add galil gclib

MITLIB/IODll/HardwareIni.h

@@ -10,8 +10,8 @@
 #endif // _MSC_VER > 1000
 
 #include "Afxtempl.h"
-#include "dmccom.h"
-
+#include "gclib.h"
+#include "gclibo.h"
 // ETEL
 #ifdef WITH_ETEL
 #include "dsa30.h"
@@ -154,8 +154,8 @@ const char GalilAxis[MAX_GALIL_AXIS] = {
 class CCard
 {
 public:
-    HANDLEDMC GetGalilCardHandle(int nCardType, int nCardNo);
-    void      SetGalilCardHandle(int nCardType, int nCardNo, HANDLEDMC hDMC);
+    GCon      GetGalilCardHandle(int nCardType, int nCardNo);
+    void      SetGalilCardHandle(int nCardType, int nCardNo, GCon hDMC);
     int       Get7296PortNo(int nPoint);
     BOOL      GetOutputStatus(int nIndex);
     CCard();
@@ -220,7 +220,7 @@ private:
 // track the Galil cards initialised handle
 // currently this is used for Galil Cards only
 // for up to 5 different type of cards with 5 cards in each type per system
-    static HANDLEDMC m_hdmcGalil[5][5];
+    static GCon m_hdmcGalil[5][5];
 };
 
 #endif // !defined(AFX_HARDWAREINI_H__72E28502_940B_4759_854A_B4A6879C3115__INCLUDED_)

MITLIB/IODll/MotionController_GALIL.h

@@ -0,0 +1,35 @@
+// MotionController_GALIL.h: interface for the CMotionController_GALIL class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_)
+#define AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include "MotionControllerBase.h"
+
+class CMotionController_GALIL : public CMotionControllerBase
+{
+public:
+    CMotionController_GALIL(int index);
+    virtual ~CMotionController_GALIL();
+
+    BOOL Init(int &nNoOfMtr) override;
+    void Close() override;
+
+//  get Motion status of motor
+    int GetMotionStatus(const CMtrProfile &mtrProfile) override;
+
+    void SetGalilMotionInt(int nAxisNo);
+
+    int m_nCurrentGalilCard;
+    int m_nCurrentIndex;
+
+private:
+    CWinThread *m_pGalilIntThread[4];
+};
+
+#endif // !defined(AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_)

MITLIB/IODll/Motor_GALIL.h

@@ -0,0 +1,176 @@
+// Motor_GALIL.h: interface for the CMotor_GALIL class.
+//
+//////////////////////////////////////////////////////////////////////
+
+#if !defined(AFX_MOTOR_GALIL_H__B32C658E_7AF3_44AE_A7F0_CA13719016EA__INCLUDED_)
+#define AFX_MOTOR_GALIL_H__B32C658E_7AF3_44AE_A7F0_CA13719016EA__INCLUDED_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include "MotorBase.h"
+
+class CMotor_GALIL : public CMotorBase
+{
+public:
+    CMotor_GALIL(CMtrProfile mtrProfile, double *dpPos, CMotionControllerBase *pBaseController);
+    virtual ~CMotor_GALIL();
+
+// **************************************************************
+// Methods declaration
+// **************************************************************
+
+// method to close the axis
+    void CloseAxis() override;
+
+// method to initialize and configure the axis
+    void ConstructAxis() override;
+
+//  method to On/Off motor
+    bool OnMotor() override;
+    bool OffMotor() override;
+
+//  method to stop motor with decceleration
+    bool DecelStop() override;
+
+//  method to trigger Emergency stop the motor  int EStop();
+    bool EmergStop() override;
+
+// method to get commanded position
+    bool GetMotorCommandedPosition(int iMtrNo, double *pRaw) override;
+
+// method Check other axis home sensor
+    BOOL IsHomed(const CMtrProfile &mtrProfile) override;
+
+// method to get other motor axis IO status
+    int GetMotionIOStatus(const CMtrProfile &mtrProfile) override;
+
+// method to get Other axis motor ready status
+    BOOL IsMotorReady(const CMtrProfile &mtrProfile) override;
+
+// method to get Other axis negative/ccw limit status
+    BOOL IsNegLmtHit(const CMtrProfile &mtrProfile) override;
+
+// method to get Other axis positive/cw limit status
+    BOOL IsPosLmtHit(const CMtrProfile &mtrProfile) override;
+
+// method to get Other axis home sensor status
+    bool IsMtrOn(const CMtrProfile &mtrProfile) override;
+
+// method to get other motor axis current position
+    bool GetMotorPosition(const CMtrProfile &mtrProfile, double *pRawPosition) override;
+
+// method to get motor axis current position error
+    bool GetMotorPositionError(double *pRawPositionError) override;
+
+    int SetHomeMode(int iHomeMode) override;
+
+// method to do homing by index signal
+    BOOL HomeByIndex() override;
+
+// method to do homing by Home Sensor
+    BOOL HomeBySensor() override;
+
+// method to move absolute
+    bool AbsoluteMove(double dPosition, int nMode, PROFILE_CURVE curve) override;
+
+// method to move relative distance
+    bool RelativeMove(double dDistance, PROFILE_CURVE curve) override;
+
+// method to move continuously
+    int MoveContinuously(bool bCW = true) override;
+
+// method to process interrupt to decode what happen to the motor
+    void ProcessInt(int nIntCode = 0) override;
+
+// method to reset single trigger
+    int ResetSingleTrigger(double dPosition = 0.0) override;
+
+// method to set the commanded position register
+    bool SetMotorCommandedPosition(double dPosition) override;
+
+// method to set the mechanical coversion factor
+    bool RefreshMotorConversionFactor() override;
+
+// method to force set the current position
+    bool SetMotorPosition(double dPosition) override;
+
+// method to arm controller axis for single trigger
+    int SetSingleTrigger(double dPosition,  int nCmpSource = 1, int nPulseStretch = STRETCH_NON) override;
+
+// method to arm multiaxis for simultaneous motion
+    int SimultaneousMove(int nNoOfAxis, CMtrProfile *mtrProfile,  double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, int nMode = 0) override;
+
+// method to move motor in s-curve continuously
+    int SMoveContinuously(bool bCW = true) override;
+
+    void SetMotorProfile(double dValue, motion_profile::PROFILE_TYPE type) override;
+
+    /// Ported from v2.3.8.53
+// method to set multiple trigger based on point table
+    int SetMultipleTrigger(double* pPosition, int nNoOfTrigger, int nCmpSource = 1) override;
+    ///
+    bool SetMotorMultipleTrigger(const multiple_trigger &trigger) override;
+
+// **************************************************************
+// Methods declaration applicable to GALIL ONLY - STARTS
+// **************************************************************
+// method to get motion stop code
+    int GetStopCode() override;
+
+// method to get motion stop code
+    CString GetVariable(CString csVariableName) override;
+
+// method to send direct command string to controller
+    int SendCommand(CString csCommand) override;
+
+// method to stop any running script program and stop all motion
+    int StopProgramAndMotion() override;
+
+// method to update motion profile
+    int UpdateProfile() override;
+// **************************************************************
+// Methods declaration applicable to GALIL ONLY - ENDS
+// **************************************************************
+
+private:
+    int GalilFindHomeIndex(HOME_DIR homeDir, MOTION_SPEED speed);
+
+    int GalilUpdateHomeSlowProfile();
+
+    bool GalilUpdateProfile(MOTION_SPEED speed);
+
+    int GalilFindHomeSensor(HOME_DIR homeDir, MOTION_SPEED speed);
+
+    int GalilMove();
+
+// Gary 20Sep11, V1.29.03, cater configurable trigger pulse width
+    int m_nPulseWidth;
+
+    bool SendCommand(GCon handle, char *format, ...);
+
+    bool SendStartMove(GCon handle, int nMotorNo);
+
+    bool SendStartWaitHomeThread(GCon handle, int nMotorNo);
+
+    bool SendStartWaitMotionDoneThread(GCon handle, int nMotorNo);
+
+    bool SendCommandGetResponse(GCon handle, char *pResponse, size_t size, char *format, ...);
+
+    bool SendHomeSensorLogic(GCon handle, int nLogic);
+
+    bool SendJog(GCon handle, int nMotorNo, int nDir, long lSpeed);
+
+    GCon m_handle;
+
+    const char m_cGalilAxis;
+
+    bool FindHome(MOTION_SPEED speed);
+
+    void SetVirtualHomePosition();
+
+    CCriticalSection m_CritSection;
+};
+
+#endif // !defined(AFX_MOTOR_GALIL_H__B32C658E_7AF3_44AE_A7F0_CA13719016EA__INCLUDED_)

MITLIB/Utility/Utility.rc

@@ -107,8 +107,8 @@ VS_VERSION_INFO$(VERSION_CONTROL) VERSIONINFO
 #else
 VS_VERSION_INFO VERSIONINFO
 #endif
- FILEVERSION 10,0,0,1
- PRODUCTVERSION 10,0,0,1
+ FILEVERSION 10,0,0,0
+ PRODUCTVERSION 10,0,0,0
  FILEFLAGSMASK 0x3fL
 #ifdef _DEBUG
  FILEFLAGS 0x21L
@@ -126,15 +126,15 @@ BEGIN
             VALUE "Comments", "x64"
             VALUE "CompanyName", "MIT "
             VALUE "FileDescription", "Utility"
-            VALUE "FileVersion", "10.0.0.1\0"
+            VALUE "FileVersion", "10.0.0.0"
             VALUE "InternalName", "Utility"
             VALUE "LegalCopyright", "Copyright © 2020"
             VALUE "LegalTrademarks", " "
             VALUE "OriginalFilename", "Utility.dll"
             VALUE "PrivateBuild", " "
             VALUE "ProductName", "MIT  Utility"
-            VALUE "ProductVersion", "10.0.0.1\0"
-            VALUE "SpecialBuild", "mitlib-release-10-1\0"
+            VALUE "ProductVersion", "10.0.0.0"
+            VALUE "SpecialBuild", "mitlib-release-10-0"
         END
     END
     BLOCK "VarFileInfo"

MITLIB/commdll/SerialPort/SerialPort.h

@@ -43,6 +43,8 @@
 // CBR_xxxx, PCF_xxx, EV_xxx, CE_xxx, etc).
 // ========================================================================
 
+#include <vector>
+
 #define SEVENDATABITS   7    // No equivalents in WINBASE.H
 #define EIGHTDATABITS   8
 #define PCF_NOFLOWCTL   0
@@ -190,7 +192,7 @@ public:
     BOOL SetupComm(DWORD cbInQueue, DWORD cbOutQueue);
 
 //  Get Com port name and return number of com port in the system
-    static int GetAllComPort(CStringArray &csaComPortName);
+    static int GetAllComPort(std::vector<std::string> &vecComPortName);
 };
 
 // Inline function bodies

MITLIB/mcctrdll/mcctrdll.rc

@@ -71,8 +71,8 @@ VS_VERSION_INFO$(VERSION_CONTROL) VERSIONINFO
 #else
 VS_VERSION_INFO VERSIONINFO
 #endif
- FILEVERSION 10,0,0,1
- PRODUCTVERSION 10,0,0,1
+ FILEVERSION 10,0,0,0
+ PRODUCTVERSION 10,0,0,0
  FILEFLAGSMASK 0x3fL
 #ifdef _DEBUG
  FILEFLAGS 0x1L
@@ -90,15 +90,15 @@ BEGIN
             VALUE "Comments", "x64"
             VALUE "CompanyName", "MIT "
             VALUE "FileDescription", "mcctrdll"
-            VALUE "FileVersion", "10.0.0.1\0"
+            VALUE "FileVersion", "10.0.0.0"
             VALUE "InternalName", "mcctrdll"
             VALUE "LegalCopyright", "Copyright © 2020"
             VALUE "LegalTrademarks", " "
             VALUE "OriginalFilename", "mcctrdll.dll"
             VALUE "PrivateBuild", " "
             VALUE "ProductName", "MIT  mcctrdll"
-            VALUE "ProductVersion", "10.0.0.1\0"
-            VALUE "SpecialBuild", "mitlib-release-10-1\0"
+            VALUE "ProductVersion", "10.0.0.0"
+            VALUE "SpecialBuild", "mitlib-release-10-0"
         END
     END
     BLOCK "VarFileInfo"

MITLib/Utility/ConcurrentQueue.h

@@ -149,7 +149,7 @@ public:
 
         // inside critical section
         {
-            size = m_queue.size();
+            size = (int)m_queue.size();
         }
 
         return size;