gclib.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Runtime.InteropServices; //dll import
using System.IO; //file.exists
 
using UB = System.Byte;  //unsigned byte
using UW = System.UInt16; //unsigned word
using SW = System.Int16;  //signed word
using SL = System.Int32;  //signed long
using UL = System.UInt32; //unsigned long
 
#if x86 //defined in "Conditional compilation symbols" of Project Properties
using GReturn = System.Int32;
using GCon = System.IntPtr;
using GSize = System.UInt32;
using GOption = System.Int32;
using GCStringOut = System.Text.StringBuilder;
using GCStringIn = System.String;
using GBufOut = System.Text.StringBuilder;
using GBufIn = System.String;
using GStatus = System.Byte;
// IMPORTANT! Be sure that the paths below are correct
public static class LibraryPath
{
    public const string GclibDllPath_ = "C:\\Program Files (x86)\\Galil\\gclib\\dll\\x86\\gclib.dll";
    public const string GcliboDllPath_ = "C:\\Program Files (x86)\\Galil\\gclib\\dll\\x86\\gclibO.dll";
}
 
#elif x64
using GReturn = System.Int32;
using GCon = System.IntPtr;
using GSize = System.UInt32;
using GOption = System.Int32;
using GCStringOut = System.Text.StringBuilder;
using GCStringIn = System.String;
using GBufOut = System.Text.StringBuilder;
using GBufIn = System.String;
using GStatus = System.Byte;
// IMPORTANT! Be sure that the paths below are correct
public static class LibraryPath
{
    public const string GclibDllPath_ = "C:\\Program Files (x86)\\Galil\\gclib\\dll\\x64\\gclib.dll";
    public const string GcliboDllPath_ = "C:\\Program Files (x86)\\Galil\\gclib\\dll\\x64\\gclibo.dll";
}
 
#endif
 
public class gclib
{
    #region "C# wrappers of gclib C calls"
 
    #region "Private properties"
    private const int BufferSize_ = 500000; //size of "char *" buffer. Big enough to fit entire 4000 program via UL/LS, or 24000 elements of array data.
    private GCStringOut Buffer_ = new System.Text.StringBuilder(BufferSize_); //used to pass a "char *" to gclib.
    private byte[] ByteArray_ = new byte[512]; //byte array to hold data record and response to GRead
    private GCon ConnectionHandle_; //keep track of the gclib connection handle.
    private bool ConnectionStatus_ = false; //keep track of the status of gclib's connection
    #endregion
 
 
    public gclib()
    {
        if (!File.Exists(LibraryPath.GclibDllPath_))
            throw new System.Exception("Could not find gclib dll at " + LibraryPath.GclibDllPath_);
 
        if (!File.Exists(LibraryPath.GcliboDllPath_))
            throw new System.Exception("Could not find gclibo dll at " + LibraryPath.GcliboDllPath_);
 
    }
 
    public string[] GAddresses()
    {
        GReturn rc = DllGAddresses(Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            char[] delimiters = new char[] { '\r', '\n' };
            return Buffer_.ToString().Split(delimiters, System.StringSplitOptions.RemoveEmptyEntries);
        }
        else
            return new string[0];
 
    }
 
    public void GArrayDownload(string array_name, ref List<double> data, Int16 first = -1, Int16 last = -1)
    {
        System.Text.StringBuilder ArrayData = new System.Text.StringBuilder(BufferSize_); //for converting to ASCII
        int len = data.Count();
        for (int i = 0; i <= len - 1; i++)
        {
            ArrayData.Append(data[i].ToString("F4")); //format to fixed point
            if (i < len - 1)
            {
                ArrayData.Append(","); //delimiter
            }
        }
        GReturn rc = DllGArrayDownload(ConnectionHandle_, array_name, first, last, ArrayData.ToString());
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GArrayDownloadFile(string Path)
    {
        GReturn rc = DllGArrayDownloadFile(ConnectionHandle_, Path);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public List<double> GArrayUpload(string array_name, Int16 first = -1, Int16 last = -1)
    {
        List<double> array = new List<double>();
        GReturn rc = DllGArrayUpload(ConnectionHandle_, array_name, first, last, 1, Buffer_, BufferSize_);
        //1 = comma delim
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
        char[] delimiters = new char[] { ',' };
 
        string[] tokens = Buffer_.ToString().Split(delimiters, System.StringSplitOptions.RemoveEmptyEntries);
        double value = 0;
        foreach (string s in tokens)
        {
            if (!double.TryParse(s, out value))
            {
                throw new System.Exception("Could not parse " + s + " into double");
            }
            array.Add(value);
        }
        return array;
    }
 
    public void GArrayUploadFile(string Path, string Names)
    {
        GReturn rc = DllGArrayUploadFile(ConnectionHandle_, Path, Names);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GAssign(string ip, string mac)
    {
        GReturn rc = DllGAssign(ip, mac);
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GClose()
    {
        if(ConnectionStatus_)
            DllGClose(ConnectionHandle_);
 
        ConnectionStatus_ = false;
    }
 
    public string GCommand(string Command, bool Trim = true)
    {
        GSize bytes_read = 0;
        GReturn rc = DllGCommand(ConnectionHandle_, Command, Buffer_, BufferSize_, ref bytes_read);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
        if (Trim)
        {
            string r = Buffer_.ToString();
            if (r[r.Count() - 1] == ':')
            {
                r = r.Substring(0, r.Count() - 1);
            }
            return r.Trim();
        }
        else
        {
            return Buffer_.ToString();
        }
    }
 
    public Int16 GCmdI(string Command)
    {
        return Convert.ToInt16(Convert.ToDouble(GCommand(Command)));
    }
 
    public double GCmdD(string Command)
    {
        return Convert.ToDouble(GCommand(Command));
    }
 
    private string GError(GReturn ErrorCode)
    {
        DllGError(ErrorCode, Buffer_, BufferSize_);
        return ErrorCode.ToString() + " " + Buffer_.ToString() + "\n";
    }
 
    public void GFirmwareDownload(string filepath)
    {
        GReturn rc = DllGFirmwareDownload(ConnectionHandle_, filepath);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public string GInfo()
    {
        GReturn rc = DllGInfo(ConnectionHandle_, Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            return Buffer_.ToString();
        }
        else
        {
            return "";
        }
    }
 
    public byte GInterrupt()
    {
        byte StatusByte = 0;
        GReturn rc = DllGInterrupt(ConnectionHandle_, ref StatusByte);
        if (rc == G_NO_ERROR)
        {
            return StatusByte;
        }
        else
        {
            return 0;
        }
    }
 
    public string[] GIpRequests()
    {
        GReturn rc = DllGIpRequests(Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            char[] delimiters = new char[] { '\r', '\n' };
            return Buffer_.ToString().Split(delimiters, System.StringSplitOptions.RemoveEmptyEntries);
        }
        else
            return new string[0];
 
    }
 
    public string GMessage()
    {
        GReturn rc = DllGMessage(ConnectionHandle_, Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            return Buffer_.ToString();
        }
        else
        {
            return "";
        }
    }
 
    public void GMotionComplete(string axes)
    {
        GReturn rc = DllGMotionComplete(ConnectionHandle_, axes);
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GOpen(string address)
    {
        GReturn rc = DllGOpen(address, ref ConnectionHandle_);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
        else
            ConnectionStatus_ = true;
    }
 
    public void GProgramDownload(string program, string preprocessor = "")
    {
        GReturn rc = DllGProgramDownload(ConnectionHandle_, program, preprocessor);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GProgramDownloadFile(string file_path, string preprocessor = "")
    {
        GReturn rc = DllGProgramDownloadFile(ConnectionHandle_, file_path, preprocessor);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public string GProgramUpload()
    {
        GReturn rc = DllGProgramUpload(ConnectionHandle_, Buffer_, BufferSize_);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
        else
        {
            return Buffer_.ToString();
        }
    }
 
    public void GProgramUploadFile(string file_path)
    {
        GReturn rc = DllGProgramUploadFile(ConnectionHandle_, file_path);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public byte[] GRead()
    {
        GSize read = 0;
        GReturn rc = DllGRead(ConnectionHandle_, ByteArray_, (uint)ByteArray_.Length, ref read);
        if (rc == G_NO_ERROR)
        {
            byte[] ReturnData = new byte[read];
            //create an array of the correct size
            for (GSize i = 0; i <= read - 1; i++)
            {
                ReturnData[i] = ByteArray_[i];
                //copy over the data
            }
            return ReturnData;
        }
        else
            return new byte[0];
    }
 
    public T GRecord<T>(bool async)
            where T : struct, GDataRecord
    {
        ushort method = 0;
        if (async)
            method = 1;
 
        GReturn rc = DllGRecord(ConnectionHandle_, ByteArray_, method);
        if (rc != G_NO_ERROR)
            throw new System.Exception(GError(rc));
 
        return ByteArrayToDataRecord<T>(ByteArray_);
    }
 
    public void GRecordRate(double period_ms)
    {
        GReturn rc = DllGRecordRate(ConnectionHandle_, period_ms);
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GTimeout(Int16 timeout_ms)
    {
        DllGTimeout(ConnectionHandle_, timeout_ms);
    }
 
    public string GVersion()
    {
        GReturn rc = DllGVersion(Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            return Buffer_.ToString();
        }
        else
        {
            return "";
        }
    }
 
    public void GWrite(string buffer)
    {
        GReturn rc = DllGWrite(ConnectionHandle_, buffer, (uint) buffer.Length);
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public string[] GSetupDownloadFile(string path, Int32 options)
  {
    GReturn rc = DllGSetupDownloadFile(ConnectionHandle_, path, options, Buffer_, BufferSize_);
 
    string ret_buf = Buffer_.ToString();
        ret_buf = ret_buf.Replace("\r\n", ", ");
 
    if (options != 0)
    {
      if (rc != G_NO_ERROR)
      {
        throw new System.Exception(GError(rc));
      }
    }
    else
    {
      ret_buf += "\"options\"," + rc + "\n";
    }
 
        char[] delimiters = new char[] { '\n' };
        return ret_buf.ToString().Split(delimiters, System.StringSplitOptions.RemoveEmptyEntries);
  }
 
    public void GSetServer(string server_name)
    {
        GReturn rc = DllGSetServer(server_name);
 
        if(rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public string GServerStatus()
    {
        GReturn rc = DllGServerStatus(Buffer_, BufferSize_);
 
        if(rc == G_NO_ERROR)
            return Buffer_.ToString();
        else
            throw new System.Exception(GError(rc));
    }
 
    public string[] GListServers()
    {
        GReturn rc = DllGListServers(Buffer_, BufferSize_);
 
        if(rc == G_NO_ERROR)
        {
            char[] delimiters = new char[] { '\n' };
            return Buffer_.ToString().Split(delimiters, System.StringSplitOptions.RemoveEmptyEntries);
        }
        else
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    public void GPublishServer(string server_name, bool publish, bool save)
    {
        GReturn rc = DllGPublishServer(server_name, Convert.ToInt16(publish), Convert.ToInt16(save));
 
        if (rc != G_NO_ERROR)
            throw new System.Exception(GError(rc));
    }
 
    public string[] GRemoteConnections()
    {
        GReturn rc = DllGRemoteConnections(Buffer_, BufferSize_);
 
        if(rc == G_NO_ERROR)
        {
            char[] delimiters = new char[] { '\n' };
            return Buffer_.ToString().Split(delimiters, System.StringSplitOptions.RemoveEmptyEntries);
        }
        else
        {
            throw new System.Exception(GError(rc));
        }
    }
 
    #endregion
 
    #region "DLL Imports"
    //Import declarations for gclib functions. Functions are private to this class and are prefixed with "Dll" to distinguish from C# functions.
 
    #region "Error Codes"
    private const Int32 G_NO_ERROR = 0;
    #endregion
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GAddresses", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGAddresses(GCStringOut addresses, GSize addresses_len);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GArrayDownload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGArrayDownload(GCon g, GCStringIn array_name, GOption first, GOption last, GCStringIn buffer);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GArrayDownloadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGArrayDownloadFile(GCon g, GCStringIn path);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GArrayUpload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGArrayUpload(GCon g, GCStringIn array_name, GOption first, GOption last, GOption delim, GCStringOut buffer, GSize bufferLength);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GArrayUploadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGArrayUploadFile(GCon g, GCStringIn path, GCStringIn names);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GAssign", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGAssign(GCStringIn ip, GCStringIn mac);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GClose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGClose(GCon g);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GCommand", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGCommand(GCon g, GCStringIn command, GCStringOut buffer, GSize bufferLength, ref GSize bytesReturned);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GError", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern void DllGError(GReturn error_code, GCStringOut errorbuf, GSize error_len);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GFirmwareDownload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGFirmwareDownload(GCon g, GCStringIn path);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGInfo(GCon g, GCStringOut info, GSize infoLength);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GInterrupt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGInterrupt(GCon g, ref GStatus status_byte);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GIpRequests", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGIpRequests(GCStringOut requests, GSize requests_len);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GMessage", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGMessage(GCon g, GCStringOut buffer, GSize bufferLength);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GMotionComplete", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGMotionComplete(GCon g, GCStringIn axes);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GOpen", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGOpen(GCStringIn address, ref GCon g);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GProgramDownload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramDownload(GCon g, GCStringIn program, GCStringIn preprocessor);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GProgramDownloadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramDownloadFile(GCon g, GCStringIn path, GCStringIn preprocessor);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GProgramUpload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramUpload(GCon g, GCStringOut buffer, GSize bufferLength);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GProgramUploadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramUploadFile(GCon g, GCStringIn path);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GRead", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGRead(GCon g, byte[] record, GSize buffer_len, ref GSize bytes_read);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GRecord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGRecord(GCon g, byte[] record, GOption method);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GRecordRate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGRecordRate(GCon g, double period_ms);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GTimeout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern void DllGTimeout(GCon g, GOption timeoutMs);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGVersion(GCStringOut ver, GSize ver_len);
 
    [DllImport(LibraryPath.GclibDllPath_, EntryPoint = "GWrite", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGWrite(GCon g, GCStringIn buffer, GSize buffer_len);
 
  [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GSetupDownloadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGSetupDownloadFile(GCon g, GCStringIn file_path, GOption options, GCStringOut info, GSize info_len);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GSetServer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGSetServer(GCStringIn server_name);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GServerStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGServerStatus(GCStringOut status, GSize status_len);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GListServers", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGListServers(GCStringOut servers, GSize servers_len);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GPublishServer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGPublishServer(GCStringIn name, GOption publish, GOption save);
 
    [DllImport(LibraryPath.GcliboDllPath_, EntryPoint = "GRemoteConnections", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGRemoteConnections(GCStringOut connections, GSize connections_len);
 
    #endregion
 
    #region "Data Record"
 
    private T ByteArrayToDataRecord<T>(byte[] array)
        where T : struct, GDataRecord
    {
        GCHandle handle = GCHandle.Alloc(array, GCHandleType.Pinned);
        try
        {
            return Marshal.PtrToStructure<T>(handle.AddrOfPinnedObject());
        }
        catch
        {
            return default(T);
        }
        finally
        {
            handle.Free();
        }
    }
 
    public interface GDataRecord
    {
        byte[] byte_array();
    }
 
    private static byte[] StructToByteArray(GDataRecord record) //Returns this DataRecord as a byte[]
    {
        int size = Marshal.SizeOf(record);
        byte[] arr = new byte[size];
 
        IntPtr ptr = Marshal.AllocHGlobal(size);
        Marshal.StructureToPtr(record, ptr, true);
        Marshal.Copy(ptr, arr, 0, size);
        Marshal.FreeHGlobal(ptr);
        return arr;
    }
 
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord4000 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
 
      /*06*/      public UB input_bank_0; 
      /*07*/      public UB input_bank_1; 
      /*08*/      public UB input_bank_2; 
      /*09*/      public UB input_bank_3; 
      /*10*/      public UB input_bank_4; 
      /*11*/      public UB input_bank_5; 
      /*12*/      public UB input_bank_6; 
      /*13*/    public UB input_bank_7; 
      /*14*/    public UB input_bank_8; 
      /*15*/      public UB input_bank_9; 
 
      /*16*/      public UB output_bank_0; 
      /*17*/      public UB output_bank_1; 
      /*18*/    public UB output_bank_2; 
      /*19*/      public UB output_bank_3; 
      /*20*/    public UB output_bank_4; 
      /*21*/      public UB output_bank_5; 
      /*22*/      public UB output_bank_6; 
      /*23*/      public UB output_bank_7; 
      /*24*/    public UB output_bank_8; 
      /*25*/    public UB output_bank_9; 
 
      /*26-27*/ public SW  reserved_0; 
      /*28-29*/ public SW   reserved_2; 
      /*30-31*/ public SW   reserved_4; 
      /*32-33*/ public SW reserved_6; 
      /*34-35*/ public SW reserved_8; 
      /*36-37*/ public SW reserved_10; 
      /*38-39*/ public SW reserved_12; 
      /*40-41*/ public SW reserved_14; 
 
      /*42*/      public UB ethernet_status_a; 
      /*43*/    public UB ethernet_status_b; 
      /*44*/      public UB ethernet_status_c; 
      /*45*/    public UB ethernet_status_d; 
      /*46*/    public UB ethernet_status_e; 
      /*47*/      public UB ethernet_status_f; 
      /*48*/    public UB ethernet_status_g; 
      /*49*/    public UB ethernet_status_h; 
 
      /*50*/      public UB error_code; 
      /*51*/    public UB thread_status; 
      /*52-55*/ public UL amplifier_status; 
 
      /*56-59*/ public UL contour_segment_count; 
      /*60-61*/ public UW contour_buffer_available; 
 
      /*62-63*/ public UW s_plane_segment_count; 
      /*64-65*/ public UW s_plane_move_status; 
      /*66-69*/ public SL s_distance; 
      /*70-71*/ public UW s_plane_buffer_available; 
 
      /*72-73*/ public UW t_plane_segment_count; 
      /*74-75*/ public UW t_plane_move_status; 
      /*76-79*/ public SL t_distance; 
      /*80-81*/ public UW t_plane_buffer_available; 
 
      /*82-83*/ public UW axis_a_status; 
      /*84*/      public UB axis_a_switches; 
      /*85*/      public UB axis_a_stop_code; 
      /*86-89*/ public SL axis_a_reference_position; 
      /*90-93*/ public SL axis_a_motor_position; 
      /*94-97*/ public SL axis_a_position_error; 
      /*98-101*/  public SL axis_a_aux_position; 
      /*102-105*/ public SL axis_a_velocity; 
      /*106-109*/ public SL   axis_a_torque; 
      /*110-111*/ public UW  axis_a_analog_in; 
      /*112*/     public UB axis_a_halls; 
      /*113*/   public UB axis_a_reserved; 
      /*114-117*/ public SL axis_a_variable; 
 
      /*118-119*/ public UW axis_b_status; 
      /*120*/     public UB axis_b_switches; 
      /*121*/     public UB axis_b_stop_code; 
      /*122-125*/ public SL axis_b_reference_position; 
      /*126-129*/ public SL axis_b_motor_position; 
      /*130-133*/ public SL axis_b_position_error; 
      /*134-137*/ public SL axis_b_aux_position; 
      /*138-141*/ public SL axis_b_velocity; 
      /*142-145*/ public SL axis_b_torque; 
      /*146-147*/ public UW  axis_b_analog_in; 
      /*148*/     public UB axis_b_halls; 
      /*149*/     public UB axis_b_reserved; 
      /*150-153*/ public SL axis_b_variable; 
 
      /*154-155*/ public UW axis_c_status; 
      /*156*/   public UB axis_c_switches; 
      /*157*/   public UB axis_c_stop_code; 
      /*158-161*/ public SL axis_c_reference_position; 
      /*162-165*/ public SL axis_c_motor_position; 
      /*166-169*/ public SL axis_c_position_error; 
      /*170-173*/ public SL axis_c_aux_position; 
      /*174-177*/ public SL axis_c_velocity; 
      /*178-181*/ public SL axis_c_torque; 
      /*182-183*/ public UW   axis_c_analog_in; 
      /*184*/     public UB axis_c_halls; 
      /*185*/     public UB axis_c_reserved; 
      /*186-189*/ public SL axis_c_variable; 
 
      /*190-191*/ public UW axis_d_status; 
      /*192*/     public UB axis_d_switches; 
      /*193*/   public UB axis_d_stop_code; 
      /*194-197*/ public SL axis_d_reference_position; 
      /*198-201*/ public SL axis_d_motor_position; 
      /*202-205*/ public SL axis_d_position_error; 
      /*206-209*/ public SL axis_d_aux_position; 
      /*210-213*/ public SL axis_d_velocity; 
      /*214-217*/ public SL axis_d_torque; 
      /*218-219*/ public UW  axis_d_analog_in; 
      /*220*/   public UB axis_d_halls; 
      /*221*/   public UB axis_d_reserved; 
      /*222-225*/ public SL axis_d_variable; 
 
      /*226-227*/ public UW axis_e_status; 
      /*228*/     public UB axis_e_switches; 
      /*229*/     public UB axis_e_stop_code; 
      /*230-233*/ public SL axis_e_reference_position; 
      /*234-237*/ public SL axis_e_motor_position; 
      /*238-241*/ public SL axis_e_position_error; 
      /*242-245*/ public SL axis_e_aux_position; 
      /*246-249*/ public SL axis_e_velocity; 
      /*250-253*/ public SL axis_e_torque; 
      /*254-255*/ public UW  axis_e_analog_in; 
      /*256*/   public UB axis_e_halls; 
      /*257*/     public UB axis_e_reserved; 
      /*258-261*/ public SL axis_e_variable; 
 
      /*262-263*/ public UW axis_f_status; 
      /*264*/     public UB axis_f_switches; 
      /*265*/     public UB axis_f_stop_code; 
      /*266-269*/ public SL axis_f_reference_position; 
      /*270-273*/ public SL axis_f_motor_position; 
      /*274-277*/ public SL axis_f_position_error; 
      /*278-281*/ public SL axis_f_aux_position; 
      /*282-285*/ public SL axis_f_velocity; 
      /*286-289*/ public SL axis_f_torque; 
      /*290-291*/ public UW axis_f_analog_in; 
      /*292*/     public UB axis_f_halls; 
      /*293*/     public UB axis_f_reserved; 
      /*294-297*/ public SL axis_f_variable; 
 
      /*298-299*/ public UW axis_g_status; 
      /*300*/   public UB axis_g_switches; 
      /*301*/   public UB axis_g_stop_code; 
      /*302-305*/ public SL axis_g_reference_position; 
      /*306-309*/ public SL axis_g_motor_position; 
      /*310-313*/ public SL axis_g_position_error; 
      /*314-317*/ public SL axis_g_aux_position; 
      /*318-321*/ public SL axis_g_velocity; 
      /*322-325*/ public SL axis_g_torque; 
      /*326-327*/ public UW  axis_g_analog_in; 
      /*328*/     public UB axis_g_halls; 
      /*329*/     public UB axis_g_reserved; 
      /*330-333*/ public SL axis_g_variable; 
 
      /*334-335*/ public UW axis_h_status; 
      /*336*/   public UB axis_h_switches; 
      /*337*/     public UB axis_h_stop_code; 
      /*338-341*/ public SL axis_h_reference_position; 
      /*342-345*/ public SL axis_h_motor_position; 
      /*346-349*/ public SL axis_h_position_error; 
      /*350-353*/ public SL axis_h_aux_position; 
      /*354-357*/ public SL axis_h_velocity; 
      /*358-361*/ public SL axis_h_torque; 
      /*362-363*/ public UW  axis_h_analog_in; 
      /*364*/     public UB axis_h_halls; 
      /*365*/   public UB axis_h_reserved; 
      /*366-369*/ public SL axis_h_variable; 
    }; //DataRecord4000
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord52000 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
 
      /*06*/      public UB input_bank_0; 
      /*07*/      public UB input_bank_1; 
      /*08*/      public UB input_bank_2; 
      /*09*/      public UB input_bank_3; 
      /*10*/      public UB input_bank_4; 
      /*11*/      public UB input_bank_5; 
      /*12*/      public UB input_bank_6; 
      /*13*/    public UB input_bank_7; 
      /*14*/    public UB input_bank_8; 
      /*15*/      public UB input_bank_9; 
 
      /*16*/      public UB output_bank_0; 
      /*17*/      public UB output_bank_1; 
      /*18*/    public UB output_bank_2; 
      /*19*/      public UB output_bank_3; 
      /*20*/    public UB output_bank_4; 
      /*21*/      public UB output_bank_5; 
      /*22*/      public UB output_bank_6; 
      /*23*/      public UB output_bank_7; 
      /*24*/    public UB output_bank_8; 
      /*25*/    public UB output_bank_9; 
 
      /*26-27*/ public SW  reserved_0; 
      /*28-29*/ public SW   reserved_2; 
      /*30-31*/ public SW   reserved_4; 
      /*32-33*/ public SW reserved_6; 
      /*34-35*/ public SW reserved_8; 
      /*36-37*/ public SW reserved_10; 
      /*38-39*/ public SW reserved_12; 
      /*40*/      public UB  ethercat_bank; 
      /*41*/    public UB reserved_14; 
 
      /*42*/      public UB ethernet_status_a; 
      /*43*/    public UB ethernet_status_b; 
      /*44*/      public UB ethernet_status_c; 
      /*45*/    public UB ethernet_status_d; 
      /*46*/    public UB ethernet_status_e; 
      /*47*/      public UB ethernet_status_f; 
      /*48*/    public UB ethernet_status_g; 
      /*49*/    public UB ethernet_status_h; 
 
      /*50*/      public UB error_code; 
      /*51*/    public UB thread_status; 
      /*52-55*/ public UL amplifier_status; 
 
      /*56-59*/ public UL contour_segment_count; 
      /*60-61*/ public UW contour_buffer_available; 
 
      /*62-63*/ public UW s_plane_segment_count; 
      /*64-65*/ public UW s_plane_move_status; 
      /*66-69*/ public SL s_distance; 
      /*70-71*/ public UW s_plane_buffer_available; 
 
      /*72-73*/ public UW t_plane_segment_count; 
      /*74-75*/ public UW t_plane_move_status; 
      /*76-79*/ public SL t_distance; 
      /*80-81*/ public UW t_plane_buffer_available; 
 
      /*82-83*/ public UW axis_a_status; 
      /*84*/      public UB axis_a_switches; 
      /*85*/      public UB axis_a_stop_code; 
      /*86-89*/ public SL axis_a_reference_position; 
      /*90-93*/ public SL axis_a_motor_position; 
      /*94-97*/ public SL axis_a_position_error; 
      /*98-101*/  public SL axis_a_aux_position; 
      /*102-105*/ public SL axis_a_velocity; 
      /*106-109*/ public SL   axis_a_torque; 
      /*110-111*/ public UW  axis_a_analog_in; 
      /*112*/     public UB axis_a_halls; 
      /*113*/   public UB axis_a_reserved; 
      /*114-117*/ public SL axis_a_variable; 
 
      /*118-119*/ public UW axis_b_status; 
      /*120*/     public UB axis_b_switches; 
      /*121*/     public UB axis_b_stop_code; 
      /*122-125*/ public SL axis_b_reference_position; 
      /*126-129*/ public SL axis_b_motor_position; 
      /*130-133*/ public SL axis_b_position_error; 
      /*134-137*/ public SL axis_b_aux_position; 
      /*138-141*/ public SL axis_b_velocity; 
      /*142-145*/ public SL axis_b_torque; 
      /*146-147*/ public UW  axis_b_analog_in; 
      /*148*/     public UB axis_b_halls; 
      /*149*/     public UB axis_b_reserved; 
      /*150-153*/ public SL axis_b_variable; 
 
      /*154-155*/ public UW axis_c_status; 
      /*156*/   public UB axis_c_switches; 
      /*157*/   public UB axis_c_stop_code; 
      /*158-161*/ public SL axis_c_reference_position; 
      /*162-165*/ public SL axis_c_motor_position; 
      /*166-169*/ public SL axis_c_position_error; 
      /*170-173*/ public SL axis_c_aux_position; 
      /*174-177*/ public SL axis_c_velocity; 
      /*178-181*/ public SL axis_c_torque; 
      /*182-183*/ public UW   axis_c_analog_in; 
      /*184*/     public UB axis_c_halls; 
      /*185*/     public UB axis_c_reserved; 
      /*186-189*/ public SL axis_c_variable; 
 
      /*190-191*/ public UW axis_d_status; 
      /*192*/     public UB axis_d_switches; 
      /*193*/   public UB axis_d_stop_code; 
      /*194-197*/ public SL axis_d_reference_position; 
      /*198-201*/ public SL axis_d_motor_position; 
      /*202-205*/ public SL axis_d_position_error; 
      /*206-209*/ public SL axis_d_aux_position; 
      /*210-213*/ public SL axis_d_velocity; 
      /*214-217*/ public SL axis_d_torque; 
      /*218-219*/ public UW  axis_d_analog_in; 
      /*220*/   public UB axis_d_halls; 
      /*221*/   public UB axis_d_reserved; 
      /*222-225*/ public SL axis_d_variable; 
 
      /*226-227*/ public UW axis_e_status; 
      /*228*/     public UB axis_e_switches; 
      /*229*/     public UB axis_e_stop_code; 
      /*230-233*/ public SL axis_e_reference_position; 
      /*234-237*/ public SL axis_e_motor_position; 
      /*238-241*/ public SL axis_e_position_error; 
      /*242-245*/ public SL axis_e_aux_position; 
      /*246-249*/ public SL axis_e_velocity; 
      /*250-253*/ public SL axis_e_torque; 
      /*254-255*/ public UW  axis_e_analog_in; 
      /*256*/   public UB axis_e_halls; 
      /*257*/     public UB axis_e_reserved; 
      /*258-261*/ public SL axis_e_variable; 
 
      /*262-263*/ public UW axis_f_status; 
      /*264*/     public UB axis_f_switches; 
      /*265*/     public UB axis_f_stop_code; 
      /*266-269*/ public SL axis_f_reference_position; 
      /*270-273*/ public SL axis_f_motor_position; 
      /*274-277*/ public SL axis_f_position_error; 
      /*278-281*/ public SL axis_f_aux_position; 
      /*282-285*/ public SL axis_f_velocity; 
      /*286-289*/ public SL axis_f_torque; 
      /*290-291*/ public UW axis_f_analog_in; 
      /*292*/     public UB axis_f_halls; 
      /*293*/     public UB axis_f_reserved; 
      /*294-297*/ public SL axis_f_variable; 
 
      /*298-299*/ public UW axis_g_status; 
      /*300*/   public UB axis_g_switches; 
      /*301*/   public UB axis_g_stop_code; 
      /*302-305*/ public SL axis_g_reference_position; 
      /*306-309*/ public SL axis_g_motor_position; 
      /*310-313*/ public SL axis_g_position_error; 
      /*314-317*/ public SL axis_g_aux_position; 
      /*318-321*/ public SL axis_g_velocity; 
      /*322-325*/ public SL axis_g_torque; 
      /*326-327*/ public UW  axis_g_analog_in; 
      /*328*/     public UB axis_g_halls; 
      /*329*/     public UB axis_g_reserved; 
      /*330-333*/ public SL axis_g_variable; 
 
      /*334-335*/ public UW axis_h_status; 
      /*336*/   public UB axis_h_switches; 
      /*337*/     public UB axis_h_stop_code; 
      /*338-341*/ public SL axis_h_reference_position; 
      /*342-345*/ public SL axis_h_motor_position; 
      /*346-349*/ public SL axis_h_position_error; 
      /*350-353*/ public SL axis_h_aux_position; 
      /*354-357*/ public SL axis_h_velocity; 
      /*358-361*/ public SL axis_h_torque; 
      /*362-363*/ public UW  axis_h_analog_in; 
      /*364*/     public UB axis_h_halls; 
      /*365*/   public UB axis_h_reserved; 
      /*366-369*/ public SL axis_h_variable; 
    }; //DataRecord52000
 
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord1806 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
        /*Offset   type name        description*/
 
        /*00-01*/   public UW sample_number; 
 
      /*02*/      public UB input_bank_0; 
      /*03*/      public UB input_bank_1; 
      /*04*/      public UB input_bank_2; 
      /*05*/      public UB input_bank_3; 
      /*06*/      public UB input_bank_4; 
      /*07*/      public UB input_bank_5; 
      /*08*/      public UB input_bank_6; 
      /*09*/    public UB input_bank_7; 
      /*10*/    public UB input_bank_8; 
      /*11*/      public UB input_bank_9; 
 
      /*12*/      public UB output_bank_0; 
      /*13*/      public UB output_bank_1; 
      /*14*/    public UB output_bank_2; 
      /*15*/      public UB output_bank_3; 
      /*16*/    public UB output_bank_4; 
      /*17*/      public UB output_bank_5; 
      /*18*/      public UB output_bank_6; 
      /*19*/      public UB output_bank_7; 
      /*20*/    public UB output_bank_8; 
      /*21*/    public UB output_bank_9; 
 
      /*22-23*/ public SW  reserved_0; 
      /*24-25*/ public SW   reserved_2; 
      /*26-27*/ public SW   reserved_4; 
      /*28-29*/ public SW reserved_6; 
      /*30-31*/ public SW reserved_8; 
      /*32-33*/ public SW reserved_10; 
      /*34-35*/ public SW reserved_12; 
      /*36-37*/ public SW reserved_14; 
 
      /*38*/      public UB reserved_16; 
      /*39*/    public UB reserved_17; 
      /*40*/      public UB reserved_18; 
      /*41*/    public UB reserved_19; 
      /*42*/    public UB reserved_20; 
      /*43*/      public UB reserved_21; 
      /*44*/    public UB reserved_22; 
      /*45*/    public UB reserved_23; 
 
      /*46*/      public UB error_code; 
      /*47*/    public UB thread_status; 
      /*48-51*/ public UL reserved_24; 
 
      /*52-55*/ public UL contour_segment_count; 
      /*56-57*/ public UW contour_buffer_available; 
 
      /*58-59*/ public UW s_plane_segment_count; 
      /*60-61*/ public UW s_plane_move_status; 
      /*62-65*/ public SL s_distance; 
      /*66-67*/ public UW s_plane_buffer_available; 
 
      /*68-69*/ public UW t_plane_segment_count; 
      /*70-71*/ public UW t_plane_move_status; 
      /*72-75*/ public SL t_distance; 
      /*76-77*/ public UW t_plane_buffer_available; 
 
      /*78-79*/ public UW axis_a_status; 
      /*80*/      public UB axis_a_switches; 
      /*81*/      public UB axis_a_stop_code; 
      /*82-85*/ public SL axis_a_reference_position; 
      /*86-89*/ public SL axis_a_motor_position; 
      /*90-93*/ public SL axis_a_position_error; 
      /*94-97*/ public SL axis_a_aux_position; 
      /*98-101*/  public SL axis_a_velocity; 
      /*102-105*/ public SL   axis_a_torque; 
      /*106-107*/ public UW  axis_a_analog_in; 
      /*108*/     public UB axis_a_reserved_0; 
      /*109*/   public UB axis_a_reserved_1; 
      /*110-113*/ public SL axis_a_variable; 
 
      /*114-115*/ public UW axis_b_status; 
      /*116*/     public UB axis_b_switches; 
      /*117*/     public UB axis_b_stop_code; 
      /*118-121*/ public SL axis_b_reference_position; 
      /*122-125*/ public SL axis_b_motor_position; 
      /*126-129*/ public SL axis_b_position_error; 
      /*130-133*/ public SL axis_b_aux_position; 
      /*134-137*/ public SL axis_b_velocity; 
      /*138-141*/ public SL axis_b_torque; 
      /*142-143*/ public UW  axis_b_analog_in; 
      /*144*/     public UB axis_b_reserved_0; 
      /*145*/     public UB axis_b_reserved_1; 
      /*146-149*/ public SL axis_b_variable; 
 
      /*150-151*/ public UW axis_c_status; 
      /*152*/   public UB axis_c_switches; 
      /*153*/   public UB axis_c_stop_code; 
      /*154-157*/ public SL axis_c_reference_position; 
      /*158-161*/ public SL axis_c_motor_position; 
      /*162-165*/ public SL axis_c_position_error; 
      /*166-169*/ public SL axis_c_aux_position; 
      /*170-173*/ public SL axis_c_velocity; 
      /*174-177*/ public SL axis_c_torque; 
      /*178-179*/ public UW   axis_c_analog_in; 
      /*180*/     public UB axis_c_reserved_0; 
      /*181*/     public UB axis_c_reserved_1; 
      /*182-185*/ public SL axis_c_variable; 
 
      /*186-187*/ public UW axis_d_status; 
      /*188*/     public UB axis_d_switches; 
      /*189*/   public UB axis_d_stop_code; 
      /*190-193*/ public SL axis_d_reference_position; 
      /*194-197*/ public SL axis_d_motor_position; 
      /*198-201*/ public SL axis_d_position_error; 
      /*202-205*/ public SL axis_d_aux_position; 
      /*206-209*/ public SL axis_d_velocity; 
      /*210-213*/ public SL axis_d_torque; 
      /*214-215*/ public UW  axis_d_analog_in; 
      /*216*/   public UB axis_d_reserved_0; 
      /*217*/   public UB axis_d_reserved_1; 
      /*218-221*/ public SL axis_d_variable; 
 
      /*222-223*/ public UW axis_e_status; 
      /*224*/     public UB axis_e_switches; 
      /*225*/     public UB axis_e_stop_code; 
      /*226-229*/ public SL axis_e_reference_position; 
      /*230-233*/ public SL axis_e_motor_position; 
      /*234-237*/ public SL axis_e_position_error; 
      /*238-241*/ public SL axis_e_aux_position; 
      /*242-245*/ public SL axis_e_velocity; 
      /*256-249*/ public SL axis_e_torque; 
      /*250-251*/ public UW  axis_e_analog_in; 
      /*252*/   public UB axis_e_reserved_0; 
      /*253*/     public UB axis_e_reserved_1; 
      /*254-257*/ public SL axis_e_variable; 
 
      /*258-259*/ public UW axis_f_status; 
      /*260*/     public UB axis_f_switches; 
      /*261*/     public UB axis_f_stop_code; 
      /*262-265*/ public SL axis_f_reference_position; 
      /*266-269*/ public SL axis_f_motor_position; 
      /*270-273*/ public SL axis_f_position_error; 
      /*274-277*/ public SL axis_f_aux_position; 
      /*278-281*/ public SL axis_f_velocity; 
      /*282-285*/ public SL axis_f_torque; 
      /*286-287*/ public UW axis_f_analog_in; 
      /*288*/     public UB axis_f_reserved_0; 
      /*289*/     public UB axis_f_reserved_1; 
      /*290-293*/ public SL axis_f_variable; 
 
      /*294-295*/ public UW axis_g_status; 
      /*296*/   public UB axis_g_switches; 
      /*297*/   public UB axis_g_stop_code; 
      /*298-301*/ public SL axis_g_reference_position; 
      /*302-305*/ public SL axis_g_motor_position; 
      /*306-309*/ public SL axis_g_position_error; 
      /*310-313*/ public SL axis_g_aux_position; 
      /*314-317*/ public SL axis_g_velocity; 
      /*318-321*/ public SL axis_g_torque; 
      /*322-323*/ public UW  axis_g_analog_in; 
      /*324*/     public UB axis_g_reserved_0; 
      /*325*/     public UB axis_g_reserved_1; 
      /*326-329*/ public SL axis_g_variable; 
 
      /*330-331*/ public UW axis_h_status; 
      /*332*/   public UB axis_h_switches; 
      /*333*/     public UB axis_h_stop_code; 
      /*334-337*/ public SL axis_h_reference_position; 
      /*338-341*/ public SL axis_h_motor_position; 
      /*342-345*/ public SL axis_h_position_error; 
      /*346-349*/ public SL axis_h_aux_position; 
      /*350-353*/ public SL axis_h_velocity; 
      /*354-357*/ public SL axis_h_torque; 
      /*358-359*/ public UW  axis_h_analog_in; 
      /*360*/     public UB axis_h_reserved_0; 
      /*361*/   public UB axis_h_reserved_1; 
      /*362-365*/ public SL axis_h_variable; 
    }; //DataRecord1806
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord2103 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
 
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
 
      /*06*/      public UB input_bank_0; 
      /*07*/      public UB input_bank_1; 
      /*08*/      public UB input_bank_2; 
      /*09*/      public UB input_bank_3; 
      /*10*/      public UB input_bank_4; 
      /*11*/      public UB input_bank_5; 
      /*12*/      public UB input_bank_6; 
      /*13*/    public UB input_bank_7; 
      /*14*/    public UB input_bank_8; 
      /*15*/      public UB input_bank_9; 
 
      /*16*/      public UB output_bank_0; 
      /*17*/      public UB output_bank_1; 
      /*18*/    public UB output_bank_2; 
      /*19*/      public UB output_bank_3; 
      /*20*/    public UB output_bank_4; 
      /*21*/      public UB output_bank_5; 
      /*22*/      public UB output_bank_6; 
      /*23*/      public UB output_bank_7; 
      /*24*/    public UB output_bank_8; 
      /*25*/    public UB output_bank_9; 
 
      /*26*/      public UB error_code; 
      /*27*/    public UB general_status; 
 
      /*28-29*/ public UW s_plane_segment_count; 
      /*30-31*/ public UW s_plane_move_status; 
      /*32-35*/ public SL s_distance; 
 
      /*36-37*/ public UW t_plane_segment_count; 
      /*38-39*/ public UW t_plane_move_status; 
      /*40-43*/ public SL t_distance; 
 
      /*44-45*/ public UW axis_a_status; 
      /*46*/      public UB axis_a_switches; 
      /*47*/      public UB axis_a_stop_code; 
      /*48-51*/ public SL axis_a_reference_position; 
      /*52-55*/ public SL axis_a_motor_position; 
      /*56-59*/ public SL axis_a_position_error; 
      /*60-63*/ public SL axis_a_aux_position; 
      /*64-67*/ public SL axis_a_velocity; 
      /*68-69*/ public SW   axis_a_torque; 
      /*70-71*/ public UW  axis_a_analog_in; 
 
      /*72-73*/ public UW axis_b_status; 
      /*74*/      public UB axis_b_switches; 
      /*75*/      public UB axis_b_stop_code; 
      /*76-79*/ public SL axis_b_reference_position; 
      /*80-83*/ public SL axis_b_motor_position; 
      /*84-87*/ public SL axis_b_position_error; 
      /*88-91*/ public SL axis_b_aux_position; 
      /*92-95*/ public SL axis_b_velocity; 
      /*96-97*/ public SW axis_b_torque; 
      /*98-99*/ public UW  axis_b_analog_in; 
 
      /*100-101*/ public UW axis_c_status; 
      /*102*/   public UB axis_c_switches; 
      /*103*/   public UB axis_c_stop_code; 
      /*104-107*/ public SL axis_c_reference_position; 
      /*108-111*/ public SL axis_c_motor_position; 
      /*112-115*/ public SL axis_c_position_error; 
      /*116-119*/ public SL axis_c_aux_position; 
      /*120-123*/ public SL axis_c_velocity; 
      /*124-125*/ public SW axis_c_torque; 
      /*126-127*/ public UW   axis_c_analog_in; 
 
      /*128-129*/ public UW axis_d_status; 
      /*130*/     public UB axis_d_switches; 
      /*131*/   public UB axis_d_stop_code; 
      /*132-135*/ public SL axis_d_reference_position; 
      /*136-139*/ public SL axis_d_motor_position; 
      /*140-143*/ public SL axis_d_position_error; 
      /*144-147*/ public SL axis_d_aux_position; 
      /*148-151*/ public SL axis_d_velocity; 
      /*152-153*/ public SW axis_d_torque; 
      /*154-155*/ public UW  axis_d_analog_in; 
 
      /*156-157*/ public UW axis_e_status; 
      /*158*/     public UB axis_e_switches; 
      /*159*/     public UB axis_e_stop_code; 
      /*160-163*/ public SL axis_e_reference_position; 
      /*164-167*/ public SL axis_e_motor_position; 
      /*168-171*/ public SL axis_e_position_error; 
      /*172-175*/ public SL axis_e_aux_position; 
      /*176-179*/ public SL axis_e_velocity; 
      /*180-181*/ public SW axis_e_torque; 
      /*182-183*/ public UW  axis_e_analog_in; 
 
      /*184-185*/ public UW axis_f_status; 
      /*186*/     public UB axis_f_switches; 
      /*187*/     public UB axis_f_stop_code; 
      /*188-191*/ public SL axis_f_reference_position; 
      /*192-195*/ public SL axis_f_motor_position; 
      /*196-199*/ public SL axis_f_position_error; 
      /*200-203*/ public SL axis_f_aux_position; 
      /*204-207*/ public SL axis_f_velocity; 
      /*208-209*/ public SW axis_f_torque; 
      /*210-211*/ public UW axis_f_analog_in; 
 
      /*212-213*/ public UW axis_g_status; 
      /*214*/   public UB axis_g_switches; 
      /*215*/   public UB axis_g_stop_code; 
      /*216-219*/ public SL axis_g_reference_position; 
      /*220-223*/ public SL axis_g_motor_position; 
      /*224-227*/ public SL axis_g_position_error; 
      /*228-231*/ public SL axis_g_aux_position; 
      /*232-235*/ public SL axis_g_velocity; 
      /*236-237*/ public SW axis_g_torque; 
      /*238-239*/ public UW  axis_g_analog_in; 
 
      /*240-241*/ public UW axis_h_status; 
      /*242*/   public UB axis_h_switches; 
      /*243*/     public UB axis_h_stop_code; 
      /*244-247*/ public SL axis_h_reference_position; 
      /*248-251*/ public SL axis_h_motor_position; 
      /*252-255*/ public SL axis_h_position_error; 
      /*256-259*/ public SL axis_h_aux_position; 
      /*260-263*/ public SL axis_h_velocity; 
      /*264-265*/ public SW axis_h_torque; 
      /*266-267*/ public UW  axis_h_analog_in; 
    }; //DataRecord2013
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord1802 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
 
        /*Offset   type name        description*/
 
        /*00-01*/   public UW sample_number; 
 
      /*02*/      public UB input_bank_0; 
      /*03*/      public UB input_bank_1; 
      /*04*/      public UB input_bank_2; 
      /*05*/      public UB input_bank_3; 
      /*06*/      public UB input_bank_4; 
      /*07*/      public UB input_bank_5; 
      /*08*/      public UB input_bank_6; 
      /*09*/    public UB input_bank_7; 
      /*10*/    public UB input_bank_8; 
      /*11*/      public UB input_bank_9; 
 
      /*12*/      public UB output_bank_0; 
      /*13*/      public UB output_bank_1; 
      /*14*/    public UB output_bank_2; 
      /*15*/      public UB output_bank_3; 
      /*16*/    public UB output_bank_4; 
      /*17*/      public UB output_bank_5; 
      /*18*/      public UB output_bank_6; 
      /*19*/      public UB output_bank_7; 
      /*20*/    public UB output_bank_8; 
      /*21*/    public UB output_bank_9; 
 
      /*22*/      public UB error_code; 
      /*23*/    public UB general_status; 
 
      /*24-25*/ public UW s_plane_segment_count; 
      /*26-27*/ public UW s_plane_move_status; 
      /*28-31*/ public SL s_distance; 
 
      /*32-33*/ public UW t_plane_segment_count; 
      /*34-35*/ public UW t_plane_move_status; 
      /*36-39*/ public SL t_distance; 
 
      /*40-41*/ public UW axis_a_status; 
      /*42*/      public UB axis_a_switches; 
      /*43*/      public UB axis_a_stop_code; 
      /*44-47*/ public SL axis_a_reference_position; 
      /*48-51*/ public SL axis_a_motor_position; 
      /*52-55*/ public SL axis_a_position_error; 
      /*56-59*/ public SL axis_a_aux_position; 
      /*60-63*/ public SL axis_a_velocity; 
      /*64-65*/ public SW   axis_a_torque; 
      /*66*/      public UB axis_a_reserved_0; 
      /*67*/      public UB axis_a_reserved_1; 
 
      /*68-69*/   public UW axis_b_status; 
      /*70*/      public UB axis_b_switches; 
      /*71*/      public UB axis_b_stop_code; 
      /*72-75*/ public SL axis_b_reference_position; 
      /*76-79*/ public SL axis_b_motor_position; 
      /*80-83*/ public SL axis_b_position_error; 
      /*84-87*/ public SL axis_b_aux_position; 
      /*88-91*/ public SL axis_b_velocity; 
      /*92-93*/ public SW axis_b_torque; 
      /*94*/      public UB axis_b_reserved_0; 
      /*95*/      public UB axis_b_reserved_1; 
 
      /*96-97*/ public UW axis_c_status; 
      /*98*/    public UB axis_c_switches; 
      /*99*/    public UB axis_c_stop_code; 
      /*100-103*/ public SL axis_c_reference_position; 
      /*104-107*/ public SL axis_c_motor_position; 
      /*108-111*/ public SL axis_c_position_error; 
      /*112-115*/ public SL axis_c_aux_position; 
      /*116-119*/ public SL axis_c_velocity; 
      /*120-121*/ public SW axis_c_torque; 
      /*122*/     public UB axis_c_reserved_0; 
      /*123*/     public UB axis_c_reserved_1; 
 
      /*124-125*/ public UW axis_d_status; 
      /*126*/     public UB axis_d_switches; 
      /*127*/   public UB axis_d_stop_code; 
      /*128-131*/ public SL axis_d_reference_position; 
      /*132-135*/ public SL axis_d_motor_position; 
      /*136-139*/ public SL axis_d_position_error; 
      /*140-143*/ public SL axis_d_aux_position; 
      /*144-147*/ public SL axis_d_velocity; 
      /*148-149*/ public SW axis_d_torque; 
      /*150*/     public UB axis_d_reserved_0; 
      /*151*/     public UB axis_d_reserved_1; 
 
    }; //DataRecord1802
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord30000 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
 
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
 
      /*06*/      public UB input_bank_0; 
      /*07*/      public UB input_bank_1; 
 
      /*08*/      public UB output_bank_0; 
      /*09*/      public UB output_bank_1; 
 
      /*10*/      public UB error_code; 
      /*11*/    public UB thread_status; 
 
      /*12-13*/ public UW input_analog_2; 
 
      /*14-15*/ public UW output_analog_1; 
      /*16-17*/ public UW output_analog_2; 
 
      /*18-21*/ public UL amplifier_status; 
 
      /*22-25*/ public UL contour_segment_count; 
      /*26-27*/ public UW contour_buffer_available; 
 
      /*28-29*/ public UW s_plane_segment_count; 
      /*30-31*/ public UW s_plane_move_status; 
      /*32-35*/ public SL s_distance; 
      /*36-37*/ public UW s_plane_buffer_available; 
 
      /*38-39*/ public UW axis_a_status; 
      /*40*/      public UB axis_a_switches; 
      /*41*/      public UB axis_a_stop_code; 
      /*42-45*/ public SL axis_a_reference_position; 
      /*46-49*/ public SL axis_a_motor_position; 
      /*50-53*/ public SL axis_a_position_error; 
      /*54-57*/ public SL axis_a_aux_position; 
      /*58-61*/ public SL axis_a_velocity; 
      /*62-65*/ public SL   axis_a_torque; 
      /*66-67*/ public UW  axis_a_analog_in; 
      /*68*/      public UB axis_a_halls; 
      /*69*/    public UB axis_a_reserved; 
      /*70-73*/ public SL axis_a_variable; 
    }; //DataRecord30000
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord47000_ENC : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
 
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
      /*06*/      public UB error_code; 
      /*07*/    public UB general_status; 
 
      /*08-09*/ public UW output_analog_0; 
      /*10-11*/ public UW output_analog_1; 
      /*12-13*/ public UW output_analog_2; 
      /*14-15*/ public UW output_analog_3; 
      /*16-17*/ public UW output_analog_4; 
      /*18-19*/ public UW output_analog_5; 
      /*20-21*/ public UW output_analog_6; 
      /*22-23*/ public UW output_analog_7; 
 
      /*24-25*/ public UW input_analog_0; 
      /*26-27*/ public UW input_analog_1; 
      /*28-29*/ public UW input_analog_2; 
      /*30-31*/ public UW input_analog_3; 
      /*32-33*/ public UW input_analog_4; 
      /*34-35*/ public UW input_analog_5; 
      /*36-37*/ public UW input_analog_6; 
      /*38-39*/ public UW input_analog_7; 
 
      /*40-41*/ public UW output_bank_0; 
 
      /*42-43*/ public UW input_bank_0; 
 
      /*44-47*/ public UL pulse_count_0; 
      /*48-51*/ public SL zc_variable; 
      /*52-55*/ public SL zd_variable; 
 
      /*56-59*/ public SL encoder_0; 
      /*60-63*/ public SL encoder_1; 
      /*64-67*/ public SL encoder_2; 
      /*68-71*/ public SL encoder_3; 
 
    }; //GDataRecord47000_ENC
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord47300_ENC : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
 
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
      /*06*/      public UB error_code; 
      /*07*/    public UB general_status; 
 
      /*08-09*/ public UW output_analog_0; 
      /*10-11*/ public UW output_analog_1; 
      /*12-13*/ public UW output_analog_2; 
      /*14-15*/ public UW output_analog_3; 
      /*16-17*/ public UW output_analog_4; 
      /*18-19*/ public UW output_analog_5; 
      /*20-21*/ public UW output_analog_6; 
      /*22-23*/ public UW output_analog_7; 
 
      /*24-25*/ public UW input_analog_0; 
      /*26-27*/ public UW input_analog_1; 
      /*28-29*/ public UW input_analog_2; 
      /*30-31*/ public UW input_analog_3; 
      /*32-33*/ public UW input_analog_4; 
      /*34-35*/ public UW input_analog_5; 
      /*36-37*/ public UW input_analog_6; 
      /*38-39*/ public UW input_analog_7; 
 
      /*40-41*/ public UW output_bank_0; 
      /*42-43*/ public UW output_bank_1; 
 
      /*44-45*/ public UW input_bank_0; 
      /*46-47*/ public UW input_bank_1; 
 
      /*48-51*/ public UL pulse_count_0; 
      /*52-55*/ public SL zc_variable; 
      /*56-59*/ public SL zd_variable; 
 
      /*60-63*/ public SL encoder_0; 
      /*64-67*/ public SL encoder_1; 
      /*68-71*/ public SL encoder_2; 
      /*72-75*/ public SL encoder_3; 
 
    }; //GDataRecord47300_ENC
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord47300_24EX : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
 
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
      /*06*/      public UB error_code; 
      /*07*/    public UB general_status; 
 
      /*08-09*/ public UW output_analog_0; 
      /*10-11*/ public UW output_analog_1; 
      /*12-13*/ public UW output_analog_2; 
      /*14-15*/ public UW output_analog_3; 
      /*16-17*/ public UW output_analog_4; 
      /*18-19*/ public UW output_analog_5; 
      /*20-21*/ public UW output_analog_6; 
      /*22-23*/ public UW output_analog_7; 
 
      /*24-25*/ public UW input_analog_0; 
      /*26-27*/ public UW input_analog_1; 
      /*28-29*/ public UW input_analog_2; 
      /*30-31*/ public UW input_analog_3; 
      /*32-33*/ public UW input_analog_4; 
      /*34-35*/ public UW input_analog_5; 
      /*36-37*/ public UW input_analog_6; 
      /*38-39*/ public UW input_analog_7; 
 
      /*40-41*/ public UW output_bank_0; 
      /*42-43*/ public UW output_bank_1; 
 
      /*44-45*/ public UW input_bank_0; 
      /*46-47*/ public UW input_bank_1; 
 
      /*48-51*/ public UL pulse_count_0; 
      /*52-55*/ public SL zc_variable; 
      /*56-59*/ public SL zd_variable; 
 
      /*60-61*/ public UW output_bank_2; 
      /*62-63*/ public UW output_back_3; 
 
      /*64-65*/ public UW input_bank_2; 
      /*66-67*/ public UW input_bank_3; 
 
    }; //GDataRecord47300_24EX
 
    [StructLayout(LayoutKind.Sequential, Pack=1)]
    public struct GDataRecord47162 : GDataRecord
    {
        public byte[] byte_array() { return StructToByteArray(this); }
        /*Offset   type name        description*/
 
        /*00*/      public UB header_0; 
      /*01*/      public UB header_1; 
      /*02*/      public UB header_2; 
      /*03*/      public UB header_3; 
 
      /*04-05*/   public UW sample_number; 
      /*06*/      public UB error_code; 
      /*07*/    public UB general_status; 
 
      /*08-09*/ public UW output_analog_0; 
      /*10-11*/ public UW output_analog_1; 
      /*12-13*/ public UW output_analog_2; 
      /*14-15*/ public UW output_analog_3; 
      /*16-17*/ public UW output_analog_4; 
      /*18-19*/ public UW output_analog_5; 
      /*20-21*/ public UW output_analog_6; 
      /*22-23*/ public UW output_analog_7; 
 
      /*24-25*/ public UW input_analog_0; 
      /*26-27*/ public UW input_analog_1; 
      /*28-29*/ public UW input_analog_2; 
      /*30-31*/ public UW input_analog_3; 
      /*32-33*/ public UW input_analog_4; 
      /*34-35*/ public UW input_analog_5; 
      /*36-37*/ public UW input_analog_6; 
      /*38-39*/ public UW input_analog_7; 
 
      /*40*/      public UB output_byte_0; 
      /*41*/      public UB output_byte_1; 
      /*42*/      public UB output_byte_2; 
 
      /*43*/      public UB input_byte_0; 
      /*44*/      public UB input_byte_1; 
      /*45*/      public UB input_byte_2; 
      /*46*/      public UB input_byte_3; 
      /*47*/      public UB input_byte_4; 
 
      /*48-51*/ public UL pulse_count_0; 
      /*52-55*/ public SL zc_variable; 
      /*56-59*/ public SL zd_variable; 
 
      /*60-63*/ public SL encoder_0; 
      /*64-67*/ public SL encoder_1; 
      /*68-71*/ public SL encoder_2; 
      /*72-75*/ public SL encoder_3; 
 
    }; //GDataRecord47162
 
    #endregion
} //gclib class