gclib  368
Communications API for Galil controllers and PLCs
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gcc (Linux)

The following instructions were performed on

$ uname -a
Linux localhost.localdomain 3.17.4-301.fc21.x86_64 #1 SMP Thu Nov 27 19:09:10 UTC 2014 x86_64 x86_64 x86_64 GNU/Linux
$ g++ --version
g++ (GCC) 4.9.2 20150212 (Red Hat 4.9.2-6)

Copy Files

$ mkdir test
$ cd test
$ tar -xzf /usr/share/doc/gclib/src/gclib_examples.tar.gz 
$ ls
x_arrays.cpp    x_gcommand.cpp    x_gmotioncomplete.cpp  x_programs.cpp
x_examples.cpp  x_ginterrupt.cpp  x_gread_gwrite.cpp     x_simple.c
x_examples.h    x_gmessage.cpp    x_grecord.cpp

x_simple.c

  • In a text editor, open x_simple.c. Find the GOpen() call and update the address to match the desired hardware. See the documentation for GOpen() for address formatting options.

Compile

$ gcc -Wall -Werror x_simple.c -lgclib -lgclibo -o simple

Run

$ ./simple 
rc: 0
version: 85.60.131
rc: 0
rc: 0
info: 10.1.3.17, DMC4020 Rev 1.2b, 291
rc: 0
response:  179340166.0000
:

x_examples.cpp

  • In a text editor, open x_examples.cpp. Find the GOpen() call and update the address to match the desired hardware. See the documentation for GOpen() for address formatting options. Don't forget -s ALL if data records, interrupts, and messages are to be tested.
  • Find the #if 0 preprocessor block enclosing the example calls. Change to #if 1 to run the examples. Comment out the function calls to be avoided. Note some calls attempt to move motors and not all functions are compatible with all Galil products.

Compile

$ g++ x_*.cpp -lgclib -lgclibo -o example

Run

$./example Library version: 85.60.131

10.1.3.17, DMC4020 Rev 1.2b, 291

************************************************************************
Example GRead() and GWrite() usage
************************************************************************

Read 155 QR bytes.

************************************************************************
Example GCommand() usage
************************************************************************
Revision report, ^R^V
DMC4020 Rev 1.2b
:

Command Values
val is 10
val is 11
val is 3.1415
val is 9.869

Command Trimming
> 179798738.0000
:<
> 179798738.0000<
>179798738.0000<

Receiving Binary Data
QR read 155 bytes

Error handling
QD correctly trapped, not allowed, try GArrayDownload()
DL correctly trapped, not allowed, try GProgramDownload()

Modifying timeout
Burning program...OK

************************************************************************
Example GProgramDownload() and GProgramUpload() usage
************************************************************************
GProgramDownload() correctly errored. Can't fit with level 3 compression
Program Downloaded with compression level 4
Uploading program:
#A;i=0;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1
i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;i=i+1;EN

Program executed as expected
************************************************************************
Example GArrayDownload(), GArrayUploadFile()
GArrayDownloadFile(), and GArrayUpload usage
************************************************************************
2.0000, 4.0000, 6.0000, 8.0000, 10.0000, 12.0000, 14.0000, 16.0000, 18.0000, 20.0000

2.0000, 1.0000, 3.0000, 5.0000, 10.0000, 12.0000, 14.0000, 16.0000, 18.0000, 20.0000

3.0000, 5.0000, 10.0000
2.0000, 1.0000, 3.0000, 5.0000, 10.0000, 12.0000, 14.0000, 16.0000, 18.0000, 20.0000


************************************************************************
Example GRecord() usage
************************************************************************

QR-based data record
36100
6000

DR-based data record
36204
36306
36408
36510
36612
36714
36816
36918
37020
37122
37224

QR-based data record with offsets
37224
37224

************************************************************************
Example GMessage() usage
************************************************************************
 0.0000
 1.0000
 2.0000
 3.0000
 4.0000
 5.0000
 6.0000
 7.0000
 8.0000
 9.0000

************************************************************************
Example GInterrupt() usage
************************************************************************
"UI 8" executed.

************************************************************************
Example GMotionComplete() usage
************************************************************************

Position: 0, 0
Beginning independent motion... Motion Complete on A
Position: 8000, 0

Position: 0, 0
Beginning vector motion... Motion Complete on vector plane S
Position: 6000, 0


examples.cpp executed OK
main() is finished. Press Enter to exit: