NACHI機械臂后臺SOCKET通訊

將機械臂做為服務器，電腦作為客戶端。通訊程序在機械臂后臺運行，

我是先在電腦上寫好，導入機械臂文件夾中，轉化成機器人語言，再在用戶任務這里開啟它的任務號碼。
端口號設置為10030

代碼

'TCP/IP_Socket(Server) '分隔符為，解析包 DIM Port AS INTERGER DIM State AS STRING DIM EndFlag AS STRING 'DIM SendData AS STRING '發送變量，因為我把他設置成全局變量，所以在這里注銷掉 DIM ReceiveData[10] AS STRING DIM RecvLen AS INTERGER DIM RecvbuffNum AS INTERGER DIM AllowUp AS INTERGER DIM AllowDown AS INTERGER DIM n AS INTERGER DIM m AS INTERGER State = "initial"Port =10030 RecvLen = 0 RecvbuffNum = 1 SendData = "" V10$="0"*Reconnect 'CREATE State = "create socket" SOCKCREATE 1,0 IF E1%<0 THEN *Judge'BIND State = "create port" SOCKBIND 1,Port IF E1%<0 THEN *JudgeState = "wait connect" SOCKWAIT 1,2,0 IF E1%<0 THEN *Judge*ReceiveAgain '我是將V10$作為flag，控制接受還是發送 IF V10$="1" THEN *SEND IF V10$="2" THEN *RECEIVE GOTO *ReceiveAgain*SEND State = "send data" SOCKSENDSTR 2,SendData,LEN(SendData),0,V100%,1 IF E1%<0 THEN *Judge GOTO *ReceiveAgain*RECEIVE State = "receive data" V10$="0" '接收只接收一次 SOCKRECV 2,RecvbuffNum,RecvLen,0,V101% '沒信號時將會在這停留 V2$="" V3$="" V4$="" V5$="" V6$="" V7$="" V8$="" V50$=STR$(E1%) IF E1%<0 THEN *Judge State = "decode data" IF V101%=0 THEN *NoData GETSTR 1,V1$,0,V101% m=1 n=1 *ReadAgain WHILE n<=V101% V2$ = MID$(V1$,n,1) n=n+1 IF V2$ <> "," THEN *assignment ELSE *CutCal *assignment SWITCH m CASE 1 V3$=V3$+V2$ V3!=VAL(V3$) '將它轉換成全局實數，前臺可以使用 BREAK CASE 2 V4$=V4$+V2$ V4!=VAL(V4$) BREAK CASE 3 V5$=V5$+V2$ V5!=VAL(V5$) BREAK CASE 4 V6$=V6$+V2$ BREAK CASE 5 V7$=V7$+V2$ V7!=VAL(V7$) BREAK CASE 6 V8$=V8$+V2$ V8!=VAL(V8$) BREAK ENDS ENDW GOTO *ReceiveAgain *NoData SOCKCLOSE 1 SOCKCLOSE 2 GOTO *Reconnect 'GOTO *ReceiveAgain *CutCal m=m+1 GOTO *ReadAgain*Judge State = "judge state" IF E1%=-7 or -3 THEN *CloseSock ELSE *CloseSock *CloseSock'WINDOW 0,0,200,100 'GACTIVE 1 'PRINT #0,STR$(E1%) 'PRINT #0,STR$(E2%) SOCKCLOSE 1 SOCKCLOSE 2 PAUSE 3000 'GACTIVE 0 GOTO *Reconnect*ERROR State = "error" WINDOW 0,0,200,100 GACTIVE 1 PRINT #0,STR$(E1%) PRINT #0,STR$(E2%) SOCKCLOSE 1 SOCKCLOSE 2 PAUSE 3000 EXIT

總結

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