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• 1Overview
  • 1.6Advanced asynchronous message handling
• 2Library Reference
  • 2.1KMAPI Initialization
  • 2.2Device Management
  • 2.3Device Access
  • 2.4Error Handling

The KMAPI software package allows you to communicate with softMC from popular programming languages, such as Visual Basic over TCP/IP and UDP. The KMAPI provides complete access to the command line interface of your system across a TCP/IP connection. Fast access to frequently changing data, such as axis set-points and feedback, is provided via a UDP connection, also called UDP fast data.

You can find the full KMAPI documentation here.

Introduction

The KMAPI addresses several concerns when interfacing your program with KMAPI drives and controllers, including:

• sending commands (and receiving responses)
• reading and setting amplifier or controller variables
• sending and retrieving files
• error handling

The KMAPI addresses these concerns by providing a library of functions which allow the user to describe their system in terms of devices (amplifiers, controllers, axes, groups) and then communicate with these devices individually.
Central to the KMAPI is the concept of a device table. The device table is a data store (database) which is managed by the KMAPI for the user.
The device table is populated with devices by the programmer, allowing the programmer to execute commands on any device in the device table. Most details of the communication techniques used are hidden allowingthe programmer to focus on high level programming instead of communication protocols.

General Information

The KMAPI is available for Windows NT and is compatible with a wide variety of 32-bit programming tools including Microsoft Visual Basic and Microsoft Visual C++.
The KMAPI is provided as a Windows DLL which makes it accessible from most Windows programming languages.
Most KMAPI functions return an error code which indicates the success of the action requested by the programmer. Full text descriptions of the error are often associated with the error and can be accessed via KMAPI calls.

Getting started

The following C# code is a minimal console application which performs the following tasks:

• Initialize the library
• Create 'controller' - the software component used for communication
• send a command and read the response
• shut down the communication

The software is written in C# and uses the KMAPI.DLL to comunicate with the KMTCPIP.EXE communication server, an equivalent C++/C program will look pretty much the same but will have to use the KMAPI32.DLL.

Note: to use this:

1. Add a reference to kmapi.dll to your project
2. argument 1 should be of the form: 'IP:10.4.20.55,5004' - 'IP:' as is, the IP address set to your mc, port can be 5001/4/
3. argument 2 is an MC command, try first with a simple command like '?ver'

Error Messages

Most of the KMAPI functions return an error code. Successful KMAPI functions return KM_ERR_OK. Errors originate in the device itself or the KMAPI.
When the message originates within the KMAPI, an error number is returned which can be compared against the list of errors in the KMAPI header files (C/C++), or the global files (Visual Basic).
In addition the KMAPI also assigns a text message to the error which can be retrieved by calling KMErrorGetMessage. When the error originates in the device (drive or controller) the KMAPI “parses” the message and stores the relevant information including the error message and the error number as given by the device.
This information can be retrieved for the last error via KMErrorGetDeviceMessage similar to the Win32 KMAPI GetLastError function.
Finally, the text of the error message, as the device originally sent, can be retrieved via KMErrorGetOriginalDeviceMessage.

Sending/Retrieving Files

For the sending and retrieval of files the KMAPI provides users with two functions, KMPutFile and KMGetFile, respectively.
In addition to the device handle parameter, the path of the file and the actual command must be sent when calling either of these functions.

Advanced asynchronous message handling

Some controllers and drives generate messages not related to a specific command called asynchronous messages.
Some examples of asynchronous messages are overspeed warnings, limit switch closures and runtime error messages from softMC tasks.
When these messages are received the KMAPI converts them into Windows messages (events) which the programmer can request to have delivered to their application.

By default the KMAPI displays each asynchronous message in a modal dialog box (via the Win32 MessageBox function).
If the programmer wants to handle these messages differently the KMAsyncSetHandler KMAPI function allows a window to be registered as the destination for these messages.
KMAsyncGetHandler can be used to save the previous error handler to that the programmer can restore it on demand.

Like all Windows messages, WM_KM_ASYNC has two parameters, wParam and lParam.
lParam contains a handle to the buffer which contains the asynchronous message as received by the KMAPI.
The programmer can use KMAsyncGetMessage to get the asynchronous message from the KMAPI.

Asynchronous messages and Microsoft Visual Basic

Visual Basic does not provide an easy mechanism for directly handling Windows messages.
In order to overcome this limitation a custom control called KMAPI has been provided which has an event representing the receipt of an asynchronous message.
Placing this control on your form automatically initializes the KMAPI (KMInitialize) and registers the form for asynchronous messages.

KMAPI Initialization

KMInitialize

Prepares the KMAPI for use:

KMTerminate

Performs KMAPI cleanup required for proper application termination.

Device Management

KMCreateController

Device Access

KMExecuteCmd

Sends a command to a device.

KMExecuteCmdResponse

Sends a command to a device and waits for a response.

Example #1

This program shows how to initialize the KMAPI, create devices and access variables on each of the devices.

C/C++

Visual Basic

KMGetFile

Retrieve a file from a device.

KMPutFile

Skyhawke network & wireless cards driver. Sends a file to a device.

Example #2

This program shows how to send and retrieve files to/from a device (controller or amplifier) via the KMAPI.

C/C++

Visual Basic

Error Handling

Error handling is one of the most important elements to creating a robust application.
The KMAPI provides comprehensive error handling which allows the programmer to properly handle all situations. While using the KMAPI errors can occur at the following levels:

• Internal to the KMAPI
  • host computer runs out of memory
• Communication between the API and the device
  • device fails to respond in time
• Internal to the device
  • a move cannot be made due to a limit switch being open

Every function in the KMAPI returns a result, which is almost always of the type KMErrorCode (Long for Visual Basic users). Each error type is well identified in the error code.
The following is an example of the proper method of handling errors returned from the KMAPI:

C/C++

Visual Basic

Error Codes

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The following is a list of the error codes that can be returned by the KMAPI.

KMErrorGetMessage

Get text of the error message related to an error code.

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KMErrorGetDeviceMessage

Get original text and error number of last device error.

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KMErrorGetOriginalDeviceMessage

Retrieves entire original error message from buffer.

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Example #3

This program shows how to get the text descriptions associated with any error number or the last error that occurred.

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C/C++

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