Ethernet_KRL with TCP sockets in python

read the manual...

It tells you how to configure robot and establish connection.

EKI includes sample server so you can test your robot setup.

Once you confirm that this is fine (connecting and data exchange works as expected), you can work on making own server and just point EKI to a different server.

Quote from ParamediX

What do I have to do? Any one can help me pls.

Much the same as when you had the robot set up as the server, simply in reverse. The EKI manual covers this in detail -- setting the robot up as a client is probably easier than setting it up as a server.

Python has a lot of libraries for acting as a TCP/IP server, and for parsing XML. There are innumerable examples and discussions on StackOverflow and other web sites.

i don't really use python but there are tons of online resources to help with your task.

here is one:

https://pymotw.com/2/socket/tcp.html

message will need to match the format used by EKI (XML for example)

I am using python for a lot of things (like IK and FK).

Using Anaconda is a good start because with this you have access to a lot of libraries.

Another good source could be github (checking for tcp/ip or even eki) and set the filter to python

As UI you can use QT which is also part of Anaconda

link to anaconda:

https://www.anaconda.com/products/individual

server does not transmit files, it sends a messages. and this message can be string for example...

"this is a plain string"

"<MyData>This is an XML formatted string</MyData>"

or if you want to send numeric value

as a plain string: "123456"

as an XML string: "<Distance>123456</Distance>"

if you want to use XML format, your data need to be formatted correctly.

but this is message.... and you seem to be confusing this message with EKI configuration file.

EKI configuration file tells EKI how the connection is made and how the message is structured.... but this is NOT the message. it is just a blueprint for the message.

see

Quote from MOM

Another good source could be github (checking for tcp/ip or even eki) and set the filter to python

Quote from ParamediX

But now I'm confused about how to send .XML file from python to robot via socket TCP/IP and How I must write (this part is in Config > User > Common > folder EthernetKRL) to make sure the data has been sent from the server to the robot.

As I said, it's almost identical to how you already did it when the robot was acting as a server. There are a few details to change, but the EKI manual details this pretty well. What specifically are you having trouble with?

i am not sure you grasping the concepts and meaning of terms you use...

1. do you know that there are different types of 'servers'?

your server is TCP server.... not a file server, not an FTP server, not an email server, not a print server, not a restaurant waiter....

TCP server is sending TCP messages... not files, not emails, not print jobs, not bringing food...

TCP message is block of data that includes frame and data block (sequence of bytes).

frame is a "box" or "envelope" that encapsulates data block and contains info where the messages is from and who is it for.

btw it is possible to use TCP messages to transport files.... piecemeal.... and assemble file from the datablocks but this is beyond of what is happening here. EKI is not a file transfer...

2. do you know what server does? it sits and waits... it does nothing until spoken to. it does not actively send something, it is passive and waits for clients to connect and request something. it is client that opens connection and tells "i need this and that" and THEN server replies.

3. "variable or integer" thing. what is it? what do you mean exactly?

4. establishing connection requires SEQUENCE of things. things must happen in the right order to create one. server MUST be running first.... then client can try connecting to it. and if connection is successful, client need to request something, then server replies.

think of this forum. it is running on some webserver (which is a server). your computer uses browser (which is a client). in order for you to see anything on this forum, forum must be already running, before your computer tries to connect to it and tell what page you want to visit, then server replies and you get correct page displayed.

5. EKI includes manual and examples. you should try to get familiar with them. XmlTransmit.xml is sample configuration for KRC acting as a client. but this is not ready to use as is. you also need to adapt network configuration by using correct IP address and port of the server. did you do this? are you able to establish connection to a server? are you able to send message to a server? does server receive it? if any of this is not taking place there will be no response from the server.

6. server need to send correctly FORMATED message that matches configuration in mentioned XML. only then EKI can decode message and get correct integer value you are interested in. so... are you familiar with XML? are you familiar with tags and how they are nested?

message that server sends and client receives is quite complex and you need to match the entire thing exactly by creating correct format of the message.

this is receive configuration for client:

<RECEIVE>
<XML>
<ELEMENT Tag="Sensor/Message" Type="STRING"/>
<ELEMENT Tag="Sensor/Positions/Current/@X" Type="REAL"/>
<ELEMENT Tag="Sensor/Positions/Before/X" Type="REAL"/>
<ELEMENT Tag="Sensor/Nmb" Type="INT"/>
<ELEMENT Tag="Sensor/Status/IsActive" Type="BOOL"/>
<ELEMENT Tag="Sensor/Read/xyzabc" Type="FRAME"/>
<ELEMENT Tag="Sensor/Show/@error" Type="BOOL"/>
<ELEMENT Tag="Sensor/Show/@temp" Type="INT"/>
<ELEMENT Tag="Sensor/Show" Type="STRING"/>
<ELEMENT Tag="Sensor/Free" Type="INT"/>
</XML>
</RECEIVE>

so top level tag is "Sensor" which means your message will need to include

"<Sensor></Sensor>"

then inside is bunch of other tags (Message, Positions, Nmb, Status etc)

each of those will have a tag that must be nested into previous tag.

for example to send message with only "Nmb" (which is an integer), server would need to send message

"<Sensor><Nmb>1234</Nmb></Sensor>"

and server can replace mentioned "1234" sample with whatever integer value you want sent.