TCP Karel Client not connecting to server

ashwinmudigonda · Feb 24th 2018

My FANUC is configured to be a static IP on 192.168.2.10

I wrote a simple python server to listen for connections and echo messages. It is running on 192.168.2.5 on port 8000.

I went through the client tag set up from the KAREL manual. Tag C1 looks like:

C1 SM 192.168.2.5 DEFINED

System Variable $HOST_CFG[1] looks like:

$PROTOCOL 'SM'
$PORT '8001'
..
$SERVER_PORT '8000'

My test client code looks like:

Code

PROGRAM kc
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk


VAR
	file_var : FILE
	tmp_int	 : INTEGER
	tmp_str  : STRING[128]
	status	 : INTEGER
	entry	 : INTEGER
	loop1	 : BOOLEAN

BEGIN
	SET_FILE_ATR(file_var, ATR_IA)
	SET_VAR(entry, '*SYSTEM*', '$HOST_CFG[1].$SERVER_PORT',8000,status)
	WRITE(' VAR status = ',status,CR)
	-- Connect the tag
	WRITE('Connecting...',CR)
	MSG_CONNECT('C1:',status)
	WRITE(' Connect status = ',status,CR)
	loop1 = TRUE
END kc

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I am able to load the program, and run it, but it throws an error:
INTP-320 (KC,29) Undefined built in

and that line points to MSG_CONNECT('C1:',status).

On the user screen I see

VAR status = 16006
Connecting...

What am I doing wrong in the communication setup?

rf103 · Feb 25th 2018

Not sure whether you're doing anything wrong with the setup, but in any case you don't appear to have option R648: User Socket Messaging.

ashwinmudigonda · Mar 6th 2018

Thanks. I didn't have that. I had it installed. Now I can confirm that I see R648 'User Socket Msg' in the STATUS section.

I am still not able to make a connection with the python server. My test client code looks like this:

Code

PROGRAM kc
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk


VAR
	file_var : FILE
	tmp_int	 : INTEGER
	tmp_str  : STRING[128]
	status	 : INTEGER
	entry	 : INTEGER
	loop1	 : BOOLEAN

BEGIN
	--SET_FILE_ATR(file_var, ATR_IA)
	--SET_VAR(entry, '*SYSTEM*','$HOST_CFG[1].$SERVER_PORT',8000,status)
	--WRITE(' VAR status = ',status,CR)
	-- Connect the tag

	MSG_CONNECT('C1:',status)
	WRITE(' Connect status = ',status,CR)
	MSG_DISCO('C1:',status)
	WRITE('Disconnect status=',status,CR)
	--loop1 = TRUE
END kc

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On the Python side, the server looks like this:

Code

import socket
import sys


sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)


server_address = ('192.168.2.5',8000)
print "Starting up on %s port %s" %server_address
sock.bind(server_address)


sock.listen(1)


while True:
    print "Waiting for connection..."
    connection, client_address = sock.accept()


    print "Connection from ", client_address

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I see on the pendant:

Connect Status = 67206
Disconnect Status = 67216

What am I doing wrong?
Under Setup->Host Comm->Client, I see my C1 tag defined.
C1: SM 192.168.2.5 [DEFINED]
Under Setup->Host Comm->Server, I see a S1 tag defined (that I did not)
S1: SM *** [STARTED]

$HOST_CFG[1].$SERVER_PORT is defined to be 8000

I disabled firewall on Windows.

I wrote another Karel program that uses MSG_PING command with '192.168.2.5' and the status was 0. So the Fanuc can ping the Python server's PC.

linuxsand · Mar 7th 2018

$HOSTC_CFG ?

ashwinmudigonda · Mar 7th 2018

That seemed to get my status to 0.

Thanks!

ashwinmudigonda · Mar 7th 2018

New issue: I am able to send a message, but not read.

Code

loop1 = TRUE
	IF status = 0 THEN
		WHILE loop1 = TRUE DO
			WRITE('Opening file...',CR)
			OPEN FILE file_var('rw','C1:')
			status = IO_STATUS(file_var)
			IF status = 0 THEN
				tmp_str = 'RunJob'
				WRITE file_var(tmp_str)
				WRITE('Wrote: ',tmp_str,CR)


				WRITE('Waiting to read from server...')
				READ file_var(tmp_str)
				status = IO_STATUS(file_var)
				WRITE('Read status: ',status,CR)
				WRITE('Read: ',tmp_str,CR)
				loop1 = FALSE


				WRITE('Closed file.',CR)
				CLOSE FILE file_var
			ELSE
				WRITE('Error opening file',CR)
				loop1 = FALSE
			ENDIF						
		ENDWHILE
	ENDIF

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The python side has sent the 'RunJob' string back, but on the KAREL side, I see it stuck at

'Waiting to read from server...'

inusO · Mar 8th 2018

It seems like you are stuck on

Code

READ file_var(tmp_str)

because he's waiting (blocking) for more bytes, fanuc standard formatting for string should be: first byte containing an integer n indicating the length of the string, and then n characters (the string).
You can specify your custom binary formatting with specifiers

ashwinmudigonda · Mar 8th 2018

I see. Thanks.

READ file_var(tmp_str::126) worked after ensuring WRITE also had the same format.

TCP Karel Client not connecting to server

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