MODULE MainModule
VAR socketdev socket_client;
VAR robtarget zhuaqudian{4, 6} := [
[[[304.27,-308.43,388.88],[0.00605288,-0.921946,0.386945,-0.0159119],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[302.63,-500.33,388.88],[0.00611035,-0.921938,0.386966,-0.0158309],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[301.71,-691.96,388.88],[0.00627679,-0.921946,0.386953,-0.0156304],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[103.85,-307.68,388.88],[0.00626996,-0.921947,0.386949,-0.0156282],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[105.97,-499.35,388.88],[0.006271,-0.921942,0.386961,-0.0156303],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[103.92,-690.97,388.88],[0.00627827,-0.921947,0.386949,-0.0156317],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
[[[-122.05,-310.89,388.88],[0.00645941,-0.921936,0.386973,-0.0156182],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-124.22,-502.28,388.88],[0.00648626,-0.921942,0.38696,-0.0156026],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-117.92,-694.13,388.88],[0.00646402,-0.921923,0.387005,-0.0155904],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-316.41,-307.47,388.88],[0.00645302,-0.921949,0.386938,-0.0156957],[-2,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-319.25,-504.26,388.88],[0.00656645,-0.921893,0.387072,-0.0156806],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-314.56,-695.07,388.88],[0.00652637,-0.921896,0.387066,-0.0156755],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
[[[300.57,694.78,388.88],[0.00621611,-0.921927,0.386999,-0.0155978],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[302.88,502.19,388.88],[0.00621539,-0.921926,0.387003,-0.0155974],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[301.33,309.79,388.88],[0.00621415,-0.921925,0.387004,-0.0156002],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[107.10,694.54,388.88],[0.0062171,-0.921926,0.387002,-0.0155948],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[105.49,503.12,388.88],[0.00621575,-0.921925,0.387004,-0.0155983],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[106.00,311.19,388.88],[0.00621052,-0.92192,0.387017,-0.0156025],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
[[[-122.27,693.85,388.88],[0.00620335,-0.921927,0.386999,-0.0156261],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-122.85,502.21,388.88],[0.00621437,-0.921928,0.386997,-0.0156302],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-125.59,309.09,388.88],[0.00622092,-0.921929,0.386993,-0.0156214],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-320.87,694.16,388.88],[0.0062127,-0.921927,0.386998,-0.0156269],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-320.92,503.94,388.88],[0.00621883,-0.921923,0.387007,-0.0156311],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-323.41,311.32,388.88],[0.00621518,-0.921925,0.387003,-0.015623],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
];
VAR robtarget yuandian := [[584.30,98.67,388.88],[0.000927732,0.9636,-0.267343,0.00115184],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR robtarget touliao := [[595.42,114.45,115.41],[8.54151E-05,0.951234,-0.308469,-6.39389E-05],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR robtarget newguodudian := [[111.88,-309.89,388.88],[0.000206237,2.54575E-05,-1,-0.000101683],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
VAR bool retval;
SocketClose socket_client;
SocketCreate socket_client;
SocketConnect socket_client, "192.168.100.61", 8088;
WHILE TRUE DO
WaitDI DI02,0;
Reset DO00;
Reset DO01;
Reset DO02;
Reset DO03;
Reset DO04;
IF DI00=0 AND DI01= 0 THEN
gotoAreaRobotPos 1, retval;
ELSEIF DI00 = 1 AND DI01= 0 THEN
gotoAreaRobotPos 2, retval;
ELSEIF DI00 = 0 AND DI01= 1 THEN
gotoAreaRobotPos 3, retval;
ELSEIF DI00 = 1 AND DI01= 1 THEN
gotoAreaRobotPos 4, retval;
ENDIF
IF(not retval) THEN
WHILE DI04=0 DO
WaitDI DI04, 1;
WaitTime 0.05;
ENDWHILE
ENDIF
ENDWHILE
ENDPROC
PROC jiexiweizhi(string sp, num index, inout robtarget data{*}, inout bool isError, inout bool isLastLayer)
VAR num count := 1;
VAR num pos_count := 1;
VAR bool is_sucess := TRUE;
VAR num para{7}:=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0];
VAR string inputstr;
VAR num found;
VAR string split_string := "";
VAR num split_index;
VAR string remain_string := "";
VAR bool isRecvComplete := FALSE;
VAR bool isParseComplete := FALSE;
isError := FALSE;
isLastLayer := FALSE;
WHILE not isRecvComplete DO
SocketReceive socket_client, \Str:=inputstr, \Time:=WAIT_MAX;
found := StrMatch(inputstr, 1, ";");
IF found <= StrLen(inputstr) THEN
isRecvComplete := TRUE;
inputstr := StrPart(inputstr, 1, found - 1);
ENDIF
split_index := 1;
split_string := "";
isParseComplete := FALSE;
WHILE not isParseComplete DO
found := StrMatch(inputstr, split_index, sp);
IF found <= StrLen(inputstr) THEN
IF strLen(remain_string) > 0 THEN
split_string := remain_string + StrPart(inputstr, split_index, found - split_index);
remain_string := "";
ELSE
split_string := StrPart(inputstr, split_index, found - split_index);
ENDIF
is_sucess := strtoval(split_string, para{count});
IF is_sucess THEN
Incr count;
ENDIF
IF count = 8 THEN
parsePos para, data{pos_count};
Incr pos_count;
count := 1;
ENDIF
split_index := found + 1;
ELSE
isParseComplete := TRUE;
remain_string := StrPart(inputstr, split_index, StrLen(inputstr) - split_index + 1);
ENDIF
ENDWHILE
ENDWHILE
found := StrMatch(remain_string, 1, "error");
IF found <= StrLen(remain_string) THEN
isError := TRUE;
ENDIF
found := StrMatch(remain_string, 1, "yes");
IF found <= StrLen(remain_string) THEN
isLastLayer := TRUE;
ENDIF
ENDPROC
PROC parsePos(num data{*}, inout robtarget robpos)
robpos.trans.x := data{1};
robpos.trans.y := data{2};
robpos.trans.z := data{3};
robpos.rot.q1 := data{4};
robpos.rot.q2 := data{5};
robpos.rot.q3 := data{6};
robpos.rot.q4 := data{7};
ENDPROC
PROC gotoAreaRobotPos(num index, inout bool retVal)
VAR robtarget new_position{6};
VAR string inputstr;
VAR num found;
VAR bool flag2 := TRUE;
VAR bool isError;
VAR bool isLastLayer;
retval := TRUE;
程序如上，其中
PROC main()
VAR bool retval;
SocketClose socket_client;
SocketCreate socket_client;
SocketConnect socket_client, "192.168.100.61", 8088;
不知道什么意思
滬公網安備31010802001143號
