Real number value *.0 can't be passed trought procedure CALL as real just as integer

fmiroslav · June 28, 2021 at 10:51 AM

Is a bug?

When trying to pass real number E.g 20.0 in procedure CALL that will be suppressed to 20,

because in procedure is expected real value that VAR will be set to 0.00000E+00

Any idea how to deal with real number *.0 / *.00 etc.?

TPP program

Code

CALL SET_FA_WPP(6,1,1,22.5,181.1,100,20,23,181,101,31,24,182,102,32,2,50) ;
CALL SET_FA_WPP(6,2,2,23,182,100,31,23,181,101,31,24,182,102,32,2,50) ;
CALL SET_FA_WPP(6,3,4,24.3,184.6,100.9,32.3,23.1,181.7,101.3,31.5,24.8,182.8,102.7,32.8,2.9,50.5) ;

KAREL program

Code

PROGRAM SET_FA_WPP


TYPE
AW_PLS_SCH_T = STRUCTURE
PULSE_ENB : BOOLEAN
PULSE_FREQ : REAL
PULSE_DUTY : REAL
PHASE_SFT : INTEGER
ENDSTRUCTURE


VAR SCH : ARRAY[7] OF AW_SCH_T
VAR LSCH : ARRAY[3] OF AW_SCH_T
VAR RSCH : ARRAY[3] OF AW_SCH_T
VAR PLSCH : ARRAY[3] OF AW_PLS_SCH_T
VAR AWWV_MODE : ARRAY[3] OF INTEGER
VAR entry, STATUS : INTEGER
VAR arg1, arg2, arg3 : INTEGER
VAR arg4, arg5, arg6, arg7, arg8, arg9, arg10, arg11, arg12, arg13, arg14, arg15, arg16, arg17 : REAL
VAR temp, fname : STRING [25]
VAR temp_a1, temp_a2, temp_a3, temp_a4, temp_a5, temp_a6, temp_a7, temp_a8, temp_a9, temp_a10, temp_a11, temp_a12, temp_a13, temp_a14, temp_a15, temp_a16, temp_a17 : STRING[17]
--VAR sch_num : STRING[25]
VAR awwv : STRING[25]
VAR sch_1, sch_2, sch_3, sch_4 : STRING[25]
VAR lsch_1, lsch_2, lsch_3, lsch_4 : STRING[25]
VAR rsch_1, rsch_2, rsch_3, rsch_4 : STRING[25]
VAR plsch_1, plsch_2 : STRING[25]


VAR str_7 : STRING[17]


VAR data_type : INTEGER
VAR real_value : REAL
VAR string_value : STRING[17]
VAR arg_int : INTEGER
VAR arg_real : REAL




BEGIN
-- get integer value
GET_TPE_PRM(1, data_type, arg_int, real_value, string_value, status)
arg1 = arg_int
GET_TPE_PRM(2, data_type, arg_int, real_value, string_value, status)
arg2 = arg_int
GET_TPE_PRM(3, data_type, arg_int, real_value, string_value, status)
arg3 = arg_int
-- get real value
GET_TPE_PRM(4, data_type, arg_int, real_value, string_value, status)
arg4 = real_value
GET_TPE_PRM(5, data_type, arg_int, real_value, string_value, status)
arg5 = real_value
GET_TPE_PRM(6, data_type, arg_int, real_value, string_value, status)
arg6 = real_value
GET_TPE_PRM(7, data_type, arg_int, real_value, string_value, status)
arg7 = real_value
GET_TPE_PRM(8, data_type, arg_int, real_value, string_value, status)
arg8 = real_value
GET_TPE_PRM(9, data_type, arg_int, real_value, string_value, status)
arg9 = real_value
GET_TPE_PRM(10, data_type, arg_int, real_value, string_value, status)
arg10 = real_value
GET_TPE_PRM(11, data_type, arg_int, real_value, string_value, status)
arg11 = real_value
GET_TPE_PRM(12, data_type, arg_int, real_value, string_value, status)
arg12 = real_value
GET_TPE_PRM(13, data_type, arg_int, real_value, string_value, status)
arg13 = real_value
GET_TPE_PRM(14, data_type, arg_int, real_value, string_value, status)
arg14 = real_value
GET_TPE_PRM(15, data_type, arg_int, real_value, string_value, status)
arg15 = real_value
GET_TPE_PRM(16, data_type, arg_int, real_value, string_value, status)
arg16 = real_value
GET_TPE_PRM(17, data_type, arg_int, real_value, string_value, status)
arg17 = real_value


-- clear user screen
--	WRITE (CHR(128),CHR(137))


--	for debuging - write arguments to user window
--
--	WRITE('arg 1', arg1, ' ')
--	WRITE('arg 2', arg2, ' ')
--	WRITE('arg 3', arg3, CR)
--	WRITE('arg 4', arg4, CR)
--	WRITE('arg 5', arg5, ' ')
--	WRITE('arg 6', arg6, CR)
WRITE('arg 7', arg7, ' ')
--	WRITE('arg 8', arg8, CR)
--	WRITE('arg 9', arg9, ' ')
--	WRITE('arg 10', arg10, CR)
--	WRITE('arg 11', arg11, CR)
--	WRITE('arg 12', arg12, CR)
--	WRITE('arg 13', arg13, ' ')
--	WRITE('arg 14', arg14, CR)
--	WRITE('arg 15', arg15, CR)
--	WRITE('arg 16', arg16, CR)
--	WRITE('arg 17', arg17, CR)


CNV_INT_STR(arg1,1,0,temp_a1)
WRITE('temp', temp_a1, CR)
temp_a1 = SUB_STR(temp_a1,2,1)
--	WRITE('temp', temp_a1, CR)
fname = 'AWE1WP0' + temp_a1
--	WRITE('fname ', fname, CR)


--	-- ***
temp_a2 = ''
--	-- ***
temp_a2 = SUB_STR(temp_a2,2,1)
awwv = 'AWWV_MODE[' + temp_a2 + ']'
awwv = 'AWWV_MODE[1]'
--	--	WRITE('awwv ', awwv, CR)
--	--	WRITE('awwv ', temp_a2, CR)


CNV_INT_STR(arg3,1,0,temp_a3)
temp_a3 = SUB_STR(temp_a3,2,1)




CNV_INT_STR(arg2,1,0,temp_a2)
temp_a2 = SUB_STR(temp_a2,2,1)


awwv = 'AWWV_MODE[' + temp_a2 + ']'


sch_1 = 'SCH[' + temp_a2 + ']'
sch_1 = sch_1 + '.$CMD_VOLTS'
--	WRITE('sch_1 ', sch_1, CR)


sch_2 = 'SCH[' + temp_a2 + ']'
sch_2 = sch_2 + '.$CMD_WFS'
--	WRITE('sch_2 ', sch_2, CR)


sch_3 = 'SCH[' + temp_a2 + ']'
sch_3 = sch_3 + '.$CMD_AMPS'
--	WRITE('sch_3 ', sch_3, CR)


CNV_REAL_STR(arg7, 2, 1, str_7)
sch_4 = 'SCH[' + temp_a2 + ']'
sch_4 = sch_4 + '.$CMD_WSPEED'
--	WRITE('sch_4 ', sch_4, CR)


lsch_1 = 'LSCH[' + temp_a2 + ']'
lsch_1 = lsch_1 + '.$CMD_VOLTS'
--	WRITE('lsch_1 ', lsch_1, CR)


lsch_2 = 'LSCH[' + temp_a2 + ']'
lsch_2 = lsch_2 + '.$CMD_WFS'
--	WRITE('lsch_2 ', lsch_2, CR)


lsch_3 = 'LSCH[' + temp_a2 + ']'
lsch_3 = lsch_3 + '.$CMD_AMPS'
--	WRITE('lsch_3 ', lsch_3, CR)


lsch_4 = 'LSCH[' + temp_a2 + ']'
lsch_4 = lsch_4 + '.$CMD_WSPEED'
--	WRITE('lsch_4 ', sch_4, CR)


rsch_1 = 'RSCH[' + temp_a2 + ']'
rsch_1 = rsch_1 + '.$CMD_VOLTS'
--	WRITE('rsch_1 ', rsch_1, CR)


rsch_2 = 'RSCH[' + temp_a2 + ']'
rsch_2 = rsch_2 + '.$CMD_WFS'
--	WRITE('rsch_2 ', rsch_2, CR)


rsch_3 = 'RSCH[' + temp_a2 + ']'
rsch_3 = rsch_3 + '.$CMD_AMPS'
--	WRITE('rsch_3 ', rsch_3, CR)


rsch_4 = 'RSCH[' + temp_a2 + ']'
rsch_4 = rsch_4 + '.$CMD_WSPEED'
--	WRITE('rsch_4 ', rsch_4, CR)


plsch_1 = 'PLSCH[' + temp_a2 + ']'
plsch_1 = plsch_1 + '.$PULSE_FREQ'
--	WRITE('plsch_1 ', plsch_1, CR)


plsch_2 = 'PLSCH[' + temp_a2 + ']'
plsch_2 = plsch_2 + '.$PULSE_DUTY'
--	WRITE('plsch_2 ', plsch_2, CR)


SET_VAR (entry, fname, awwv, arg3, STATUS)
SET_VAR (entry, fname, sch_1, arg4, STATUS)
SET_VAR (entry, fname, sch_2, arg5, STATUS)
SET_VAR (entry, fname, sch_3, arg6, STATUS)
SET_VAR (entry, fname, sch_4, arg7, STATUS)
SET_VAR (entry, fname, lsch_1, arg8, STATUS)
SET_VAR (entry, fname, lsch_2, arg9, STATUS)
SET_VAR (entry, fname, lsch_3, arg10, STATUS)
SET_VAR (entry, fname, lsch_4, arg11, STATUS)
SET_VAR (entry, fname, rsch_1, arg12, STATUS)
SET_VAR (entry, fname, rsch_2, arg13, STATUS)
SET_VAR (entry, fname, rsch_3, arg14, STATUS)
SET_VAR (entry, fname, rsch_4, arg15, STATUS)
SET_VAR (entry, fname, plsch_1, arg16, STATUS)
SET_VAR (entry, fname, plsch_2, arg17, STATUS)


END SET_FA_WPP

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fmiroslav · June 28, 2021 at 11:44 AM

I find this thread

KAREL - SQRT issue (real, integer)

but I can't predict inputs, maybe user want to input 20.0 or 20.00 but not 20.0000001

Nation · June 28, 2021 at 3:32 PM

You need to look at the data_type parameter in your TPE command, and make a decision based on what it gives you. It tells you what type of data (real or int) that is coming in.

fmiroslav · June 28, 2021 at 3:57 PM

Quote from Nation

You need to look at the data_type parameter in your TPE command, and make a decision based on what it gives you. It tells you what type of data (real or int) that is coming in.

In TP I have CALL for KAREL program

parameters from 4 to 17 are REAL input expected, and work with any real number

except real number which end with .0 or .00 or .000 etc. this numbers will be

suppressed to integer number without .0 or .00

Nation · June 28, 2021 at 8:52 PM

I realize that. The controller will pass round numbers to the Karel program as integers. You need to add some validation to your program.

Code

GET_TPE_PRM(4, data_type, int_value, real_value, str_value, STATUS)
--Validate what was passed.
IF (data_type=1) AND (STATUS=0) THEN
  --Argument is an int.
  arg4 = int_value --you can cast ints to reals without conversion.
ENDIF
IF (data_type=2) AND (STATUS=0) THEN
  --Argument is a real.
  arg4 = real_value
ELSE
  --Argument is a string, or the status failed
  --Error code here.
ENDIF

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fmiroslav · June 30, 2021 at 9:24 AM

I add this VARiable

Code

VAR arg4_str, arg5_str, arg6_str, arg7_str, arg8_str, arg9_str, arg10_str, arg11_str, arg12_str, arg13_str, arg14_str, arg15_str, arg16_str, arg17_str : STRING[25]
VAR arg4_int, arg5_int, arg6_int, arg7_int, arg8_int, arg9_int, arg10_int, arg11_int, arg12_int, arg13_int, arg14_int, arg15_int, arg16_int, arg17_int : INTEGER

And in Nation Code add few line

converting to string, adding '.00' and final converting to real.

Code

GET_TPE_PRM(11, data_type, arg_int, real_value, string_value, status)
arg11 = real_value
--Validate what was passed.
IF (data_type=1) AND (STATUS=0) THEN
--Argument is an int.
    arg11_int =arg_int --you can cast ints to reals without conversion
    CNV_INT_STR(arg11_int,25,0,arg11_str)
    arg11_str = arg11_str + '.00'
    CNV_STR_REAL(arg11_str,arg11)
ENDIF
IF (data_type=2) AND (STATUS=0) THEN
--Argument is a real.
arg11 = real_value
ELSE
--Argument is a string, or the status failed
--Error code here.
ENDIF

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Now input work with any real number (include *.0 which is on input converted by fanuc to INT value)

Real number value *.0 can't be passed trought procedure CALL as real just as integer

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