Posts by Shubham_23

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 fmt

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 Claude