gclib.cs

Go to the documentation of this file.

 
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
 
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;
 
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 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 string[] GAddresses() {…}
 
    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 GArrayDownload(string array_name, ref List<double> data, Int16 first = -1, Int16 last = -1) {…}
 
    public void GArrayDownloadFile(string Path)
    {
        GReturn rc = DllGArrayDownloadFile(ConnectionHandle_, Path);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
    public void GArrayDownloadFile(string Path) {…}
 
    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 List<double> GArrayUpload(string array_name, Int16 first = -1, Int16 last = -1) {…}
 
    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 GArrayUploadFile(string Path, string Names) {…}
 
    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 GAssign(string ip, string mac) {…}
 
    public void GClose()
    {
        if(ConnectionStatus_)
            DllGClose(ConnectionHandle_);
 
        ConnectionStatus_ = false;
    }
    public void GClose() {…}
 
    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 string GCommand(string Command, bool Trim = true) {…}
 
    public Int16 GCmdI(string Command)
    {
        return Convert.ToInt16(Convert.ToDouble(GCommand(Command)));
    }
    public Int16 GCmdI(string Command) {…}
 
    public double GCmdD(string Command)
    {
        return Convert.ToDouble(GCommand(Command));
    }
    public double GCmdD(string 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 void GFirmwareDownload(string filepath) {…}
 
    public string GInfo()
    {
        GReturn rc = DllGInfo(ConnectionHandle_, Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            return Buffer_.ToString();
        }
        else
        {
            return "";
        }
    }
    public string GInfo() {…}
 
    public byte GInterrupt()
    {
        byte StatusByte = 0;
        GReturn rc = DllGInterrupt(ConnectionHandle_, ref StatusByte);
        if (rc == G_NO_ERROR)
        {
            return StatusByte;
        }
        else
        {
            return 0;
        }
    }
    public byte GInterrupt() {…}
 
    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[] GIpRequests() {…}
 
    public string GMessage()
    {
        GReturn rc = DllGMessage(ConnectionHandle_, Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            return Buffer_.ToString();
        }
        else
        {
            return "";
        }
    }
    public string GMessage() {…}
 
    public void GMotionComplete(string axes)
    {
        GReturn rc = DllGMotionComplete(ConnectionHandle_, axes);
        if (!(rc == G_NO_ERROR))
        {
            throw new System.Exception(GError(rc));
        }
    }
    public void GMotionComplete(string axes) {…}
 
    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 GOpen(string address) {…}
 
    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 GProgramDownload(string program, string preprocessor = "") {…}
 
    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 void GProgramDownloadFile(string file_path, string preprocessor = "") {…}
 
    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 string GProgramUpload() {…}
 
    public void GProgramUploadFile(string file_path)
    {
        GReturn rc = DllGProgramUploadFile(ConnectionHandle_, file_path);
        if (rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
    public void GProgramUploadFile(string file_path) {…}
 
    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 byte[] GRead() {…}
 
    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 T GRecord<T>(bool async) {…}
 
    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 GRecordRate(double period_ms) {…}
 
    public void GTimeout(Int16 timeout_ms)
    {
        DllGTimeout(ConnectionHandle_, timeout_ms);
    }
    public void GTimeout(Int16 timeout_ms) {…}
 
    public string GVersion()
    {
        GReturn rc = DllGVersion(Buffer_, BufferSize_);
        if (rc == G_NO_ERROR)
        {
            return Buffer_.ToString();
        }
        else
        {
            return "";
        }
    }
    public string GVersion() {…}
 
    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 void GWrite(string buffer) {…}
 
    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 string[] GSetupDownloadFile(string path, Int32 options) {…}
 
    public void GSetServer(string server_name)
    {
        GReturn rc = DllGSetServer(server_name);
 
        if(rc != G_NO_ERROR)
        {
            throw new System.Exception(GError(rc));
        }
    }
    public void GSetServer(string server_name) {…}
 
    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 GServerStatus() {…}
 
    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 string[] GListServers() {…}
 
    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 void GPublishServer(string server_name, bool publish, bool save) {…}
 
    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));
        }
    }
    public string[] GRemoteConnections() {…}
 
    #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("gclibo", EntryPoint = "GAddresses", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGAddresses(GCStringOut addresses, GSize addresses_len);
 
    [DllImport("gclib", 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("gclibo", EntryPoint = "GArrayDownloadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGArrayDownloadFile(GCon g, GCStringIn path);
 
    [DllImport("gclib", 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("gclibo", EntryPoint = "GArrayUploadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGArrayUploadFile(GCon g, GCStringIn path, GCStringIn names);
 
    [DllImport("gclibo", EntryPoint = "GAssign", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGAssign(GCStringIn ip, GCStringIn mac);
 
    [DllImport("gclib", EntryPoint = "GClose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGClose(GCon g);
 
    [DllImport("gclib", 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("gclibo", EntryPoint = "GError", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern void DllGError(GReturn error_code, GCStringOut errorbuf, GSize error_len);
 
    [DllImport("gclib", EntryPoint = "GFirmwareDownload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGFirmwareDownload(GCon g, GCStringIn path);
 
    [DllImport("gclibo", EntryPoint = "GInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGInfo(GCon g, GCStringOut info, GSize infoLength);
 
    [DllImport("gclib", EntryPoint = "GInterrupt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGInterrupt(GCon g, ref GStatus status_byte);
 
    [DllImport("gclibo", EntryPoint = "GIpRequests", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGIpRequests(GCStringOut requests, GSize requests_len);
 
    [DllImport("gclib", EntryPoint = "GMessage", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGMessage(GCon g, GCStringOut buffer, GSize bufferLength);
 
    [DllImport("gclibo", EntryPoint = "GMotionComplete", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGMotionComplete(GCon g, GCStringIn axes);
 
    [DllImport("gclib", EntryPoint = "GOpen", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGOpen(GCStringIn address, ref GCon g);
 
    [DllImport("gclib", EntryPoint = "GProgramDownload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramDownload(GCon g, GCStringIn program, GCStringIn preprocessor);
 
    [DllImport("gclibo", EntryPoint = "GProgramDownloadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramDownloadFile(GCon g, GCStringIn path, GCStringIn preprocessor);
 
    [DllImport("gclib", EntryPoint = "GProgramUpload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramUpload(GCon g, GCStringOut buffer, GSize bufferLength);
 
    [DllImport("gclibo", EntryPoint = "GProgramUploadFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGProgramUploadFile(GCon g, GCStringIn path);
 
    [DllImport("gclib", 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("gclib", EntryPoint = "GRecord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGRecord(GCon g, byte[] record, GOption method);
 
    [DllImport("gclibo", EntryPoint = "GRecordRate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGRecordRate(GCon g, double period_ms);
 
    [DllImport("gclibo", EntryPoint = "GTimeout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern void DllGTimeout(GCon g, GOption timeoutMs);
 
    [DllImport("gclibo", EntryPoint = "GVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGVersion(GCStringOut ver, GSize ver_len);
 
    [DllImport("gclib", EntryPoint = "GWrite", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGWrite(GCon g, GCStringIn buffer, GSize buffer_len);
 
    [DllImport("gclibo", 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("gclibo", EntryPoint = "GSetServer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGSetServer(GCStringIn server_name);
 
    [DllImport("gclibo", EntryPoint = "GServerStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGServerStatus(GCStringOut status, GSize status_len);
 
    [DllImport("gclibo", EntryPoint = "GListServers", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGListServers(GCStringOut servers, GSize servers_len);
 
    [DllImport("gclibo", EntryPoint = "GPublishServer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
    private static extern GReturn DllGPublishServer(GCStringIn name, GOption publish, GOption save);
 
    [DllImport("gclibo", 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();
    }
    public interface GDataRecord {…};
 
    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
    public struct GDataRecord4000 : GDataRecord {…};
 
    [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
    public struct GDataRecord52000 : GDataRecord {…};
 
 
    [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
    public struct GDataRecord1806 : GDataRecord {…};
 
    [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
    public struct GDataRecord2103 : GDataRecord {…};
 
    [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
    public struct GDataRecord1802 : GDataRecord {…};
 
    [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
    public struct GDataRecord30000 : GDataRecord {…};
 
    [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
    public struct GDataRecord47000_ENC : GDataRecord {…};
 
    [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
    public struct GDataRecord47300_ENC : GDataRecord {…};
 
    [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
    public struct GDataRecord47300_24EX : GDataRecord {…};
 
    [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
    public struct GDataRecord47162 : GDataRecord {…};
 
    #endregion
}
public class gclib {…};