I've come back to this to add a timeout.
panic mode - I've used timers in a different way before ($TIMER_STOP[19] = FALSE etc). Your method looked much more elegant, but could find any documentation, and I got errors when using WAIT FOR TIMER_LIMIT[4.565]
The error was either ARRAY VARIABLE NOT DECLARED (if an integer), or EXPRESSION NOT EQUAL TO INT (if a float).
Am I missing something?
Thanks for your help on this. It's all working well!
Thanks for the reply. Totally beginner to this - going off examples.
What's the best practice for checking something was received? I've just been toying with ON_ERROR_PROCEED in case nothing was yet received, but that doesn't feel right.
I think I found the issue... I put a WAIT command before the problematic line and it worked...!
The question still stands though, is there an easy way to debug this, or to catch if I've requested info that isn't yet available?
I'm trying to communicate between a Linux PC and KRC4, sending xml via EKI.
I can get a message from KUKA > Linux no problem, but struggle with the other way around.
In the code below, I hit the line RET=EKI_GetReal("XmlTransmit","Robot/Axis/Speed",valueSpeed) and get the error "Access to empty elementmemory"
Are there any debugging things I can do? How can I check the XML packet has been sent/received?
Thanks!
;FOLD Declaration
DECL REAL SPEED
DECL EKI_STATUS RET
REAL valueSpeed
CHAR sendBytes[4]
;ENDFOLD (Declaration)
;-- We expect the sent and received data to look something like the below
;FOLD Communicated data
;------------------------------------------
; Data transmitted: binary version - cast int array to bytes[4] array
; Data transmitted: (XML version)
; <Robot>
; <Data>
; <LineNum>1234
; </LineNum>
; </Data>
; </Robot>
;--------------------
; Data received:
; <Robot>
; <Axis>
; <Speed>25.0 </Speed>
; </Axis>
; </Robot>
;-------------------------------------------
;ENDFOLD (Communicated data)
;-- Initialisation
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)ENDEND
;FOLD Initialize data
valueSpeed = 0.0
;ENDFOLD (Initialize data)
;-- Open connection and send/receive data
RET=EKI_Init("XmlTransmit")
RET=EKI_Open("XmlTransmit")
;FOLD Write data to connection
; Binary version:
sendBytes[1] = 1
sendBytes[2] = 2
sendBytes[3] = 3
sendBytes[4] = 6
RET=EKI_Send("XmlTransmit",sendBytes[])
;ENDFOLD (Write data to connection)
;-------------------------------------------
;FOLD Get received sensor data
; Get real value in <Speed = "" />
RET=EKI_GetReal("XmlTransmit","Robot/Axis/Speed",valueSpeed)
SPEED = valueSpeed
;-- Do something with SPEED!
;ENDFOLD (Get received sensor data)
RET=EKI_Close("XmlTransmit")
RET=EKI_Clear("XmlTransmit")
