Description

Language Support	C++	C#	VB.NET	Java	Python
gclib Functions	Yes	Yes	Yes	Yes	Yes
Data Records and Data Structures	Yes	Yes	Yes	No	No
gclib Macros	Yes	No	No	No	No
gclib Typedefs	Yes	No	No	No	No

Files
file	gclib.h

file	gclibo.h

file	gclibo.c

file	gclib_record.h

file	gclib_errors.h

Data Structures
struct	GDataRecord4000
	Data record struct for DMC-4000 controllers, including 4000, 4200, 4103, and 500x0. More...

struct	GDataRecord52000
	Data record struct for DMC-52000 controller. Same as DMC-4000, with bank indicator added at byte 40. More...

struct	GDataRecord1806
	Data record struct for DMC-1806 controller. More...

struct	GDataRecord2103
	Data record struct for DMC-2103 controllers. More...

struct	GDataRecord1802

struct	GDataRecord30000
	Data record struct for DMC-30010 controllers. More...

struct	GDataRecord47000_ENC
	Data record struct for RIO-471xx and RIO-472xx PLCs. Includes encoder fields. More...

struct	GDataRecord47300_ENC
	Data record struct for RIO-47300. Includes encoder fields. More...

struct	GDataRecord47300_24EX
	Data record struct for RIO-47300 with 24EX I/O daughter board. More...

struct	GDataRecord47162
	Data record struct for RIO-47162. More...

union	GDataRecord
	Data record union, containing all structs and a generic byte array accessor. More...

Macros
#define	GCLIB_DLL_EXPORTED

#define	GCALL __stdcall
	Specify calling convention for Windows.

#define	G_DR 1
	Value for GRecord() `method` variable for acquiring a data record via DR mode.

#define	G_QR 0
	Value for GRecord() `method` variable for acquiring a data record via QR mode.

#define	G_BOUNDS -1
	For functions that take range options, e.g. GArrayUpload(), use this value for full range.

#define	G_CR 0
	For GArrayUpload(), use this value in the delim field to delimit with carriage returns.

#define	G_COMMA 1
	For GArrayUpload(), use this value in the delim field to delimit with commas.

#define	G_PUBLISH_SERVER 1
	For GPublishServer(), use this value to publish server to local network.

#define	G_REMOVE_SERVER 0
	For GPublishServer(), use this value to remove server from local network.

#define	G_UTIL_TIMEOUT 1
	GUtility(), Access to timeout.

#define	G_UTIL_TIMEOUT_OVERRIDE 2
	GUtility(), read/write access to timeout override.

#define	G_USE_INITIAL_TIMEOUT -1
	GUtility(), for timeout override. Set `G_UTIL_TIMEOUT_OVERRIDE` to this value to use initial GOpen() timeout (`--timeout`).

#define	G_UTIL_VERSION 128
	GUtility(), get a library version string.

#define	G_UTIL_INFO 129
	GUtility(), get a connection info string.

#define	G_UTIL_SLEEP 130
	GUtility(), specify an interval to sleep.

#define	G_UTIL_ADDRESSES 131
	GUtility(), get a list of available connections.

#define	G_UTIL_IPREQUEST 132
	GUtility(), get a list of hardware requesting IPs.

#define	G_UTIL_ASSIGN 133
	GUtility(), assign IP addresses over the network.

#define	G_UTIL_DEVICE_INITIALIZE 134
	GUtility(), sends CF, CW, EO etc. to initialize the connection. Useful after RS or other reset.

#define	G_UTIL_PING 135
	GUtility(), uses ICMP ping to determine if an IP address is reachable and assigned.

#define	G_UTIL_ERROR_CONTEXT 136
	GUtility(), provides additional error context, where available.

#define	G_UTIL_GCAPS_HOST 256

#define	G_UTIL_GCAPS_VERSION 257
	GUtility(), get the version of the gcaps server.

#define	G_UTIL_GCAPS_KEEPALIVE 258
	GUtility(), Deprecated 20210119. No longer functional.

#define	G_UTIL_GCAPS_ADDRESSES 259
	GUtility(), get a list of available connections from the gcaps server.

#define	G_UTIL_GCAPS_IPREQUEST 260
	GUtility(), get a list of hardware requesting IPs from the gcaps server.

#define	G_UTIL_GCAPS_ASSIGN 261
	GUtility(), assign IP addresses over the network from the gcaps server.

#define	G_UTIL_GCAPS_PING 262
	GUtility(), uses ICMP ping to determine if an IP address is reachable and assigned. Ping sent from the gcaps server.

#define	G_UTIL_GCAPS_LIST_SERVERS 263
	GUtility(), get a list of all available gcaps servers on the local network.

#define	G_UTIL_GCAPS_PUBLISH_SERVER 264
	GUtility(), make local gcaps server discoverable by other gcaps servers on the local network.

#define	G_UTIL_GCAPS_SET_SERVER 265
	GUtility(), set the new active gcaps server.

#define	G_UTIL_GCAPS_SERVER_STATUS 266
	GUtility(), get information on the local server's name and if it is published to the local network.

#define	G_UTIL_GCAPS_REMOTE_CONNECTIONS 267
	GUtility(), get a list of remote addresses connected to local server.

#define	G_UTIL_GCAPS_SERVER_INFO 268

#define	G_UTIL_GCAPS_ADDRESSES_GET_REMEMBERED 269
	GUtility(), returns true if gcaps is remembering ip assignments.

#define	G_UTIL_GCAPS_ADDRESSES_SET_REMEMBERED 270
	GUtility(), sets if gcaps should remember ip assignments.

#define	G_SMALL_BUFFER 1024
	Most reads from Galil are small. This value will easily hold most, e.g. TH, TZ, etc.

#define	G_HUGE_BUFFER 524288
	Most reads from Galil hardware are small. This value will hold the largest array or program upload/download possible.

#define	G_LINE_BUFFER 80
	For writes, via command interpreter, to the Galil.

#define	GCLIB_DLL_EXPORTED

#define	GCALL __stdcall

#define	MALLOCBUF G_HUGE_BUFFER
	Malloc used for large program and array uploads.

#define	MAXPROG MALLOCBUF
	Maximum size for a program.

#define	MAXARRAY MALLOCBUF
	Maximum size for an array table upload.

#define	POLLINGINTERVAL 100
	Interval, in milliseconds, for polling commands, e.g. GWaitForBool().

#define	G_USE_GCAPS
	Use the GCAPS server in GAddresses(), GAssign(), GIpRequests(), and GVersion(). To avoid GCAPS, comment out this line and recompile, http://galil.com/sw/pub/all/doc/gclib/html/gclibo.html.

#define	_CRT_SECURE_NO_WARNINGS

#define	GALILDATARECORDMAXLENGTH 512
	Max size for any Galil data record, equal to dual port ram size of PCI.

#define	G_NO_ERROR 0
	Return value if function succeeded.

#define	G_NO_ERROR_S "no error"

#define	G_GCLIB_ERROR -1
	General library error. Indicates internal API caught an unexpected error. Contact Galil support if this error is returned, softw.nosp@m.ares.nosp@m.uppor.nosp@m.t@ga.nosp@m.lil.c.nosp@m.om.

#define	G_GCLIB_ERROR_S "gclib unexpected error"

#define	G_GCLIB_UTILITY_ERROR -2
	An invalid request value was specified to GUtility.

#define	G_GCLIB_UTILITY_ERROR_S "invalid request value or bad arguments were specified to GUtility()"

#define	G_GCLIB_UTILITY_IP_TAKEN -3
	The IP cannot be assigned because ping returned a reply.

#define	G_GCLIB_UTILITY_IP_TAKEN_S "ip address is already taken by a device on the network"

#define	G_GCLIB_NON_BLOCKING_READ_EMPTY -4
	GMessage, GInterrupt, and GRecord can be called with a zero timeout. If there wasn't data waiting in memory, this error is returned.

#define	G_GCLIB_NON_BLOCKING_READ_EMPTY_S "data was not waiting for a zero-timeout read"

#define	G_GCLIB_POLLING_FAILED -5
	GWaitForBool out of polling trials.

#define	G_GCLIB_POLLING_FAILED_S "exit condition not met in specified polling period"

#define	G_TIMEOUT -1100
	Operation timed out. Timeout is set by the –timeout option in GOpen() and can be overriden by GSetting().

#define	G_TIMEOUT_S "device timed out"

#define	G_OPEN_ERROR -1101
	Device could not be opened. E.G. Serial port or PCI device already open.

#define	G_OPEN_ERROR_S "device failed to open"

#define	G_ALREADY_OPEN -1111
	Serial or PCI file has a flock placed on it, presumably by another gclib connection.

#define	G_ALREADY_OPEN_S "Serial or PCI port already open"

#define	G_READ_ERROR -1103
	Device read failed. E.G. Socket was closed by remote host. See G_UTIL_GCAPS_KEEPALIVE.

#define	G_READ_ERROR_S "device read error"

#define	G_WRITE_ERROR -1104
	Device write failed. E.G. Socket was closed by remote host. See G_UTIL_GCAPS_KEEPALIVE.

#define	G_WRITE_ERROR_S "device write error"

#define	G_INVALID_PREPROCESSOR_OPTIONS -1204
	GProgramDownload was called with a bad preprocessor directive.

#define	G_INVALID_PREPROCESSOR_OPTIONS_S "preprocessor did not recognize options"

#define	G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND -1106
	GCommand() was called with an illegal command, e.g. ED, DL or QD.

#define	G_COMMAND_CALLED_WITH_ILLEGAL_COMMAND_S "illegal command passed to command call"

#define	G_DATA_RECORD_ERROR -1107
	Data record error, e.g. DR attempted on serial connection.

#define	G_DATA_RECORD_ERROR_S "data record error"

#define	G_UNSUPPORTED_FUNCTION -1109
	Function cannot be called on this bus. E.G. GInterrupt() on serial.

#define	G_UNSUPPORTED_FUNCTION_S "function not supported on this communication bus"

#define	G_FIRMWARE_LOAD_NOT_SUPPORTED -1110
	Firmware is not supported on this bus, e.g. Ethernet for the DMC-21x3 series.

#define	G_FIRMWARE_LOAD_NOT_SUPPORTED_S "firmware cannot be loaded on this communication bus to this hardware"

#define	G_ARRAY_NOT_DIMENSIONED -1200
	Array operation was called on an array that was not in the controller's array table, see LA command.

#define	G_ARRAY_NOT_DIMENSIONED_S "array not dimensioned on controller or wrong size"

#define	G_CONNECTION_NOT_ESTABLISHED -1201
	Function was called with no connection.

#define	G_CONNECTION_NOT_ESTABLISHED_S "connection to hardware not established"

#define	G_ILLEGAL_DATA_IN_PROGRAM -1202
	Data to download not valid, e.g. \ in data.

#define	G_ILLEGAL_DATA_IN_PROGRAM_S "illegal ASCII character in program"

#define	G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT -1203
	Program preprocessor could not compress the program within the user's constraints.

#define	G_UNABLE_TO_COMPRESS_PROGRAM_TO_FIT_S "program cannot be compressed to fit on the controller"

#define	G_BAD_RESPONSE_QUESTION_MARK -10000
	Operation received a ?, indicating controller has a TC error.

#define	G_BAD_RESPONSE_QUESTION_MARK_S "question mark returned by controller"

#define	G_BAD_VALUE_RANGE -10002
	Bad value or range, e.g. GCon g variable passed to function was bad.

#define	G_BAD_VALUE_RANGE_S "value passed to function was bad or out of range"

#define	G_BAD_FULL_MEMORY -10003
	Not enough memory for an operation, e.g. all connections allowed for a process already taken.

#define	G_BAD_FULL_MEMORY_S "operation could not complete because of a memory error"

#define	G_BAD_LOST_DATA -10004
	Lost data, e.g. GCommand() response buffer was too small for the controller's response.

#define	G_BAD_LOST_DATA_S "data was lost due to buffer or fifo limitations"

#define	G_BAD_FILE -10005
	Bad file path, bad file contents, or bad write.

#define	G_BAD_FILE_S "file was not found, contents are invalid, or write failed"

#define	G_BAD_ADDRESS -10006
	Bad address.

#define	G_BAD_ADDRESS_S "a bad address was specified in open"

#define	G_BAD_FIRMWARE_LOAD -10008
	Bad firmware upgrade.

#define	G_BAD_FIRMWARE_LOAD_S "Firmware upgrade failed"

#define	G_GCAPS_OPEN_ERROR -20000
	gcaps connection couldn't open. Server is not running or is not reachable.

#define	G_GCAPS_OPEN_ERROR_S "gcaps connection could not be opened"

#define	G_GCAPS_SUBSCRIPTION_ERROR -20002
	GMessage(), GRecord(), GInterrupt() called on a connection without –subscribe switch.

#define	G_GCAPS_SUBSCRIPTION_ERROR_S "function requires subscription not specified in GOpen()"

Typedefs
typedef int	GReturn
	Every function returns a value of type GReturn. See gclib_errors.h for possible values.

typedef void *	GCon
	Connection handle. Unique for each connection in process. Assigned a non-zero value in GOpen().

typedef unsigned int	GSize
	Size of buffers, etc.

typedef int	GOption
	Option integer for various formatting, etc.

typedef char *	GCStringOut
	C-string output from the library. Implies null-termination.

typedef const char *	GCStringIn
	C-string input to the library. Implies null-termination.

typedef char *	GBufOut
	Data output from the library. No null-termination implied. Returned values may be null-terminated, see function documentation for details.

typedef const char *	GBufIn
	Data input to the library. No null-termination, function will have a GSize to indicate bytes to write .

typedef unsigned char	GStatus
	Interrupt status byte.

typedef void *	GMemory
	Pointer to untyped memory for use in GUtility().

typedef uint8_t	UB

typedef uint16_t	UW

typedef int16_t	SW

typedef int32_t	SL

typedef uint32_t	UL

Functions
GCLIB_DLL_EXPORTED GReturn GCALL	GOpen (GCStringIn address, GCon *g)
	Open a connection to a Galil Controller.

GCLIB_DLL_EXPORTED GReturn GCALL	GClose (GCon g)
	Closes a connection to a Galil Controller.

GCLIB_DLL_EXPORTED GReturn GCALL	GRead (GCon g, GBufOut buffer, GSize buffer_len, GSize *bytes_read)
	Performs a read on the connection.

GCLIB_DLL_EXPORTED GReturn GCALL	GWrite (GCon g, GBufIn buffer, GSize buffer_len)
	Performs a write on the connection.

GCLIB_DLL_EXPORTED GReturn GCALL	GCommand (GCon g, GCStringIn command, GBufOut buffer, GSize buffer_len, GSize *bytes_returned)
	Performs a command-and-response transaction on the connection.

GCLIB_DLL_EXPORTED GReturn GCALL	GProgramDownload (GCon g, GCStringIn program, GCStringIn preprocessor)
	Downloads a program to the controller's program buffer.

GCLIB_DLL_EXPORTED GReturn GCALL	GProgramUpload (GCon g, GBufOut buffer, GSize buffer_len)
	Uploads a program from the controller's program buffer.

GCLIB_DLL_EXPORTED GReturn GCALL	GArrayDownload (GCon g, const GCStringIn array_name, GOption first, GOption last, GCStringIn buffer)
	Downloads array data to a pre-dimensioned array in the controller's array table.

GCLIB_DLL_EXPORTED GReturn GCALL	GArrayUpload (GCon g, const GCStringIn array_name, GOption first, GOption last, GOption delim, GBufOut buffer, GSize buffer_len)
	Uploads array data from the controller's array table.

GCLIB_DLL_EXPORTED GReturn GCALL	GRecord (GCon g, union GDataRecord *record, GOption method)
	Provides a fresh copy of the controller's data record. Data is cast into a union, GDataRecord.

GCLIB_DLL_EXPORTED GReturn GCALL	GMessage (GCon g, GCStringOut buffer, GSize buffer_len)
	Provides access to unsolicited messages from the controller.

GCLIB_DLL_EXPORTED GReturn GCALL	GInterrupt (GCon g, GStatus *status_byte)
	Provides access to PCI and UDP interrupts from the controller.

GCLIB_DLL_EXPORTED GReturn GCALL	GFirmwareDownload (GCon g, GCStringIn filepath)
	Upgrade firmware.

GCLIB_DLL_EXPORTED GReturn GCALL	GUtility (GCon g, GOption request, GMemory memory1, GMemory memory2)
	Provides read/write access to driver settings and convenience features based on the request variable.

GCLIB_DLL_EXPORTED void GCALL	GSleep (unsigned int timeout_ms)
	Uses GUtility() and G_UTIL_SLEEP to provide a blocking sleep call which can be useful for timing-based chores.

GCLIB_DLL_EXPORTED GReturn GCALL	GVersion (GCStringOut ver, GSize ver_len)
	Uses GUtility(), G_UTIL_VERSION and G_UTIL_GCAPS_VERSION to provide the library and gcaps version numbers.

GCLIB_DLL_EXPORTED GReturn GCALL	GAddresses (GCStringOut addresses, GSize addresses_len)
	Uses GUtility(), G_UTIL_GCAPS_ADDRESSES or G_UTIL_ADDRESSES to provide a listing of all available connection addresses.

GCLIB_DLL_EXPORTED GReturn GCALL	GInfo (GCon g, GCStringOut info, GSize info_len)
	Uses GUtility() and G_UTIL_INFO to provide a useful connection string.

GCLIB_DLL_EXPORTED GReturn GCALL	GTimeout (GCon g, short timeout_ms)
	Uses GUtility() and G_UTIL_TIMEOUT_OVERRIDE to set the library timeout.

GCLIB_DLL_EXPORTED GReturn GCALL	GCmd (GCon g, GCStringIn command)
	Wrapper around GCommand for use when the return value is not desired.

GCLIB_DLL_EXPORTED GReturn GCALL	GCmdT (GCon g, GCStringIn command, GCStringOut trimmed_response, GSize response_len, GCStringOut *front)
	Wrapper around GCommand that trims the response.

GCLIB_DLL_EXPORTED GReturn GCALL	GCmdI (GCon g, GCStringIn command, int *value)
	Wrapper around GCommand that provides the return value of a command parsed into an int.

GCLIB_DLL_EXPORTED GReturn GCALL	GCmdD (GCon g, GCStringIn command, double *value)
	Wrapper around GCommand that provides the return value of a command parsed into a double.

GCLIB_DLL_EXPORTED GReturn GCALL	GWaitForBool (GCon g, GCStringIn predicate, int trials)
	Blocking call that returns when the controller evaluates the predicate as true.

GCLIB_DLL_EXPORTED GReturn GCALL	GMotionComplete (GCon g, GCStringIn axes)
	Blocking call that returns once all axes specified have completed their motion.

GCLIB_DLL_EXPORTED GReturn GCALL	GRecordRate (GCon g, double period_ms)
	Sets the asynchronous data record to a user-specified period via `DR`.

GCLIB_DLL_EXPORTED GReturn GCALL	GProgramDownloadFile (GCon g, GCStringIn file_path, GCStringIn preprocessor)
	Program download from file.

GCLIB_DLL_EXPORTED GReturn GCALL	GProgramUploadFile (GCon g, GCStringIn file_path)
	Program upload to file.

GCLIB_DLL_EXPORTED GReturn GCALL	GArrayDownloadFile (GCon g, GCStringIn file_path)
	Array download from file.

GCLIB_DLL_EXPORTED GReturn GCALL	GArrayUploadFile (GCon g, GCStringIn file_path, GCStringIn names)
	Array upload to file.

GCLIB_DLL_EXPORTED GReturn GCALL	GIpRequests (GCStringOut requests, GSize requests_len)
	Uses GUtility(), G_UTIL_GCAPS_IPREQUEST or G_UTIL_IPREQUEST to provide a list of all Galil controllers requesting IP addresses via BOOT-P or DHCP.

GCLIB_DLL_EXPORTED GReturn GCALL	GSetServer (GCStringIn server_name)
	Uses GUtility(), G_UTIL_GCAPS_SET_SERVER to set the new active server.

GCLIB_DLL_EXPORTED GReturn GCALL	GListServers (GCStringOut servers, GSize servers_len)
	Uses GUtility(), G_UTIL_GCAPS_LIST_SERVERS to provide a list of all available gcaps services on the local network.

GCLIB_DLL_EXPORTED GReturn GCALL	GPublishServer (GCStringIn name, GOption publish, GOption save)
	Uses GUtility(), G_UTIL_GCAPS_PUBLISH_SERVER to publish local gcaps server to the local network.

GCLIB_DLL_EXPORTED GReturn GCALL	GServerStatus (GCStringOut status, GSize status_len)
	Uses GUtility(), G_UTIL_GCAPS_SERVER_STATUS to get information on the local server name and if it is published to the local network.

GCLIB_DLL_EXPORTED GReturn GCALL	GRemoteConnections (GCStringOut connections, GSize connections_length)
	Uses GUtility(), G_UTIL_GCAPS_REMOTE_CONNECTIONS to get a list of remote addresses connected to the local server.

GCLIB_DLL_EXPORTED GReturn GCALL	GAssign (GCStringIn ip, GCStringIn mac)
	Uses GUtility(), G_UTIL_GCAPS_ASSIGN or G_UTIL_ASSIGN to assign an IP address over the Ethernet to a controller at a given MAC address.

GCLIB_DLL_EXPORTED void GCALL	GError (GReturn rc, GCStringOut error, GSize error_len)
	Provides a human-readable description string for return codes.

GCLIB_DLL_EXPORTED GReturn GCALL	GSetupDownloadFile (GCon g, GCStringIn file_path, GOption options, GCStringOut info, GSize info_len)
	Download a saved controller configuration from a file.

Description

Files

Data Structures

Macros

Typedefs

Functions