I have installed an API for my Linux 18.04. After doing it I have the headers gclib.h and gclibo.h in the include and lib folders:
root@ubuntuadmin-Vostro-3559:/# locate gclib
/usr/include/gclib.h
/usr/include/gclib_errors.h
/usr/include/gclib_record.h
/usr/include/gclibo.h
/usr/lib/libgclib.so
/usr/lib/libgclib.so.0
/usr/lib/libgclib.so.0.478
/usr/lib/libgclibo.so
/usr/lib/libgclibo.so.0
/usr/lib/libgclibo.so.0.0
/usr/share/doc/gclib
/usr/share/doc/gclib/changelog.Debian.gz
/usr/share/doc/gclib/changelog.gz
/usr/share/doc/gclib/copyright
/usr/share/doc/gclib/gclib_doc.tar.gz
/usr/share/doc/gclib/src
/usr/share/doc/gclib/src/gclib_examples.tar.gz
/usr/share/doc/gclib/src/gclib_gcl.tar.gz
/usr/share/doc/gclib/src/gclib_pci.tar.gz
/usr/share/doc/gclib/src/gclib_python.tar.gz
/usr/share/doc/gclib/src/gclib_python_examples.tar.gz
/usr/share/doc/gclib/src/gclibo_src.tar.gz
/var/cache/apt/archives/gclib_478-1_amd64.deb
/var/lib/dpkg/info/gclib.list
/var/lib/dpkg/info/gclib.md5sums
/var/lib/dpkg/info/gclib.postinst
/var/lib/dpkg/info/gclib.postrm
I have written a simple code which includes the libraries gclib.h and gclibo.h and call the function GOpen() which is declared in the header gclib.h.
/home/ubuntuadmin/Desktop/Galilprogram/test.c
#include<gclib.h>
#include<gclibo.h>
#include<stdio.h>
GCon* g=0;//handle to Galil
int main (int argc, char* argv[]){
if (argc != 2){
printf("Error");
return -1;
}
else{
printf("\nA sample C program \n\n");
GOpen(argv[1], g);
return 0;
}
}
These is the gclib.h header:
/** @defgroup cpp_api API
* 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
*/
/** @addtogroup cpp_api
*
* @{
*/
/*! \file gclib.h
*
* Defines the interface for the Galil C Library (GCLIB).
*
*/
#ifndef I_D48432D9_1FA3_4C7D_B44C_05F8B9000ADF
#define I_D48432D9_1FA3_4C7D_B44C_05F8B9000ADF
//set library visibility for gcc and msvc
#if BUILDING_GCLIB && HAVE_VISIBILITY
#define GCLIB_DLL_EXPORTED __attribute__((__visibility__("default")))
#elif BUILDING_GCLIB && defined _MSC_VER
#define GCLIB_DLL_EXPORTED __declspec(dllexport)
#elif defined _MSC_VER
#define GCLIB_DLL_EXPORTED __declspec(dllimport)
#else
#define GCLIB_DLL_EXPORTED
#endif
#include "gclib_record.h" // Galil data record structs and unions.
#include "gclib_errors.h" // GReturn error code values and strings.
#ifdef _WIN32
#define GCALL __stdcall //!< Specify calling convention for Windows.
#else
#define GCALL
#endif
//#define G_USE_GCOMPOUND //!< GCompound() is not part of the standard gclib release. Contact Galil Applications for a special build, http://galil.com/contact.
#ifdef __cplusplus
extern "C" {
#endif
//Constants for function arguments
#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.
//Constants for GUtility()
#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 via Boot-P reply.
#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 @ref gcaps server.
#define G_UTIL_GCAPS_KEEPALIVE 258 //!< GUtility(), @ref gcaps server keepalive.
#define G_UTIL_GCAPS_ADDRESSES 259 //!< GUtility(), get a list of available connections from the @ref gcaps server.
#define G_UTIL_GCAPS_IPREQUEST 260 //!< GUtility(), get a list of hardware requesting IPs from the @ref gcaps server.
#define G_UTIL_GCAPS_ASSIGN 261 //!< GUtility(), assign IP addresses via Boot-P reply from the @ref 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 @ref gcaps server.
//Convenience constants
#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.
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().
//! Open a connection to a Galil Controller.
GCLIB_DLL_EXPORTED GReturn GCALL GOpen(GCStringIn address, GCon* g);
/*!<
* \param address Null-terminated address string. See table below.
* \param g Pointer to user's `GCon` variable. On success, the library will fill the user's variable with the handle to use for the rest of the connection. A valid `g` value is nonzero.
*
* \return The success status or error code of the function. See gclib_errors.h for possible values.
*
* `address` switch | Meaning | Arguments `(default), other options` | %Examples
* ---------------------|-----------------------------------------------------------------|---------------------------------------|-----------------
* `--address` | **Simple address to hardware** | *IP address*, *PCI*, *COM port* | `--address COM1`
* `-a` | shorthand for `--address` | See *Address Ranges* below | `-a GALILPCI1`
* {no switch} | `--address` is implicit for any lone token | | `192.168.0.42`
* `--baud` | **Baud rate** | (`115200`), *valid baud...* | `COM2 --baud 19200`
* `-b` | shorthand for `--baud` | | `COM3 -b 38400`
* `--command` | **Command-and-response socket protocol** | (`TCP`), `UDP` | `192.168.0.42 --command TCP`
* `-c` | shorthand for `--command` | | `192.168.0.42 -c UDP`
* `--direct` | **Connect directly to hardware instead of via** @ref gcaps | | `-a GALILPCI2 --direct`
* `-d` | shorthand for `--direct` | | `GALILPCI2 -d`
* `--subscribe` | **Subscribe to messages, data records, and/or interrupts** | (`NONE`), `MG`, `DR`, `EI`, `ALL` | `192.168.0.42 --subscribe MG`
* `-s` | shorthand for `--subscribe` | | `192.168.0.42 -s DR -s EI`
* `--timeout` | **timeout in ms** | (`5000`), *0-65535* | `192.168.0.42 --timeout 5000`
* `-t` | shorthand for `--timeout` | | `GALILPCI2 -t 500`
* `--unsolicited` | **Unsolicited socket protocol** | (`UDP`), `NONE` | `192.168.0.42 --unsolicited NONE`
* `-u` | shorthand for `--unsolicited` | | `192.168.1.42 -u UDP`
* |**The following `address` switches are deprecated and will be unavailable starting July 1st, 2020.**||||
* `--p1` | **Primary port for command-and-response traffic** | (`23`), *valid port number* | `192.168.0.42 --p1 5000`
* `--p2` | **Secondary port for unsolicited traffic** | (`60007`), *valid port number* | `192.168.0.42 --p2 5000`
*
* <br>
*
* Operating System | Address Range | Notes
* ---------------------|------------------------------------|------------------------------
* Windows | `COM1` - `COM256` | RS232 and USB-to-serial
* Linux | `/dev/ttyS0` - `/dev/ttyS255` | RS232
* Linux | `/dev/ttyUSB0` - `/dev/ttyUSB255` | USB-to-serial, e.g. DMC-4103
* Windows | `GALILPCI1` - `GALILPCI8` | PCI
* Linux | `/dev/galilpci0` - `/dev/galilpci7`| PCI
*
* See x_examples.cpp for an example.
*
* When connecting to a network device, if the command-and-response socket is opened successfully but the unsolicited socket fails, GOpen() will still
* complete successfully. This allows connection to a Galil controller when only one Ethernet handle is available. Unsolicited traffic will not be accessible
* in this case.
*/
//! Closes a connection to a Galil Controller.
GCLIB_DLL_EXPORTED GReturn GCALL GClose(GCon g);
/*!<
* \attention
* *gclib* requires that `GClose()` be called whenever a program is finished with a controller.
* This includes when a program closes. A rule of thumb is that for every `GOpen()` call on a given connection,
* a `GClose()` call should be found on every code path. Failing to call GClose() may cause controller resources
* to not be released or can hang the process if there are outstanding asynchronous operations. The latter can
* occur, for example, if a call to GRead() times out and the process exits without calling GClose(). In this case,
* GRead() still has an outstanding asynchronous read pending. GClose() will terminate this operation allowing the process
* to exit correctly.
*
* \param g Connection's handle.
*
* \return The success status or error code of the function. See gclib_errors.h for possible values.
*
* See x_examples.cpp for an example.
*/
//! Performs a read on the connection.
GCLIB_DLL_EXPORTED GReturn GCALL GRead(GCon g, GBufOut buffer, GSize buffer_len, GSize* bytes_read);
/*!<
* \param g Connection's handle.
* \param buffer The user's read buffer.
* \param buffer_len The length of the user's read buffer.
* \param bytes_read Pointer to a GSize which will be filled with the number of bytes read upon return.
*
* \return The success status or error code of the function. See gclib_errors.h for possible values.
*
* \warning This function is deprecated and will be removed in a future gclib version. Please contact Galil
* for needs not covered by the other gclib functions.
*
* Unsolicited messages may be returned in the read data.
* The high bit of each message byte will be set unless the user changes the CW setting.
* Interrupts and Data Records are always filtered from a read.
*
* See x_gread_gwrite.cpp for an example.
*/
I apologize but I cut off the rest of the code.
When I compile the code with gcc with gcc I get the error:
ubuntuadmin@ubuntuadmin-Vostro-3559:~/Desktop/Galilprogram$ gcc test.c -o test
/tmp/ccTRCzo0.o: In function `main':
test.c:(.text+0x52): undefined reference to `GOpen'
collect2: error: ld returned 1 exit status
Since it seems to locate the header I thought that it has problem to find the dynamic library, so I also tried to use the option -L:
gcc -L/usr/lib test.c -o ciao
I am not an expert I hope someone can redirect toward the right path.
