Announcement

**jcfuller** · 27 Oct 2008, 08:58 AM

Make sure all string parameters use unicode UCODE$()

James

**José Roca** · 27 Oct 2008, 09:07 AM

As James said, you have to use Unicode strings:

msgbox ACODE$(Galil.command(UCODE$("CONFIG=?")))

**Cliff Nichols** · 27 Oct 2008, 09:29 AM

Ryan,
Having worked with Galil products before, and working with COM for my company's Motion Controllers I have to ask where the samples for Galil can be downloaded? If I can see their VB version, I think I put 2 and 2 together what the port to PB would be. (and it would go a LONNNNNNG way for me learning the ins and outs of COM itself as well)

That aside, most likely the strings do need to be Unicode, or something not set to tell Galil to get ready to receive commands.

**RyanCross** · 27 Oct 2008, 10:07 AM

Excellent, works perfect.

**RyanCross** · 27 Oct 2008, 10:09 AM

Originally posted by Cliff Nichols View Post

Ryan,
Having worked with Galil products before, and working with COM for my company's Motion Controllers I have to ask where the samples for Galil can be downloaded? If I can see their VB version, I think I put 2 and 2 together what the port to PB would be. (and it would go a LONNNNNNG way for me learning the ins and outs of COM itself as well)

That aside, most likely the strings do need to be Unicode, or something not set to tell Galil to get ready to receive commands.

Cliff they give you quite a few simple examples in different languages with their GalilTools utility (lite or regular[$]). If you install the latest GalilTools there are examples in the C:\Program Files\Galil\GalilTools-x86\lib\ directory. They also have documentation in the GalilTools help file.

One thing I did find was that the .command method must be called with its defaults otherwise it seems to not work correctly.

For example:

DOES NOT WORK -
msgbox acode$(Galil.command(ucode$("CONFIG=?")))

WORKS -
msgbox acode$(Galil.command(ucode$("CONFIG=?"), ucode$($CR), ucode$(":"), -1))

**RyanCross** · 27 Oct 2008, 10:54 AM

So it appears that when an error is received its in the way of an "Object error (99)". For example is a send a bad command to the controller like this (EI is not valid on this controller):

Code:

Try
msgbox acode$(Galil.command(ucode$("EI"), ucode$($CR), ucode$(":"), -1))
Catch
Msgbox ERROR$ & " (" & str$(Err) & ")"
End Try

Now in their Visual Basic 6 example all they do to display the actual error that the controller threw is:

Code:

On Error GoTo Catch1 
        g.Command ("EI") 
Catch1:
        Text1.Text = Err.Description + vbNewLine

In VB6 Err.Description is detailed error that the controller threw:
2010 COMMAND ERROR. Galil::command("EI") got ? instead of : response. TC1 returned "1 Unrecognized command"

How do I get that in PB9? Or is it not possible?

**José Roca** · 27 Oct 2008, 11:25 AM

The actual error code is returned by OBJRESULT, not ERR. The documentation of Galil should provide a list of error codes.

**RyanCross** · 27 Oct 2008, 12:05 PM

This is directly from the Galil documentation:

The exceptions thrown by the Galil class were designed to allow for easy debugging by providing human-readable information. No error-code table needs to be referenced by the programmer as the error information is included in the error. All thrown objects are strings. String search functions or error codes can be used to determine the nature of an error.
Example 1. Using string functions to programmatically handle thrown errors (below is a partial Try/Catch handler)

VB.NET Example

Code:

Catch exception As System.Runtime.InteropServices.COMException
    Console.WriteLine(exception) 'print error message
    If exception.Message.Contains("COMMAND ERROR") Then
        Console.WriteLine("a command error occurred") 'special processing for command errors
    End If
End Try

So since there is no error table, the question is. How do I get the string?

**Dominic Mitchell** · 27 Oct 2008, 06:32 PM

Give the IDISPINFO pseudo-object's IDISPINFO.DESC$ a try.

**RyanCross** · 27 Oct 2008, 09:01 PM

Originally posted by Dominic Mitchell View Post

Give the IDISPINFO pseudo-object's IDISPINFO.DESC$ a try.

I thought so too, but OBJRESULT returns an %E_FAIL and not a %DISP_E_EXCEPTION.

**Dominic Mitchell** · 28 Oct 2008, 07:47 AM

In VB6 Err.Description is detailed error that the controller threw:
2010 COMMAND ERROR. Galil::command("EI") got ? instead of : response. TC1 returned "1 Unrecognized command"

How do I get that in PB9? Or is it not possible?

Do not use VTbl binding. Use ID binding(set the generate Dispatch interfaces flag in your COM browser).

For example, your code converted to use ID binding

Code:

  LOCAL oGalil      AS GalilGalil
  LOCAL sAddress    AS STRING
  LOCAL sCommand    AS STRING
  LOCAL sResult     AS STRING
  LOCAL sParam1     AS STRING
  LOCAL sParam2     AS STRING
  LOCAL sParam3     AS STRING
  LOCAL fTrim       AS LONG

  oGalil = NEWCOM clsid $CLSID_GALILGALIL

  IF ISNOTHING(oGalil) THEN
      MSGBOX "Unable to create an object refrence to the Galil Interface."
      EXIT FUNCTION
  END IF

  OBJECT LET oGalil.address = sAddress
MSGBOX "IDISPINFO.DESC$:" + IDISPINFO.DESC$

  OBJECT CALL oGalil.connection() TO sResult
  MSGBOX "connection:" + ACODE$(sResult)
MSGBOX "IDISPINFO.DESC$:" + IDISPINFO.DESC$

  SLEEP 500

  sParam1 = UCODE$("CONFIG=?")
  sParam2 = UCODE$($CR)
  sParam3 = UCODE$(":")
  fTrim   = -1
  OBJECT CALL oGalil.command(sParam1, sParam2, sParam3, fTrim) TO sResult
MSGBOX "IDISPINFO.DESC$:" + IDISPINFO.DESC$  
  MSGBOX "command:" + ACODE$(sResult)

  MSGBOX "hresult:" + HEX$(OBJRESULT)

Produces the following output on my system using a utility I wrote. This matches the output of IDISPINFO.DESC$.
Notice in the output below an exception is thrown(DISP_E_EXCEPTION) and the error code reported
by the control is E_FAIL. The error code value can vary.

Code:

CoCreateInstance
   rclsid       = {D70CFDB0-E481-480C-A29C-6F60FC044B38}
   pUnkOuter    = 0x00000000
   dwClsContext = (0x5)CLSCTX_INPROC_SERVER|CLSCTX_LOCAL_SERVER
   riid         = {00020400-0000-0000-C000-000000000046} IDISPATCH                   
   ppv          = 0x00B04F08
   hr           = 0x00000000: The operation completed successfully.



IDispatch::Invoke
   pThis        = 0x00928E50
   dispIdMember = 0x60020001
   riid         = {00000000-0000-0000-0000-000000000000}
   lcid         = 2048
   hr           = 0x80020009: Exception occurred.



HRESULT - &H80020009: Exception occurred.

Function: <&H60020001>
Argument: 

ErrorCode - &H80004005: Unspecified error

1011 TIMEOUT ERROR.  Galil::command("") took longer than 500 ms to read : response.


Source - Galil

HelpFile: 
HelpContextId: 0
IDispatch::Invoke
   pThis        = 0x00928E50
   dispIdMember = 0x60020002
   riid         = {00000000-0000-0000-0000-000000000000}
   lcid         = 2048
   hr           = 0x80020009: Exception occurred.



HRESULT - &H80020009: Exception occurred.

Function: <&H60020002>
Argument: 

ErrorCode - &H80004005: Unspecified error

9230 UNINITIALIZED OBJECT ERROR.  Galil::connection() called without Galil::address set


Source - Galil

HelpFile: 
HelpContextId: 0
IDispatch::Invoke
   pThis        = 0x00928E50
   dispIdMember = 0x60020005
   riid         = {00000000-0000-0000-0000-000000000000}
   lcid         = 2048
   hr           = 0x80020009: Exception occurred.



HRESULT - &H80020009: Exception occurred.

Function: <&H60020005>
Argument: 

ErrorCode - &H80004005: Unspecified error

9020 UNINITIALIZED OBJECT ERROR.  Galil::command() called without Galil::address set


Source - Galil

HelpFile: 
HelpContextId: 0
IIDispatch_Release

**RyanCross** · 28 Oct 2008, 08:23 AM

Wow Dominic you rock.

I really owe you one for putting in the effort to help me. Thank you to everyone else who helped as well. This forum is awesome.

Announcement

3rd Party COM not working with PB9

3rd Party COM not working with PB9

Comment

Comment

Comment

Comment

Comment

Comment

Comment

Comment

Comment

Comment

Comment

Comment