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. 
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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.
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Do not use VTbl binding. Use ID binding(set the generate Dispatch interfaces flag in your COM browser).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?
For example, your code converted to use ID binding
Produces the following output on my system using a utility I wrote. This matches the output of IDISPINFO.DESC$.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)
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_ReleaseLeave a comment:
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This is directly from the Galil documentation:
VB.NET ExampleThe 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)
So since there is no error table, the question is. How do I get the string?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 TryLast edited by RyanCross; 27 Oct 2008, 12:07 PM.Leave a comment:
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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):
Now in their Visual Basic 6 example all they do to display the actual error that the controller threw is:Code:Try msgbox acode$(Galil.command(ucode$("EI"), ucode$($CR), ucode$(":"), -1)) Catch Msgbox ERROR$ & " (" & str$(Err) & ")" End Try
In VB6 Err.Description is detailed error that the controller threw:Code:On Error GoTo Catch1 g.Command ("EI") Catch1: Text1.Text = Err.Description + vbNewLine
2010 COMMAND ERROR. Galil::command("EI") got ? instead of : response. TC1 returned "1 Unrecognized command"
How do I get that in PB9? Or is it not possible?Leave a comment:
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Cliff they give you quite a few simple examples in different languages with their GalilTools utility (lite or regular[$]). 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.Originally posted by Cliff Nichols View Post
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$(":"), -1))Leave a comment:
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Ryan,
Having worked with Galil products before, and working with COM for my company's Motion Controllers I have to ask where the samples for Galil can be downloaded? If I can see their VB version, I think I put 2 and 2 together what the port to PB would be. (and it would go a LONNNNNNG way for me learning the ins and outs of COM itself as well)
That aside, most likely the strings do need to be Unicode, or something not set to tell Galil to get ready to receive commands.Leave a comment:
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As James said, you have to use Unicode strings:
msgbox ACODE$(Galil.command(UCODE$("CONFIG=?")))Leave a comment:
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3rd Party COM not working with PB9
Here where I work we use motion controllers to control our machines. Currently we are using Galil Motion Controllers (www.galilmc.com).
Anyways I was talking to their tech guy the other day and he suggested I use the new API, because the stuff I am using is no longer updated.
He told me it was now COM and not the typical DLL like their old stuff.
I have never tried to use COM before, but it seemed pretty straight forward in PB9. So I generated the code with the PB COM Browser looked at some examples and tried to make a small sample program that would connect to the controller and message me back the value of a variable on the controller.
I connected fine, but it seems any method with arguments does not work correctly.
Below I have an example of me connecting to the controller (Galil.address = "" just brings up a list of available controllers). Then I attempt to get the value of a variable called CONFIG on the controller, but I receive nothing back even though I know I am connected because I can view active connections in GalilTools.
I know most of you are not familiar with Galil, but I was wondering if someone would take a look my code and see if anything looks wrong or out of place.
Include File for COM (I ended up trying Jose's TypeLib Browser 4.0.11, with same results):
My test code:Code:' ######################################################################################## ' Library name: Galil ' Version: 0.1, Locale ID = 0 ' Description: Galil ' Path: C:\Program Files\Galil\GalilTools-x86\lib\Galil.tlb ' Library GUID: {30A08063-D424-4206-9631-AE91CF80C678} ' Code generated by the TypeLib Browser 4.0.11 (c) 2008 by José Roca ' Date: 27 Oct 2008 Time: 08:59:44 ' ######################################################################################## ' ======================================================================================== ' ClsIDs (Class identifiers) ' ======================================================================================== $CLSID_Galil = GUID$("{D70CFDB0-E481-480C-A29C-6F60FC044B38}") ' ======================================================================================== ' IIDs (Interface identifiers) ' ======================================================================================== $IID_Events = GUID$("{67E9C73D-896A-440C-88DD-D0AC82AB7569}") $IID_IGalil = GUID$("{F1F88B2C-881A-4D82-9F99-60A84691387D}") ' ######################################################################################## ' Interface name = IGalil ' IID = {F1F88B2C-881A-4D82-9F99-60A84691387D} ' Attributes = 4160 [&H1040] [Dual] [Dispatchable] ' Inherited interface = IDispatch ' ######################################################################################## #IF NOT %DEF(%IGalil_INTERFACE_DEFINED) %IGalil_INTERFACE_DEFINED = 1 INTERFACE IGalil $IID_IGalil INHERIT IDispatch ' ===================================================================================== METHOD libraryVersion <1610743808> ( _ ' VTable offset = 28 ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== PROPERTY SET address <1610743809> ( _ ' VTable offset = 32 BYVAL STRING _ ' [in] VT_BSTR ) ' void ' ===================================================================================== METHOD connection <1610743810> ( _ ' VTable offset = 36 ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== PROPERTY SET timeout_ms <1610743811> ( _ ' VTable offset = 40 BYVAL LONG _ ' [in] retval VT_INT <Long> ) ' void ' ===================================================================================== PROPERTY GET timeout_ms <1610743811> ( _ ' VTable offset = 44 ) AS LONG ' [retval][out] *retval VT_INT <Long> ' ===================================================================================== METHOD command <1610743813> ( _ ' VTable offset = 48 OPTIONAL BYVAL STRING _ ' [opt][in] command VT_BSTR [default value = "MG TIME"] , OPTIONAL BYVAL STRING _ ' [opt][in] terminator VT_BSTR [default value = "$CR"] , OPTIONAL BYVAL STRING _ ' [opt][in] ack VT_BSTR [default value = ":"] , OPTIONAL BYVAL INTEGER _ ' [opt][in] trim VT_BOOL <Integer> [default value = -1] ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== METHOD commandValue <1610743814> ( _ ' VTable offset = 52 OPTIONAL BYVAL STRING _ ' [opt][in] command VT_BSTR [default value = "MG TIME"] ) AS DOUBLE ' [retval][out] *retval VT_R8 <Double> ' ===================================================================================== METHOD programUpload <1610743815> ( _ ' VTable offset = 56 ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== METHOD programDownload <1610743816> ( _ ' VTable offset = 60 OPTIONAL BYVAL STRING _ ' [opt][in] program VT_BSTR [default value = "MG TIME[$CR]EN"] ) ' void ' ===================================================================================== METHOD programUploadFile <1610743817> ( _ ' VTable offset = 64 OPTIONAL BYVAL STRING _ ' [opt][in] file VT_BSTR [default value = "program.dmc"] ) ' void ' ===================================================================================== METHOD programDownloadFile <1610743818> ( _ ' VTable offset = 68 OPTIONAL BYVAL STRING _ ' [opt][in] file VT_BSTR [default value = "program.dmc"] ) ' void ' ===================================================================================== METHOD arrayUpload <1610743819> ( _ ' VTable offset = 72 OPTIONAL BYVAL STRING _ ' [opt][in] name VT_BSTR [default value = "array"] ) AS VARIANT ' [retval][out] *retval VT_VARIANT <Variant> ' ===================================================================================== METHOD arrayDownload <1610743820> ( _ ' VTable offset = 76 BYVAL VARIANT _ ' [in] array VT_VARIANT <Variant> , OPTIONAL BYVAL STRING _ ' [opt][in] name VT_BSTR [default value = "array"] ) ' void ' ===================================================================================== METHOD arrayUploadFile <1610743821> ( _ ' VTable offset = 80 OPTIONAL BYVAL STRING _ ' [opt][in] file VT_BSTR [default value = "arrays.csv"] , OPTIONAL BYVAL STRING _ ' [opt][in] names VT_BSTR [default value = ""] ) ' void ' ===================================================================================== METHOD arrayDownloadFile <1610743822> ( _ ' VTable offset = 84 OPTIONAL BYVAL STRING _ ' [opt][in] file VT_BSTR [default value = "arrays.csv"] ) ' void ' ===================================================================================== METHOD firmwareDownloadFile <1610743823> ( _ ' VTable offset = 88 OPTIONAL BYVAL STRING _ ' [opt][in] file VT_BSTR [default value = "firmware.hex"] ) ' void ' ===================================================================================== METHOD write <1610743824> ( _ ' VTable offset = 92 OPTIONAL BYVAL STRING _ ' [opt][in] bytes VT_BSTR [default value = "$CR"] ) AS LONG ' [retval][out] *retval VT_INT <Long> ' ===================================================================================== METHOD read <1610743825> ( _ ' VTable offset = 96 ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== METHOD sources <1610743826> ( _ ' VTable offset = 100 ) AS VARIANT ' [retval][out] *retval VT_VARIANT <Variant> ' ===================================================================================== METHOD recordsStart <1610743827> ( _ ' VTable offset = 104 OPTIONAL BYVAL DOUBLE _ ' [opt][in] period_ms VT_R8 <Double> [default value = -1] ) ' void ' ===================================================================================== METHOD record <1610743828> ( _ ' VTable offset = 108 OPTIONAL BYVAL STRING _ ' [opt][in] method VT_BSTR [default value = "QR"] ) AS VARIANT ' [retval][out] *retval VT_VARIANT <Variant> ' ===================================================================================== METHOD sourceValue <1610743829> ( _ ' VTable offset = 112 BYVAL VARIANT _ ' [in] record VT_VARIANT <Variant> , OPTIONAL BYVAL STRING _ ' [opt][in] source VT_BSTR [default value = "TIME"] ) AS DOUBLE ' [retval][out] *retval VT_R8 <Double> ' ===================================================================================== METHOD sourceUnits <1610743830> ( _ ' VTable offset = 116 OPTIONAL BYVAL STRING _ ' [opt][in] source VT_BSTR [default value = "TIME"] ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== METHOD sourceDescription <1610743831> ( _ ' VTable offset = 120 OPTIONAL BYVAL STRING _ ' [opt][in] source VT_BSTR [default value = "TIME"] ) AS STRING ' [retval][out] *retval VT_BSTR ' ===================================================================================== END INTERFACE #ENDIF ' /* __IGalil_INTERFACE_DEFINED__ */
Code:'Galil COMM Test #INCLUDE "Galil.inc" function PBMAIN() static Galil as IGalil, GalilEvents as EventsImpl Galil = NEWCOM CLSID $CLSID_Galil IF isnothing(Galil) THEN MSGBOX "Unable to create an object refrence to the Galil Interface." exit function end if GalilEvents = CLASS "CEvents" EVENTS FROM Galil CALL GalilEvents Galil.address = "" Galil.connection() sleep 500 msgbox Galil.command("CONFIG=?") end function ' ######################################################################################## ' Class CEvents ' Interface name = Events ' IID = {67E9C73D-896A-440C-88DD-D0AC82AB7569} ' Attributes = 4096 [&H1000] [Dispatchable] ' Code generated by the TypeLib Browser 4.0.11 (c) 2008 by José Roca ' Date: 27 Oct 2008 Time: 09:03:04 ' ######################################################################################## CLASS CEvents GUID$("{3EC72A2F-5294-475D-B7CF-6590ACD7B250}") AS EVENT INTERFACE EventsImpl GUID$("{67E9C73D-896A-440C-88DD-D0AC82AB7569}") AS EVENT INHERIT IDispatch ' ===================================================================================== METHOD onInterrupt <0> ( _ BYVAL status AS LONG _ ' [in] status VT_INT <Long> ) ' VOID ' *** Insert your code here *** END METHOD ' ===================================================================================== ' ===================================================================================== METHOD onMessage <1> ( _ BYVAL message AS STRING _ ' [in] message VT_BSTR ) ' VOID ' *** Insert your code here *** END METHOD ' ===================================================================================== ' ===================================================================================== METHOD onRecord <2> ( _ BYVAL record AS VARIANT _ ' [in] record VT_VARIANT <Variant> ) ' VOID ' *** Insert your code here *** END METHOD ' ===================================================================================== END INTERFACE END CLASS
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