Hello Robot -Forum Fanuc Community, After referring to multiple solution and not being able to solve the issue I am posting my doubt here.
I am trying to send data from a Python client to move a Fanuc Robot Server in Roboguide. I have the Karel and Socket Programming packages installed on the Roboguide.
The Data I am sending it in the form of one integer and 6 real values which represents Joint values.
Here is the Python Client to send the Data. " I can't share the full python code but the The OpenFanucClient constructor sets the IP and Port Message and fanuc_client.process_msg uses Struct to unpack the data and also checks Little Endian. NOTE: Little Endian is False always
Code
import socket
#Socket Params
server_ip='127.0.0.1'
server_port = 12345
socket_timeout_s = 4
#Sample Message
test_id = 1
test_params = [46.0,16.0,-13.7,100.1,-45.2,-69.5]
log = logging.getLogger(__name__)
log.addHandler(logging.NullHandler())
# fanuc = OpenFanuc(host=server_ip,port=server_port)
fanuc_client = OpenFanucClient(server_ip,server_port)
try:
#Connect to the server
fanuc_client.connect()
#Send and receive message
try:
fanuc_client.process_msg(OpenFanucMsg(id=test_id,params=test_params))
except Exception as e:
print('Failed to process message',e)
except socket.timeout:
print("Socket timeout occurred. Connection timed out.")
except Exception as e:
print("Error:", e)
finally:
fanuc_client.disconnect()
------------------------------
packed_data = struct.pack(
OpenFanucMsg.packed_data_format(), self.id, *self.default_params
)
def packed_data_format(cls) -> str:
"""
Returns the format string that describe the
data layout when packing and unpacking data.
"""
fmt = "<" if cls.little_endian else ">"
fmt += "i" + str(cls.params_len) + "f" #>i6f
return fmtCode
The problem seems to be with Karel Server, as I am not very familiar with the bytes and communication nuances for Fanuc. So, apologies for any naive questions or missing details.
Below is my Karel Code: I have written 4 different cases that I have tried and the error I encountered
PROGRAM Claude
-- translator directive
%NOPAUSESHFT
%DEFGROUP = 1
%COMMENT = '2023.09.19'
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
-- Missing Environment Groups
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%ENVIRONMENT regope
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
-- const declarations
CONST
oRunningOk = 705
oError = 706
timeoutVal = 60000
myTim = 5 -- Timer used as timeout
myTimeout = 40000 -- 40 seconds
myTimOff = 10000 -- TODO - Check the proper Value
rPosRet = 50 -- Position calculated by procedures
rSelMov = 150 -- 1 Linear 2 PTP (Point-to-Point)
rIniRet = 151 -- Various return registers
-- program vars
VAR
-- file group
ServerFile : FILE
-- integer group
temp_int : INTEGER
stato : INTEGER -- status
recByte : INTEGER
codiceErr : INTEGER -- Error Code
entry : INTEGER
Ret : BOOLEAN
i : INTEGER -- Unknown
porta : INTEGER -- port
faseMain : INTEGER -- Main Phase
fase : INTEGER -- Phase
portaHW : STRING[20]
portaSW : STRING[20]
ipHMI : STRING[15]
temp_str : STRING[254]
msg_id : REAL -- 'id' written in a message
msg_params : ARRAY [9] OF REAL -- 'parameters' written in a message
-- Boolean Group
debug : BOOLEAN
-- Array of positions
aPosizioni : ARRAY [100] OF XYZWPR -- Similar to temp position
-- Shared data for receiving and sending data
bEndFound : BOOLEAN -- Unused
nPezzo : INTEGER
I1 : INTEGER
R1 : REAL
R2 : REAL
R3 : REAL
R4 : REAL
R5 : REAL
R6 : REAL
R7 : REAL
R8 : REAL
R9 : REAL
PosAttuale : XYZWPR -- Current Position
Counter : INTEGER -- Unused
c : INTEGER -- Unused
CounterRet : INTEGER -- Unused
pzz : INTEGER -- Unused
PhaseOK : BOOLEAN -- Unused
indicePos : INTEGER
-- Initialization Server
ROUTINE IniEth
VAR
i : INTEGER
BEGIN
faseMain = 0
fase = 0
portaSW = '12345'
portaHW = 'S3:'
stato = 0
debug = true
-- Initialize 'ipHMI' if it is uninitialized
IF UNINIT(ipHMI) THEN
ipHMI = '192.168.1.110'
ENDIF
END IniEth
ROUTINE wait_fr_data(neededBytes: INTEGER) : INTEGER
VAR
numBytes : INTEGER
BEGIN
numBytes = 0 -- Initialize variable to enter the loop
WHILE (numBytes < neededBytes) DO
BYTES_AHEAD(ServerFile, numBytes, stato) -- Count bytes received
Write('Number of Bytes',numBytes,cr)
IF stato <> 0 THEN
-- Connection error
faseMain = 0
fase = 0
RETURN(-1)
ENDIF
IF (numBytes >= neededBytes) THEN
RETURN(0)
ENDIF
DELAY 1
ENDWHILE
RETURN(-1)
END wait_fr_data
ROUTINE TestTCP
VAR
rit : INTEGER
loop1 : BOOLEAN
posGiunti : JOINTPOS
tmp_int : INTEGER
io_stato : INTEGER
temp_real : Array[256] of Real
stri : String[4]
i : INTEGER
BEGIN
-- Initialize 'port' if it is uninitialized
IF UNINIT(porta) THEN
porta = 12345
ENDIF
WHILE TRUE DO
-- Wait for incoming connections
MSG_DISCO('S3:', stato)
CLOSE FILE ServerFile
-- Initialize Server
SET_FILE_ATR(ServerFile, ATR_IA)
-- SET_FILE_ATR(ServerFile,ATR_READAHD)
MSG_CONNECT('S3:', stato)
IF stato = 0 THEN
WRITE('New connection accepted. state=', stato, CR)
CLR_IO_STAT(ServerFile)
OPEN FILE ServerFile('rw', 'S3:')
-- While connection is alive process incoming messages
io_stato = IO_STATUS(ServerFile)
WHILE io_stato = 0 DO
WRITE('Opening File', CR)
-- Case 1: Using Wait_fr_data function
-- IF wait_fr_data(28) < 0 THEN
-- Connection error, disconnect from Client and wait for new connection
-- TODO: Add error handling and exit
-- ELSE
DELAY 100
Write('Post Delay',cr)
--Case 2.0 -- Commenting the Wait_fr_data call : Error Waits at Line 175
-- For I = 1 to 9 DO
-- WRITE('In Loop',cr)
-- Read ServerFile(msg_params[i])
-- ENDFOR
-- -- CASE 3 -- Error Prints String and some value as shown in the picture RobotForum: Only using 4 bytes
-- READ ServerFile(temp_str::4)
-- WRITE('String',temp_str::4)
--Case 4-- Tried converting those strings to REAL Values resulted in the Syntax error
-- CNV_STR_REAL((temp_str::4),I1)
-- WRITE('[DEBUG] msg-in:',I1,cr)
----------------------------------------------------------------------
-- 181 CNV_STR_REAL((temp_str::4),I1)
-- ^ ERROR
-- ")" expected.
-- 181 CNV_STR_REAL((temp_str::4),I1)
-- ^ ERROR
-- "," or ")" expected.
-- 181 CNV_STR_REAL((temp_str::4),I1)
-- ^ ERROR
-- Invalid statement. ";" or new line expected.
-------------------------------------------------------------------------------
-- ENDIF
io_stato = IO_STATUS(ServerFile)
ENDWHILE
-- Connection with the Client was closed
WRITE('Connection closed', CR)
ELSE
WRITE('Error in accepting new connection. state=', stato, CR)
ENDIF
ENDWHILE
WRITE TPPROMPT('Disconnecting..', CR)
MSG_DISCO('S3:', stato)
CLOSE FILE ServerFile
WRITE TPPROMPT('Done', CR)
END TestTCP
-- Main Function
BEGIN
IniEth
TestTCP
END ClaudeImage: Case 3
Thanks
Shubham
