //destructor closes connection with controller
   std::string                     connection();                            //returns a string like "DMC4080 Rev 1.0, 123, 10.0.0.70, IHA"
 
   int                             timeout_ms; //default = 500 milliseconds.  This is the timeout for everything but BP, BV, RS, ^R^S, and program/array/firmware download
   std::string                     command(     const std::string& command = "MG TIME", const std::string& terminator = "\r", const std::string& ack = ":", bool trim = true); //send a command (e.g. "MG _RPX") to the controller and get the response
   double                          commandValue(const std::string& command = "MG TIME"); //convenience method that converts response from string to numerical value
   std::string                     message(  int timeout_ms = 500); //ms.  get MGs from controller program
   int                             interrupt(int timeout_ms = 500); //ms.  EI, UI (DMC-18xx only).  Returns status byte (e.g. 0xf0 for UI0)
 
   std::string                     programUpload();                                                 //UL upload   a controller program to   an in-memory buffer
   void                            programDownload(    const std::string& program = "MG TIME\rEN"); //DL download a controller program from an in-memory buffer
   void                            programUploadFile(  const std::string& file    = "program.dmc"); //UL upload   a controller program to   a disk file
   void                            programDownloadFile(const std::string& file    = "program.dmc"); //DL download a controller program from a disk file
 
   std::vector<double>             arrayUpload(                                              const std::string& name  = "array"); //QU upload   an array to   an in-memory buffer
   void                            arrayDownload(    const std::vector<double>& array,       const std::string& name  = "array"); //QD download an array from an in-memory buffer
   void                            arrayUploadFile(  const std::string& file = "arrays.csv", const std::string& names = "");      //QU upload   array(s) to   a disk file.  "" means upload all arrays, else separate the array names with a space
   void                            arrayDownloadFile(const std::string& file = "arrays.csv");                                     //QD download array(s) from a disk file
 
   void                            firmwareDownloadFile(const std::string& file = "firmware.hex"); //download hex file (RS-232 only for DMC-21x3)
 
   int                             write(const std::string& bytes = "\r");  //returns actual number of bytes written
   std::string                     read();                                  //returns actual bytes read
 
   std::vector<std::string>        sources();                           //returns list of sources (_RPA...) supported by this controller, which are fed to sourceValue(), source(), and setSource()
   void                            recordsStart(double period_ms = -1); //milliseconds.  Sends DR.  -1 means leave be if not 0, else run as fast as possible.  > 0 sets the DR sample period in true milliseconds (rounded to nearest power of 2 for DMC-18xx).  0 sets DR0 (turns it off)
   std::vector<char>               record(const std::string& method = "QR"); //reads DR packet OR sends QR and reads response
   double                          sourceValue(const std::vector<char>& record,          const std::string& source = "TIME"); //get the value for one particular source (e.g. _RPA is 1000)
   std::string                     source(     const std::string& field = "Description", const std::string& source = "TIME"); //get e.g. the description string for one particular source (e.g. _RPA is "Axis A reference position").  Fields are "Description", "Units", & "Scale"
   void                            setSource(  const std::string& field = "Description", const std::string& source = "TIME", const std::string& to = "Sample counter"); //set e.g. the description string for one particular source (e.g. _RPA to "Feed axis reference position").  Fields are "Description", "Units", & "Scale"
 
};
 
#endif