x_examples.cpp

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#include "x_examples.h"
 
#include <iomanip>
 
int main(int argc, char * argv[])
{
  int rc = GALIL_EXAMPLE_OK; //return code
  int buf_size = G_SMALL_BUFFER;
  char buf[G_SMALL_BUFFER]; //traffic buffer
  
  GCon g = 0; //var used to refer to a unique connection. A valid connection is nonzero.
  try
  {
  
    x_e(GVersion(buf, sizeof(buf))); //library version
    cout << "Library versions: " << buf << "\n";
 
#if 0
    /*
    *  Change above line to "#if 1" to run examples below.
    *  Listening to requests for IP addresses.
    */
    x_e(GIpRequests(buf, sizeof(buf))); //listen for ~5 seconds for controllers requesting IP addresses
    cout << "Controllers without IP Address:\n";
    if (strlen(buf) != 0)
      cout << buf << "\n\n";
    else
      cout << "none\n\n";
 
#endif
 
#if 0
    /*
    *  Change above line to "#if 1" to run examples below.
    *  Assign IP addresses.
    */
    x_e(GAssign("192.168.42.100", "00:50:4C:20:52:90")); //assign an ip address to a known MAC
    //NOTE: GAssign does not burn the IP address with BN. This can be done after assignment through GOpen() and GCmd().
#endif
 
#if 0
    /*
    *  Change above line to "#if 1" to run examples below.
    *  Listing available hardware addresses.
    */
    x_e(GAddresses(buf, sizeof(buf))); //list available addresses
    cout << "Available addresses:\n";
    if (strlen(buf) != 0)
      cout << buf << "\n\n";
    else
      cout << "none\n\n";
#endif
 
    cout << "Connecting to hardware\n";
 
    //Basic connections
    x_e(GOpen("192.168.42.100 --subscribe ALL", &g)); //connect and assign a value to g. 
    //x_e(GOpen("/dev/galilpci0 --subscribe ALL", &g)); 
    //x_e(GOpen("COM1 --baud 115200 --subscribe ALL", &g));
    
    x_e(GInfo(g, buf, sizeof(buf))); //grab connection string
    cout << buf << '\n';
 
    //x_e(GCmd(g, "BN")); //example to burn the IP address if it was set above
 
#if 0
    /*
    *  Change above line to "#if 1" to run examples below.
    *  Comment out the function calls below to be avoided.
    *  Note some calls attempt to move motors and not all
    *  functions are compatible with all Galil products.
    */
 
    
    x_e(x_gread_gwrite(g)); //call examples for GRead() and GWrite().   
    x_e(x_gcommand(g)); //call examples for GCommand().
    x_e(x_programs(g)); //call examples for GProgramDownload() and GProgramUpload().
    x_e(x_arrays(g)); //call examples for GArrayDownload() and GArrayUpload().
    x_e(x_grecord(g)); //call examples for GRecord(). WARNING, this call will attempt to move motors.
    x_e(x_gmessage(g)); //call examples for GMessage().
    x_e(x_ginterrupt(g)); //call examples for GInterrupt().  WARNING, this call will attempt to move motors.
    x_e(x_gmotioncomplete(g)); //call examples for GMotionComplete. WARNING, this call will attempt to move motors.
    x_e(x_nonblocking(g)); //call examples for using GRecord(), GMessage(), and GInterrupt() in a non-blocking mode.
    
    
#endif  
 
#if 0
    /*
    *  Change above line to "#if 1" to run examples below.
    *  Loading Firmware
    */
    x_e(GFirmwareDownload(g, "c:/temp/d212r10r2.hex"));
    x_e(GInfo(g, buf, sizeof(buf)));
    cout << buf << '\n';
#endif
 
#if 0
    /*
    *  Change above line to "#if 1" to run examples below.
    *  Calling GSetupDownloadFile
    */
    GOption opt = 0;
    const char* file_path = "C:/dev/test/gcb/test.gcb";
    opt = GSetupDownloadFile(g, file_path, opt, buf, buf_size);
    cout << "Setup file " << file_path << endl;
    cout << "Parameters " << (opt & 0x02 ? "present" : "absent") << endl;
    cout << "Variables " << (opt & 0x08 ? "present" : "absent") << endl;
    cout << "Arrays " << (opt & 0x10 ? "present" : "absent") << endl;
    cout << "Program " << (opt & 0x20 ? "present" : "absent") << endl;
    //cout << buf; //print the setup info
 
    x_e(GSetupDownloadFile(g, "C:/dev/test/gcb/test.gcb", 0xff, 0, 0));
#endif
 
    if (g) x_e(GClose(g)); g = 0; //close g
    
 
  }//try
  catch (GReturn gr) //for x_e() function
  {
    if (gr == GALIL_EXAMPLE_ERROR)
      cout << "ERROR: Example code failed\n";
    else
    {
      cout << "Function returned " << gr << '\n';
      GError(gr, buf, sizeof(buf));
      cout << buf << '\n';
      GSize size = sizeof(buf);
      
      if (g)
      {
        GUtility(g, G_UTIL_ERROR_CONTEXT, buf, &size);
        cout << buf << '\n'; //further context
      }
      
    }
    rc = GALIL_EXAMPLE_ERROR;
    if (g) GClose(g); g = 0; //close g
  }
  catch (std::exception& e)
  {
    std::cerr << "Unexpected std::exception... Kaboom. " << e.what() << std::endl;
    rc = GALIL_EXAMPLE_ERROR;
    if (g) GClose(g); g = 0; //close g
  }
  catch (...)
  {
    cout << "Unexpected error... Kaboom." << endl;
    rc = GALIL_EXAMPLE_ERROR;
    if (g) GClose(g); g = 0; //close g
  }
 
  if (argc == 1) //if no args on command line, report and pause
  {
    cout << endl << endl;
    if (rc == GALIL_EXAMPLE_OK)
      cout << "examples.cpp executed OK\n";
    else
      cout << "examples.cpp returning error " << rc << '\n';
 
    cout << "main() is finished. Press Enter to exit:";
    getchar(); //keep window open
  }
  return rc;
}