输入格式211,-265,167\n
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NachiRobot

VARIABLE.INC

讯享网

' Variable declarations ' V: global variable ' L: local variable ' IP & port IP_LAST,217 PORT,10030 ' %: integer variable ERR_COM,V%[1] ERRCODE1,V%[2] ERRCODE2,V%[3] SENT_BYTES,V%[11] RECIEVED_BYTES,V%[12] BYTE_DATA,V%[13] TOSEND_BYTES,V%[14] rCurrentNum,V%[15] DECISION_VALUE,V%[16] RECVBUF_READ_READY,V%[21] RECVBUF_WRITE_READY,V%[22] SENDBUF_READ_READY,V%[23] SENDBUF_WRITE_READY,V%[24] SHUT_DOWN_EXEC,V%[25] SHUT_DOWN_FINISHED,V%[26] ' $: str variable SEND_STR,V$[1] CharString,V$[2] ARG_STR,V$[3] STR_SAVE_OFFSET,10 RECV_STR1,V$[11] RECV_STR2,V$[12] RECV_STR3,V$[13] RECV_STR4,V$[14] RECV_STR5,V$[15] RECV_STR6,V$[16] RECV_STR7,V$[17] ' !: REAL Number MOVE_POS_X,V![11] MOVE_POS_Y,V![12] MOVE_POS_Z,V![13] MOVE_POS_RZ,V![14] MOVE_POS_RY,V![15] MOVE_POS_RX,V![16] 

MZ04-01-A.999

讯享网INCLUDE "VARIABLE" ' 初始化 RECVBUF_READ_READY = 0 RECVBUF_WRITE_READY = 0 SENDBUF_READ_READY = 0 SENDBUF_WRITE_READY = 0 SHUT_DOWN_EXEC = 0 SHUT_DOWN_FINISHED = 0 ERR_COM = 0 MOVE_POS_RX = 0 MOVE_POS_RY = 90 MOVE_POS_RZ = 0 ' Fixture direction fixing ' connect open --USERTASK.999 FORKMCR 999, 10000 *READY ' send welcome commond CallProc WaitForSendReady() SEND_STR = "Please enter coordinates or exit:" CallProc ExecuteSend() CallProc ExecuteRecieve() IF "exit" = RECV_STR1 THEN *FINAL ' recv value ' CallProc ExecuteRecieve() ' move DECISION_VALUE = VAL(RECV_STR4) IF DECISION_VALUE = 0 AND rCurrentNum = 3 MOVE_POS_X = VAL(RECV_STR1) MOVE_POS_Y = VAL(RECV_STR2) MOVE_POS_Z = VAL(RECV_STR3) ' MOVE_POS_RX = VAL(RECV_STR4) ' MOVE_POS_RY = VAL(RECV_STR5) ' MOVE_POS_RZ = VAL(RECV_STR6) CallProc ExecuteMove() ENDIF GOTO *READY ' program finished *FINAL SHUT_DOWN_EXEC = 1 IF SHUT_DOWN_FINISHED = 0 THEN *FINAL END ' *subfunction* UsrProc WaitForSendReady() *SEND_LOOP IF ERR_COM <> 0 THEN *FINAL IF SENDBUF_WRITE_READY = 0 THEN *SEND_LOOP EndProc UsrProc ExecuteSend() SENDBUF_READ_READY = 1 EndProc UsrProc ExecuteRecieve() RECVBUF_WRITE_READY = 1 *RECV_LOOP IF ERR_COM <> 0 THEN *FINAL IF RECVBUF_READ_READY = 0 THEN *RECV_LOOP RECVBUF_READ_READY = 0 EndProc UsrProc ExecuteMove() MOVEX A=1,AC=3,SM=3, M1X, L, (MOVE_POS_X, MOVE_POS_Y, MOVE_POS_Z, MOVE_POS_RX,MOVE_POS_RY,MOVE_POS_RZ),R=10,MS EndProc 

USERTASK-A.999

' TCP/IP Server INCLUDE "VARIABLE" *CREATE FOR L100%=0 TO 20 STEP 1 SOCKCREATE 1, 0 'Socket#1 & TCP/IP IF E1%>=0 THEN *SOCKBIND PAUSE 500 NEXT GOTO *ERROR_END *SOCKBIND SOCKBIND 1, PORT ' PORT = 10030 IF E%[1] < 0 THEN *ERROR_END ' wait connect *SOCKWAIT SOCKWAIT 1,2,0 IF E%[1] < 0 THEN *ERROR_END ' ---------------------------- *COM_LOOP SENDBUF_WRITE_READY = 1 IF SENDBUF_READ_READY <> 0 THEN *SEND_BUF IF RECVBUF_WRITE_READY <> 0 THEN *RECV_BUF IF SHUT_DOWN_EXEC <> 0 THEN *NORMAL_END GOTO *COM_LOOP *RECV_BUF RECVBUF_WRITE_READY = 0 ' receive data-------- rCurrentNum = 1 V$[rCurrentNum + STR_SAVE_OFFSET] = "" ' RECV_STR1(V11$) = "" *RECV_BYTE_LOOP SOCKRECV 2, 1, 1, 0, RECIEVED_BYTES ' write to RECIEVED_BYTES(V12%) IF E%[1] < 0 THEN *ERROR_END ' Extracts 1 byte of data from the buffer GETBYTE 1, BYTE_DATA, 0 CharString = CHR$(BYTE_DATA) IF 10 = BYTE_DATA OR 13 = BYTE_DATA ' In ASCII code 10 is line feed and 13 is carriage return  ' (their as the end of an instruction) GOTO *RECV_END ' Out1 ENDIF IF "," = CharString rCurrentNum = rCurrentNum + 1 V$[rCurrentNum + STR_SAVE_OFFSET] = "" GOTO *RECV_BYTE_LOOP ENDIF V$[rCurrentNum + STR_SAVE_OFFSET] = V$[rCurrentNum + STR_SAVE_OFFSET] + CharString GOTO *RECV_BYTE_LOOP ' receive data--------- *RECV_END SOCKRECV 2, 2, 1, 0, RECIEVED_BYTES ' write to RECIEVED_BYTES(V12%) IF E%[1] < 0 THEN *ERROR_END RECVBUF_READ_READY = 1 ' ExecuteRecieve() Loop ' BYTE_DATA = 0 GOTO *COM_LOOP ' receive data end--------- ' sent data-------- *SEND_BUF SENDBUF_READ_READY = 0 SOCKSENDSTR 2, SEND_STR, LEN(SEND_STR), 0, SENT_BYTES, 2 IF E%[1] < 0 THEN *ERROR_END GOTO *COM_LOOP ' sent data end-------- *ERROR_END ERRCODE1 = E%[1] ERRCODE2 = E%[2] ERR_COM = 1 ' close the connect *NORMAL_END SOCKCLOSE 1 SOCKCLOSE 2 SHUT_DOWN_FINISHED = 1 END