KAREL Programming hanging when trying to connect to TCP/IP Server, error code 2008

Tarnarmour · September 18, 2024 at 12:25 AM

I'm trying to use the KAREL programs TCP server tools to set up a remote connection with a robot. However, I can't connect to the TCP server, and I can't figure out what is causing the error codes I'm seeing right now. Here is my current code, which is mostly based on the example code in the Fanuc docs:

Code

PROGRAM handshake
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
-------------------------------------------------------------------------------
CONST
	tcp_device = 'S3:'

-------------------------------------------------------------------------------
VAR
	tcp_socket : FILE
	bytes_recv : INTEGER
	tmp_str : STRING[128]
	status : INTEGER
	i : INTEGER
	entry: INTEGER
-------------------------------------------------------------------------------
BEGIN
	WRITE(CR, CR)
	 status = 0
	SET_FILE_ATR(tcp_socket, ATR_IA)
	-- set the server port before doing a connect
	SET_VAR(entry, '*SYSTEM*','$HOSTS_CFG[3].$SERVER_PORT',6666,status)
	WRITE('SET_VAR status = ', status, entry, CR)
	
	DISMOUNT_DEV(tcp_device, status)
	WRITE('DISMOUNT_DEV status = ', status, CR)
	
	MOUNT_DEV(tcp_device, status)
	WRITE('MOUNT_DEV status = ', status, CR)
	
	DELAY 250
	
	MSG_PING('192.168.1.241', status)
	WRITE('Ping Status = ', status, CR)
	
	WRITE('Disconnecting..',CR)
	MSG_DISCO(tcp_device,status)
	WRITE('Disconnect status = ', status, CR)
	
	WRITE('Connecting..',CR)
	MSG_CONNECT(tcp_device,status)
	WRITE(' Connect Status = ',status,CR)
	
	WRITE('Disconnecting..',CR)
	MSG_DISCO(tcp_device,status)
	
	WRITE('Done.',CR)
	
END handshake

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Code

PROGRAM OUTPUT:

SET_VAR status =  0 17235967
DISMOUNT_DEV status =  2008
MOUNT_DEV status =  2008
Ping Status =  0
Disconnecting...
Disconnect status =  2008
Connecting..

After this is reaches the MSG_CONNECT line and just hangs without errors or warnings until I abort. By the way, it does seem to be successfully pinging a device on my network.

Error code 2008 is the File error for illegal characters in the device name. This suggests something is wrong with the 'S3:' device name that I'm using, but that's exactly the device name given in the docs (and I've seen multiple example scripts here using it). I've added all this DISMOUT_DEV and MOUNT_DEV stuff based on other threads just trying to figure out what could be going wrong, no luck yet. Any insights?

Nation · September 18, 2024 at 4:19 PM Best Answer

Couple of things to check first.

Is your server tag setup under Host comm? That is what the S3 is referencing.

Does your robot have the user socket messaging option installed? It is option R648.

Tarnarmour · September 18, 2024 at 6:39 PM

The server tag wasn't set up yet, I had done this for my physical controller but I've been testing this on Roboguide and forgot to do the same setup steps there. After setting up the server tag (and checking that server S3 shows "started" in the HOST COMM screen) I started getting different errors, which I consider progress. Now I'm seeing the following output:

Code

SET_VAR status = 0 17235967
DISMOUT_DEV status = 0
MOUNT_DEV status = 0
Ping Status = 0
Disconnecting...
Disconnect status = 67208
Connecting..

So now I'm getting a "Not Yet Connected" error when disconnecting, but I'm still hanging in the same way when trying to connect. I've seen a lot of example programs try to disconnect before connecting, is this not necessary / recommended?

By the way this forum is amazing, setting up this Karel stuff has been a nightmare and it's awesome to see a bunch of people just choosing to be helpful. Thanks and I hope I can start answering questions as well some day.

Tarnarmour · September 18, 2024 at 6:42 PM

Oh and I can confirm that I have the User Socket Message package installed on my Roboguide cell.

Nation · September 18, 2024 at 9:46 PM

Looking at your code, it is not outputting lines 52 and onward. I'm assuming this is desired, as the robot is a server, and waiting for a socket connection before continuing.

I think the problem is with whatever you are using to communicate to the virtual controller, and maybe roboguide.

You may need to set the IP address of the robot into the same subnet as the host computer. If your computer's IP is 192.168.1.5, verify that another ip on the same subnet is free (i.e. 192.168.1.6) and set the robot to that. You may need to reboot the virtual robot.

Tarnarmour · September 19, 2024 at 1:20 AM

Okay it's working now! A bit embarrassing but I had assumed that MSG_CONNECT would just return a timeout eventually if it was working correctly, since I didn't have anything client side. After fixing the HOST COMM stuff earlier on and verifying the IP address things are working now. Thanks a ton.

For the sake of completeness, I've included the final server and client side code I used. I ran this through a TP program on the virtual teach pendant, then manually ran the python code below.

TP Program:

CALL HANDSHAKE

Code

import socket





if __name__ == "__main__":
  # Variables for the IP address and port
  server_ip = '192.168.1.187'  # Change to the IP of your robot/server
  server_port = 6666  # Change to the port you're using

  # Create a TCP/IP socket
  client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

  try:
    # Connect to the server
    client_socket.connect((server_ip, server_port))
    print(f'Connected to {server_ip}:{server_port}')

    # Send a "Hello World" message
    message = 'Hello World'
    client_socket.sendall(message.encode())
    print(f'Sent: {message}')

    # Receive a response
    response = client_socket.recv(1024)
    print(f'Received: {response.decode()}')

  except Exception as e:
    print(f'An error occurred: {e}')

  finally:
    # Close the connection
    client_socket.close()
    print('Connection closed')

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Code

PROGRAM handshake
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
-------------------------------------------------------------------------------
CONST
	tcp_device = 'S3:'

-------------------------------------------------------------------------------
VAR
	tcp_socket : FILE
	bytes_recv : INTEGER
	tmp_str : STRING[128]
	status : INTEGER
	i : INTEGER
	entry: INTEGER
-------------------------------------------------------------------------------
BEGIN
	WRITE(CR, CR)
	 status = 0
	SET_FILE_ATR(tcp_socket, ATR_IA)
	-- set the server port before doing a connect
	SET_VAR(entry, '*SYSTEM*','$HOSTS_CFG[3].$SERVER_PORT',6666,status)
	
	WRITE('Disconnecting..',CR)
	MSG_DISCO(tcp_device,status)
	WRITE('Disconnect status = ', status, CR)
	
	WRITE('Connecting..',CR)
	MSG_CONNECT(tcp_device,status)
	WRITE(' Connect Status = ',status,CR)
	
	IF status = 0 THEN
		OPEN FILE tcp_socket ('rw', tcp_device)
		status = IO_STATUS(tcp_socket)
		WRITE('OPEN FILE status = ', status, CR)
		IF status = 0 THEN
			BYTES_AHEAD(tcp_socket, entry, status)
			WRITE('Bytes ahead: ', entry, CR)
			READ tcp_socket (tmp_str::entry)
			status = IO_STATUS(tcp_socket)
			WRITE('Read bytes: ', status,'   ', tmp_str::entry, CR)
			WRITE tcp_socket('deliverance')
			status = IO_STATUS(tcp_socket)
			WRITE('Write status = ', status, CR)
			CLOSE FILE tcp_socket
		ENDIF
	ENDIF
	
	WRITE('Disconnecting..',CR)
	MSG_DISCO(tcp_device,status)
	
	WRITE('Done: ',status, CR)
	
END handshake

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KAREL Programming hanging when trying to connect to TCP/IP Server, error code 2008

Nation September 18, 2024 at 12:58 AM

Tarnarmour September 19, 2024 at 1:15 AM

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