gclib.py

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'''! \file gclib.py
'''
"""
Python wrapper for Galil gclib.
Contact softwaresupport@galil.com with questions, comments, and suggestions.
"""
 
import platform #for distinguishing 'Windows', 'Linux', 'Darwin'
from ctypes import *
 
if platform.system() == 'Windows':
    if '64 bit' in platform.python_compiler():
        WinDLL(r'C:\Program Files (x86)\Galil\gclib\dll\x64\libcrypto-1_1-x64.dll')
        WinDLL(r'C:\Program Files (x86)\Galil\gclib\dll\x64\libssl-1_1-x64.dll')
        _gclib_path = r'C:\Program Files (x86)\Galil\gclib\dll\x64\gclib.dll'
        _gclibo_path = r'C:\Program Files (x86)\Galil\gclib\dll\x64\gclibo.dll'
        _gclib = WinDLL(_gclib_path)
        _gclibo = WinDLL(_gclibo_path)
    else:
        WinDLL(r'C:\Program Files (x86)\Galil\gclib\dll\x86\libcrypto-1_1.dll')
        WinDLL(r'C:\Program Files (x86)\Galil\gclib\dll\x86\libssl-1_1.dll')
        _gclib_path = r'C:\Program Files (x86)\Galil\gclib\dll\x86\gclib.dll'
        _gclibo_path = r'C:\Program Files (x86)\Galil\gclib\dll\x86\gclibo.dll'
        _gclib = WinDLL(_gclib_path)
        _gclibo = WinDLL(_gclibo_path)
        #Reassign symbol name, Python doesn't like @ in function names
        #gclib calls
        setattr(_gclib, 'GArrayDownload', getattr(_gclib, '_GArrayDownload@20'))
        setattr(_gclib, 'GArrayUpload', getattr(_gclib, '_GArrayUpload@28'))
        setattr(_gclib, 'GClose', getattr(_gclib, '_GClose@4'))
        setattr(_gclib, 'GCommand', getattr(_gclib, '_GCommand@20'))
        setattr(_gclib, 'GFirmwareDownload', getattr(_gclib, '_GFirmwareDownload@8'))
        setattr(_gclib, 'GInterrupt', getattr(_gclib, '_GInterrupt@8'))
        setattr(_gclib, 'GMessage', getattr(_gclib, '_GMessage@12'))
        setattr(_gclib, 'GOpen', getattr(_gclib, '_GOpen@8'))
        setattr(_gclib, 'GProgramDownload', getattr(_gclib, '_GProgramDownload@12'))
        setattr(_gclib, 'GProgramUpload', getattr(_gclib, '_GProgramUpload@12'))
        #gclibo calls (open source component/convenience functions)
        setattr(_gclibo, 'GAddresses', getattr(_gclibo, '_GAddresses@8'))
        setattr(_gclibo, 'GArrayDownloadFile', getattr(_gclibo, '_GArrayDownloadFile@8'))
        setattr(_gclibo, 'GArrayUploadFile', getattr(_gclibo, '_GArrayUploadFile@12'))
        setattr(_gclibo, 'GAssign', getattr(_gclibo, '_GAssign@8'))
        setattr(_gclibo, 'GError', getattr(_gclibo, '_GError@12'))
        setattr(_gclibo, 'GInfo', getattr(_gclibo, '_GInfo@12'))
        setattr(_gclibo, 'GIpRequests', getattr(_gclibo, '_GIpRequests@8'))
        setattr(_gclibo, 'GMotionComplete', getattr(_gclibo, '_GMotionComplete@8'))
        setattr(_gclibo, 'GProgramDownloadFile', getattr(_gclibo, '_GProgramDownloadFile@12'))
        setattr(_gclibo, 'GSleep', getattr(_gclibo, '_GSleep@4'))
        setattr(_gclibo, 'GProgramUploadFile', getattr(_gclibo, '_GProgramUploadFile@8'))
        setattr(_gclibo, 'GTimeout', getattr(_gclibo, '_GTimeout@8'))
        setattr(_gclibo, 'GVersion', getattr(_gclibo, '_GVersion@8'))
        setattr(_gclibo, 'GSetupDownloadFile', getattr(_gclibo, '_GSetupDownloadFile@20'))
        setattr(_gclibo, 'GServerStatus', getattr(_gclibo, '_GServerStatus@8'))
        setattr(_gclibo, 'GSetServer', getattr(_gclibo, '_GSetServer@4'))
        setattr(_gclibo, 'GListServers', getattr(_gclibo, '_GListServers@8'))
        setattr(_gclibo, 'GPublishServer', getattr(_gclibo, '_GPublishServer@12'))
        setattr(_gclibo, 'GRemoteConnections', getattr(_gclibo, '_GRemoteConnections@8'))
 
elif platform.system() == 'Linux':
    cdll.LoadLibrary("libgclib.so.2")
    _gclib = CDLL("libgclib.so.2")
    cdll.LoadLibrary("libgclibo.so.2")
    _gclibo = CDLL("libgclibo.so.2")
 
elif platform.system() == 'Darwin': #OSX
    _gclib_path = '/Applications/gclib/dylib/gclib.0.dylib'
    _gclibo_path = '/Applications/gclib/dylib/gclibo.0.dylib'
    cdll.LoadLibrary(_gclib_path)
    _gclib = CDLL(_gclib_path)
    cdll.LoadLibrary(_gclibo_path)
    _gclibo = CDLL(_gclibo_path)
 
 
 
# Python "typedefs"
_GReturn = c_int #type for a return code
_GCon = c_void_p #type for a Galil connection handle
_GCon_ptr = POINTER(_GCon) #used for argtypes declaration
_GSize = c_ulong #type for a Galil size variable
_GSize_ptr = POINTER(_GSize) #used for argtypes declaration
_GCStringIn = c_char_p #char*. In C it's const.
_GCStringOut = c_char_p #char*
_GOption = c_int #type for option variables, e.g.    GArrayDownload
_GStatus = c_ubyte #type for interrupt status bytes
_GStatus_ptr = POINTER(_GStatus) #used for argtypes declaration
 
#Define arguments and result type (if not C int type)
#gclib calls
_gclib.GArrayDownload.argtypes = [_GCon, _GCStringIn, _GOption, _GOption, _GCStringIn]
_gclib.GArrayUpload.argtypes = [_GCon, _GCStringIn, _GOption, _GOption, _GOption, _GCStringOut, _GSize]
_gclib.GClose.argtypes = [_GCon]
_gclib.GCommand.argtypes = [_GCon, _GCStringIn, _GCStringOut, _GSize, _GSize_ptr]
_gclib.GFirmwareDownload.argtypes = [_GCon, _GCStringIn]
_gclib.GInterrupt.argtypes = [_GCon, _GStatus_ptr]
_gclib.GMessage.argtypes = [_GCon, _GCStringOut, _GSize]
_gclib.GOpen.argtypes = [_GCStringIn, _GCon_ptr]
_gclib.GProgramDownload.argtypes = [_GCon, _GCStringIn, _GCStringIn]
_gclib.GProgramUpload.argtypes = [_GCon, _GCStringOut, _GSize]
#gclibo calls (open source component/convenience functions)
_gclibo.GAddresses.argtypes = [_GCStringOut, _GSize]
_gclibo.GArrayDownloadFile.argtypes = [_GCon, _GCStringIn]
_gclibo.GArrayUploadFile.argtypes = [_GCon, _GCStringIn, _GCStringIn]
_gclibo.GAssign.argtypes = [_GCStringIn, _GCStringIn]
_gclibo.GError.argtypes = [_GReturn, _GCStringOut, _GSize]
_gclibo.GError.restype    = None
_gclibo.GError.argtypes = [_GCon, _GCStringOut, _GSize]
_gclibo.GIpRequests.argtypes = [_GCStringOut, _GSize]
_gclibo.GMotionComplete.argtypes = [_GCon, _GCStringIn]
_gclibo.GProgramDownloadFile.argtypes = [_GCon, _GCStringIn, _GCStringIn]
_gclibo.GSleep.argtypes = [c_uint]
_gclibo.GSleep.restype    = None
_gclibo.GProgramUploadFile.argtypes = [_GCon, _GCStringIn]
_gclibo.GTimeout.argtypes = [_GCon, c_int]
_gclibo.GVersion.argtypes = [_GCStringOut, _GSize]
_gclibo.GServerStatus.argtypes = [_GCStringOut, _GSize]
_gclibo.GSetServer.argtypes = [_GCStringIn]
_gclibo.GListServers.argtypes = [_GCStringOut, _GSize]
_gclibo.GPublishServer.argtypes = [_GCStringIn, _GOption, _GOption]
_gclibo.GRemoteConnections.argtypes = [_GCStringOut, _GSize]
_gclibo.GSetupDownloadFile.argtypes = [_GCon, _GCStringIn, _GOption, _GCStringOut, _GSize]
 
#Set up some constants
_enc = "ASCII" #byte encoding for going between python strings and c strings.
_buf_size = 500000 #size of response buffer. Big enough to fit entire 4000 program via UL/LS, or 24000 elements of array data.
_error_buf = create_string_buffer(128)    #buffer for retrieving error code descriptions.
 
def _rc(return_code):
    """Checks return codes from gclib and raises a python error if result is exceptional."""
    if return_code != 0:
        _gclibo.GError(return_code, _error_buf, 128) #Get the library's error description
        raise GclibError(str(_error_buf.value.decode(_enc)))
    return
 
class GclibError(Exception):
    """Error class for non-zero gclib return codes."""
    pass
 
class py:
    """Represents a single Python connection to a Galil Controller or PLC."""
 
    def __init__(self):
        """Constructor for the Connection class. Initializes gclib's handle and read buffer."""
        self._gcon_gcon = _GCon(0) #handle to connection
        self._buf_buf = create_string_buffer(_buf_size)
        self._timeout_timeout = 5000
        return
 
    def __del__(self):
        """Destructor for the Connection class. Ensures close gets called to release Galil resource (Sockets, Kernel Driver, Com Port, etc)."""
        self.GCloseGClose()
        return
 
    def _cc(self):
        """Checks if connection is established, throws error if not."""
        if self._gcon_gcon.value == None:
            _rc(-1201) #G_CONNECTION_NOT_ESTABLISHED
 
    def GOpen(self, address):
        """
        Opens a connection a galil controller.
        See the gclib docs for address string formatting.
        """
        c_address = _GCStringIn(address.encode(_enc))
        _rc(_gclib.GOpen(c_address, byref(self._gcon_gcon)))
        return
 
 
    def GClose(self):
        """
        Closes a connection to a Galil Controller.
        """
        if self._gcon_gcon.value != None:
            _rc(_gclib.GClose(self._gcon_gcon))
            self._gcon_gcon = _GCon(0)
        return
 
 
    def GCommand(self, command):
        """
        Performs a command-and-response transaction on the connection.
        Trims the response.
        """
        self._cc_cc()
        c_command = _GCStringIn(command.encode(_enc))
        _rc(_gclib.GCommand(self._gcon_gcon, c_command, self._buf_buf, _buf_size, None))
        response = str(self._buf_buf.value.decode(_enc))
        return response[:-3].strip() # trim trailing /r/n: and leading space
 
 
    def GSleep(self, val):
        """
        Provides a blocking sleep call which can be useful for timing-based chores.
        """
        _gclibo.GSleep(val)
        return
 
 
    def GVersion(self):
        """
        Provides the gclib version number. Please include the output of this function on all support cases.
        """
        _rc(_gclibo.GVersion(self._buf_buf, _buf_size))
        return "py." + str(self._buf_buf.value.decode(_enc))
 
    def GServerStatus(self):
        _rc(_gclibo.GServerStatus(self._buf_buf, _buf_size))
        return str(self._buf_buf.value.decode(_enc))
 
    def GSetServer(self, server_name):
        c_server_name = _GCStringIn(server_name.encode(_enc))
        _rc(_gclibo.GSetServer(c_server_name))
        return
 
    def GListServers(self):
        _rc(_gclibo.GListServers(self._buf_buf, _buf_size))
        return str(self._buf_buf.value.decode(_enc))
 
    def GPublishServer(self, server_name, publish, save):
        c_server_name = _GCStringIn(server_name.encode(_enc))
        _rc(_gclibo.GPublishServer(c_server_name, publish, save))
        return
 
    def GRemoteConnections(self):
        _rc(_gclibo.GRemoteConnections(self._buf_buf, _buf_size))
        return str(self._buf_buf.value.decode(_enc))
 
    def GInfo(self):
        """
        Provides a useful connection string. Please include the output of this function on all support cases.
        """
        _rc(_gclibo.GInfo(self._gcon_gcon, self._buf_buf, _buf_size))
        return str(self._buf_buf.value.decode(_enc))
 
 
    def GIpRequests(self):
        """
        Provides a dictionary of all Galil controllers requesting IP addresses via BOOT-P or DHCP.
 
        Returns a dictionary mapping 'model-serial' --> 'mac address'
        e.g. {'DMC4000-783': '00:50:4c:20:03:0f', 'DMC4103-9998': '00:50:4c:38:27:0e'}
 
        Linux/OS X users must be root to use GIpRequests() and have UDP access to bind and listen on port 67.
        """
        _rc(_gclibo.GIpRequests(self._buf_buf, _buf_size)) #get the c string from gclib
        ip_req_dict = {}
        for line in str(self._buf_buf.value.decode(_enc)).splitlines():
            line = line.replace(' ', '') #trim spaces throughout
            if (line == ""): continue
            fields = line.split(',')
            #fields go [model, serial number, mac]
            ip_req_dict[fields[0] + '-' + fields[1]] = fields[2] # e.g. DMC4000-783 maps to its MAC addr.
        return ip_req_dict
 
 
    def GAssign(self, ip, mac):
        """
        Assigns IP address over the Ethernet to a controller at a given MAC address.
        Linux/OS X users must be root to use GAssign() and have UDP access to send on port 68.
        """
        c_ip = _GCStringIn(ip.encode(_enc))
        c_mac = _GCStringIn(mac.encode(_enc))
        _rc(_gclibo.GAssign(c_ip, c_mac))
        return
 
 
    def GAddresses(self):
        """
        Provides a dictionary of all available connection addresses.
 
        Returns a dictionary mapping 'address' -> 'revision reports', where possible
        e.g. {}
        """
        _rc(_gclibo.GAddresses(self._buf_buf, _buf_size))
        addr_dict = {}
        for line in str(self._buf_buf.value.decode(_enc)).splitlines():
            fields = line.split(',')
            if len(fields) >= 2:
                addr_dict[fields[0]] = fields[1]
            else:
                addr_dict[fields[0]] = ''
 
        return addr_dict
 
 
    def GProgramDownload(self, program, preprocessor=""):
        """
        Downloads a program to the controller's program buffer.
        See the gclib docs for preprocessor options.
        """
        self._cc_cc()
        c_prog = _GCStringIn(program.encode(_enc))
        c_pre = _GCStringIn(preprocessor.encode(_enc))
        _rc(_gclib.GProgramDownload(self._gcon_gcon, c_prog, c_pre))
        return
 
 
    def GProgramUpload(self):
        """
        Uploads a program from the controller's program buffer.
        """
        self._cc_cc()
        _rc(_gclib.GProgramUpload(self._gcon_gcon, self._buf_buf, _buf_size))
        return str(self._buf_buf.value.decode(_enc))
 
 
    def GProgramDownloadFile(self, file_path, preprocessor=""):
        """
        Program download from file.
        See the gclib docs for preprocessor options.
        """
        self._cc_cc()
        c_path = _GCStringIn(file_path.encode(_enc))
        c_pre = _GCStringIn(preprocessor.encode(_enc))
        _rc(_gclibo.GProgramDownloadFile(self._gcon_gcon, c_path, c_pre))
        return
 
    def GProgramUploadFile(self, file_path):
        """
        Program upload to file.
        """
        self._cc_cc()
        c_path = _GCStringIn(file_path.encode(_enc))
        _rc(_gclibo.GProgramUploadFile(self._gcon_gcon, c_path))
        return
 
    def GArrayDownload(self, name, first, last, array_data):
        """
        Downloads array data to a pre-dimensioned array in the controller's array table.
        array_data should be a list of values (e.g. int or float)
        """
        self._cc_cc()
        c_name = _GCStringIn(name.encode(_enc))
        array_string = ""
        for val in array_data:
            array_string += str(val) + ","
        c_data = _GCStringIn(array_string[:-1].encode(_enc)) #trim trailing command
        _rc(_gclib.GArrayDownload(self._gcon_gcon, c_name, first, last, c_data))
        return
 
 
    def GArrayUploadFile(self, file_path, names = []):
        """
        Uploads the entire controller array table or a subset and saves the data as a csv file specified by file_path.
        names is optional and should be a list of array names on the controller.
        """
        self._cc_cc()
        c_path = _GCStringIn(file_path.encode(_enc))
        names_string = ''
        c_names = _GCStringIn(''.encode(_enc)) #in case empty list provided
        for name in names:
            names_string += name + ' '
 
        c_names = _GCStringIn(names_string[:-1].encode(_enc)) #trim trailing space
        _rc(_gclibo.GArrayUploadFile(self._gcon_gcon, c_path, c_names))
        return
 
 
    def GArrayDownloadFile(self, file_path):
        """
        Downloads a csv file containing array data at file_path.
        """
        self._cc_cc()
        c_path = _GCStringIn(file_path.encode(_enc))
        _rc(_gclibo.GArrayDownloadFile(self._gcon_gcon, c_path))
        return
 
 
    def GArrayUpload(self, name, first, last):
        """
        Uploads array data from the controller's array table.
        """
        self._cc_cc()
        c_name = _GCStringIn(name.encode(_enc))
        _rc(_gclib.GArrayUpload(self._gcon_gcon, c_name, first, last, 1, self._buf_buf, _buf_size)) #1 is comma delimiter
        string_list = str(self._buf_buf.value.decode(_enc)).split(',')
        float_list = []
        for s in string_list:
            float_list.append(float(s))
        return float_list
 
 
    def GTimeout(self, timeout):
        """
        Set the library timeout. Set to -1 to use the intitial library timeout, as specified in GOpen.
        """
        self._cc_cc()
        _rc(_gclibo.GTimeout(self._gcon_gcon, timeout))
        self._timeout_timeout = timeout
        return
 
 
    @property
    def timeout(self):
        """
        Convenience property read access to timeout value. If -1, gclib uses the initial library timeout, as specified in GOpen.
        """
        return self._timeout_timeout
 
    @timeout.setter
    def timeout(self, timeout):
        """
        Convenience property write access to timeout value. Set to -1 to use the initial library timeout, as specified in GOpen.
        """
        self.GTimeoutGTimeout(timeout)
        return
 
 
    def GFirmwareDownload(self, file_path):
        """
        Upgrade firmware.
        """
        self._cc_cc()
        c_path = _GCStringIn(file_path.encode(_enc))
        _rc(_gclib.GFirmwareDownload(self._gcon_gcon, c_path))
        return
 
 
    def GMessage(self):
        """
        Provides access to unsolicited messages from the controller.
        """
        self._cc_cc()
        _rc(_gclib.GMessage(self._gcon_gcon, self._buf_buf, _buf_size))
        return str(self._buf_buf.value.decode(_enc))
 
 
    def GMotionComplete(self, axes):
        """
        Blocking call that returns once all axes specified have completed their motion.
        """
        self._cc_cc()
        c_axes = _GCStringIn(axes.encode(_enc))
        _rc(_gclibo.GMotionComplete(self._gcon_gcon, c_axes))
        return
 
    def GInterrupt(self):
        """
        Provides access to PCI and UDP interrupts from the controller.
        """
        self._cc_cc()
        status = _GStatus(0)
        _rc(_gclib.GInterrupt(self._gcon_gcon, byref(status)))
        return status.value
 
    def GSetupDownloadFile(self, file_path, options):
        """
        Downloads specified sectors from a Galil compressed backup (gcb) file to a controller.
 
        Returns a dictionary with the controller information stored in the gcb file.
        If options is specified as 0, an additional "options" key will be in the dictionary indicating the info sectors available in the gcb
        """
        self._cc_cc()
        c_path = _GCStringIn(file_path.encode(_enc))
 
        rc = _gclibo.GSetupDownloadFile(self._gcon_gcon, c_path, options, self._buf_buf, _buf_size)
        if (options != 0):
            _rc(rc)
 
        info_dict = {}
        for line in str(self._buf_buf.value.decode(_enc)).split("\"\n"):
            fields = line.split(',',1)
 
            if (fields[0] == ""): continue
            elif len(fields) >= 2:
                info_dict[fields[0].strip("\"\'")] = fields[1].strip("\"\'")
            else:
                info_dict[fields[0].strip("\"\'")] = ''
 
        if (options == 0):
            info_dict["options"] = rc
 
        return info_dict