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Socket Internet Avec Python

The document is a code module for a robotic system that defines various robot targets and procedures for handling socket communication with a client. It includes constants for target positions, a server recovery procedure, and a main procedure that manages the robot's actions based on received data. The code also incorporates error handling and movement commands for the robot to interact with objects and perform tasks.

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thomasgys53
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23 views6 pages

Socket Internet Avec Python

The document is a code module for a robotic system that defines various robot targets and procedures for handling socket communication with a client. It includes constants for target positions, a server recovery procedure, and a main procedure that manages the robot's actions based on received data. The code also incorporates error handling and movement commands for the robot to interact with objects and perform tasks.

Uploaded by

thomasgys53
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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MODULE MainModule

CONST robtarget rhome:=[[-17.20,-272.49,617.81],[0.00887573,0.99979,-


0.000213541,0.0184803],[-2,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget BinA:=[[-151.68,-354.90,593.94],[0.00886209,0.99979,-
0.000157286,0.0184782],[-2,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget BinB:=[[144.06,-354.90,593.96],[0.00884849,0.99979,-
0.000151428,0.0184976],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget BinC:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget toBarcode:=[[592.80,-133.96,563.57],
[0.70413,0.70953,0.019315,0.0199054],[-1,-2,2,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget scan:=[[592.80,-133.96,563.56],[0.0659424,0.105529,-
0.701906,0.701316],[-1,-2,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget gotobin:=[[0,0,0],[1,0,0,0],[0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget readytoplace:=[[0,0,0],[1,0,0,0],[0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]];

VAR string client_ip;


VAR num time_val := WAIT_MAX;
PERS bool again;
VAR bool box:=FALSE;
PERS num cnt:=0;

VAR string toBinA;


TASK PERS tooldata bintool:=[TRUE,[[0,0,295],[1,0,0,0]],[2,[0,0,150],
[1,0,0,0],0,0,0]];
CONST robtarget scan10:=[[655.24,-131.88,528.02],[0.675209,0.696053,0.190324,-
0.152908],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget reject:=[[165.21,371.80,593.94],[0.00883941,0.99979,-
0.000165323,0.0184894],[0,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR shapedata whole_cell;
VAR pos low_point:=[778.25,302.03,25.64];
VAR pos high_point:=[-300,-550.18,508.67];
VAR wztemporary wztemp1:=[0];
VAR shapedata shape1;
VAR shapedata shape2;
VAR shapedata shape3;

PROC server_recover()
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string receive_string;
VAR string client_ip;
SocketClose server_socket;
SocketClose client_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket,
client_socket\ClientAddress:=client_ip;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
ENDIF

ENDPROC

PROC main()

VAR socketdev server_socket;


VAR socketdev client_socket;
VAR string receive_string;
VAR string client_ip;
VAR string value1;
VAR string value2;
VAR string value3;
VAR string value4;
VAR string value5;
VAR string value6;
VAR string value7;
VAR bool value1g;
VAR bool value2g;
VAR bool value3g;
VAR bool value4g;
VAR bool value5g;
VAR bool value6g;
VAR bool value7g;
VAR num pos1;
VAR num pos2;
VAR num pos3;
VAR num pos4;
VAR num pos5;
VAR num pos6;
VAR num pos7;
VAR pose objr;
VAR robtarget rtemp;
VAR robtarget rpick;
VAR rawbytes buffer;
VAR num msg_length;
VAR orient nobjr;
VAR bool flag;
VAR intnum hi;

WHILE TRUE DO ! first while loop in main func to creat


socket server
!SocketCreate server_socket;
!SocketBind server_socket, "192.168.125.1", 11002;
!SocketListen server_socket;
!l1:
Reset output2;
ConfL\on;
MoveL rhome,v1000,z50,tool0\WObj:=wobj0;
WaitTime\InPos,0.1;
!IF again=FALSE or cnt = 0 THEN
IF (SocketGetStatus(server_socket) = SOCKET_CLOSED) SocketCreate
server_socket;

IF (SocketGetStatus(server_socket) = SOCKET_CREATED and


SocketGetStatus(server_socket) <> SOCKET_BOUND) SocketBind server_socket,
"192.168.125.1", 11002;

IF (SocketGetStatus(server_socket) = SOCKET_BOUND) SocketListen


server_socket;

SocketAccept server_socket, client_socket


\ClientAddress:=client_ip;
TPWrite "Client at "+client_ip+" connected.";
!ENDIF

WHILE TRUE DO ! second while loop in main function to


again:=FALSE;

count:=0;
WaitTime\InPos, 1;
SocketSend client_socket \Str := "success";
!WaitTime\InPos, 3;
FOR count FROM 0 TO 5 DO
WaitTime\InPos, 0.1;
WaitTime\InPos, 0.2;
IF count = 0 THEN
SocketReceive client_socket \str :=receive_string\Time:=WAIT_MAX;
value1:=receive_string;
TPWrite " x point Value recieved"+" "+receive_string+"saved
value"+value1;

SocketSend client_socket\Str:="next_point";
TPWrite "Waiting for y point";
ELSEIF count = 1 THEN
SocketReceive client_socket \str :=receive_string\Time:=WAIT_MAX;
value2:=receive_string;
TPWrite " y point Value recieved"+" "+receive_string+"saved
value"+value1;

TPWrite "Waiting for z point";


ELSEIF count = 2 THEN
SocketSend client_socket\Str:="next_point";
SocketReceive client_socket \str :=receive_string\Time:=WAIT_MAX;
value3:=receive_string;
TPWrite " z point Value recieved"+" "+receive_string+"saved
value"+value1;

TPWrite "Waiting for aplha point";


ELSEIF count = 3 THEN
SocketSend client_socket\Str:="next_point";
SocketReceive client_socket \str :=receive_string\Time:=WAIT_MAX;
value4:=receive_string;
TPWrite " alpha point Value recieved"+" "+receive_string+"saved
value"+value1;

!SocketSend client_socket\Str:="next_point";
TPWrite "Waiting for beta point";
ELSEIF count = 4 THEN
SocketSend client_socket\Str:="next_point";
SocketReceive client_socket \str :=receive_string\Time:=WAIT_MAX;
value5:=receive_string;
TPWrite " beta point Value recieved"+" "+receive_string+"saved
value"+value1;

!SocketSend client_socket\Str:="next_point";
TPWrite "Waiting for gamma point";

ELSEIF count = 5 THEN


SocketSend client_socket\Str:="next_point";
SocketReceive client_socket \str :=receive_string\
Time:=WAIT_MAX;
value6:=receive_string;
TPWrite " gamma point Value recieved"+" "+receive_string+"saved
value"+value1;

! SocketSend client_socket\Str:="next_point";
TPWrite "all points recieved";
ENDIF
ENDFOR
cnt:=0;
value1g:=StrToVal(value1,pos1);
value2g:=StrToVal(value2,pos2);
value3g:=StrToVal(value3,pos3);
value4g:=StrToVal(value4,pos4);
value5g:=StrToVal(value5,pos5);
value6g:=StrToVal(value6,pos6);

objr.trans.x:=pos1;
objr.trans.y:=pos2;
objr.trans.z:=pos3;
objr.rot:= OrientZYX(pos6,pos5,pos4);
rtemp:=CRobT(\Tool:=bintool);
rtemp.trans.x:=pos1;
rtemp.trans.y:=pos2;
rtemp.trans.z:=pos3;
MoveL rtemp,v1000,z50,bintool\WObj:=wobj0;
WaitTime\InPos, 0.1;

rtemp.rot:=OrientZYX(pos6,pos5,pos4);
nobjr:=rtemp.rot;
rtemp.rot:=nobjr;

Movel rtemp,v300,z50,bintool\WObj:=wobj0;

!rpick:=rtemp;
!rpick.trans.z:=pos3-50;
!MoveJ rtemp,v1000,z50,bintool\WObj:=wobj0;
!set output2;
!SearchL\Stop, Input4, rtemp, rpick, v100, bintool\WObj:=wobj0;

!WaitDI Input4,1\MaxTime:=2\TimeFlag:=flag;
!IF flag = FALSE THEN
! MoveL readytoplace,v1000,z50,tool0\WObj:=wobj0;
!GOTO L1;
! TPErase;
! TPWrite "not product picked, trying again";
!ENDIF

!WaitTime\InPos, 0.1;
!Reset output1;
!set output1;
!rtemp.trans.z:=300;
!WaitTime\InPos, 0.1;
!MoveL rtemp,v1000,z50,bintool\WObj:=wobj0;
!WaitTime\InPos, 0.1;
!MoveL toBarcode,v500,z50,tool0\WObj:=wobj0;
!Set output3;
!WaitDI Input4,1;
!MoveJ scan,v1000,z50,tool0\WObj:=wobj0;
!MoveJ toBarcode, v1000, z50, tool0;
!Reset output3;
!MoveL readytoplace,v1000,z50,tool0\WObj:=wobj0;
!IF box = TRUE THEN
! MoveL BinB,v1000,z50,tool0\WObj:=wobj0;
! WaitTime\InPos, 0.1;
! Reset output2;
! box:=FALSE;
!ELSEIF Input1 = 1 THEN

! MoveL BinB,v1000,z50,tool0\WObj:=wobj0;
!WaitTime\InPos, 0.1;
! WaitTime\InPos, 0.1;
!Reset output2;
!ELSEIF box = FALSE THEN
!WaitTime\InPos, 0.1;
! MoveL reject, v1000, z50, tool0\WObj:=wobj0;
! WaitTime\InPos, 0.1;
! Reset output2;
!box:=TRUE;
!ELSE
!MoveL rhome,v1000,z50,tool0\WObj:=wobj0;
!WaitTime\InPos, 0.1;
!Reset output2;
! ENDIF

! MoveL BinA,v1000,z50,tool0\WObj:=wobj0;
!MoveL rhome,v1000,z50,tool0\WObj:=wobj0;

ENDWHILE
SocketClose server_socket;
SocketClose client_socket;

ENDWHILE

ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=SOCKET_CLOSED THEN
server_recover;
RETRY;
ELSEIF ERRNO=ERR_WHLSEARCH THEN
rtemp.trans.z:=300;
WaitTime\InPos, 0.1;
MoveL rtemp,v1000,z50,bintool\WObj:=wobj0;
MoveL rhome,v1000,z50,tool0\WObj:=wobj0;
WaitTime\InPos, 0.1;
again:=TRUE;
cnt:=1;
main;
Stop;

ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN


Reset output2;
WaitTime\InPos, 0.2;
Set output2;
!again:=TRUE;
RETRY;

ELSE
! No error recovery handling
ENDIF

ENDPROC
PROC wz_binpicking()
WZBoxDef\Outside, shape3, low_point, high_point;
WZLimSup\Temp, wztemp1, shape3;
ENDPROC
ENDMODULE

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