ABB实现tcp套接字通讯（客户端程序）

1、了解通讯原理&＃xff1a;

Tcp通讯&＃xff1a;
客户端: 服务&＃xff08;器&＃xff09;端:
1.SocketCreat: 创建套接字 1.SocketCreat: 创建套接字
2.Conect: 连接IP地址 2.bind(): 绑定端口
3.Send/Receive: 发送或接收数据 3.listen: 监听
4.Close: 关闭 4.accept:&＃xff08;接收连接,等待客户端的连接&＃xff09;
等待所有输入连接&＃xff0c;接受连接请求&＃xff0c;并返回已建立连接客户端套接字
5.Send/Receive: 发送或接收数据
6.Close: 关闭

2、实现程序思路&＃xff1a;

MODULE BackMainModule
PERS num StN:&＃61;25;
PERS num F:&＃61;0;
PERS num N:&＃61;2;
PERS num R1:&＃61;0;
PERS num R2:&＃61;0.2;
PERS num N2:&＃61;1;
PERS num N3:&＃61;24;
PERS num PD:&＃61;10;
PERS num NX:&＃61;0.513095;
PERS num NY:&＃61;1;
PERS num NEZ:&＃61;1;
PERS num HN:&＃61;6;
PERS num EulerY;
PERS num EZ1;
PERS num EulerX;
CONST robtarget pPickBase:&＃61;[[536.62,272.59,131.66],[0.000200255,-0.0156747,-0.999872,-0.00320096],[0,0,0,0],[9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09]];
CONST robtarget pPutBase:&＃61;[[530.47,-173.80,153.21],[0.000375863,-0.015006,-0.999885,0.00224063],[-1,-1,-1,0],[9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09]];
PERS robtarget pCCD1:&＃61;[[506.355,-173.472,133.05],[0.000380874,-0.00969365,-0.999945,0.00398781],[0,-1,0,0],[9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09,9E&＃43;09]];
PERS robtarget pPut;
PERS robtarget pPick;
PERS robtarget pPJZBase;
PERS robtarget pPJZ;
PERS robtarget pPhotoPos;
VAR socketdev socket_C;
VAR socketdev socket_S;
PERS string Send1:&＃61;“DD,608.845,-143.7,178.889”;
PERS string Send2;
PERS string SendJZ;
VAR string Accpet:&＃61;"";
VAR string client_ip:&＃61;"";
PERS string PNx:&＃61;“608.845”;
PERS string PNy:&＃61;"-143.7";
PERS string YY;
PERS string PEz:&＃61;“178.889”;
CONST string KG:&＃61;",";
PERS bool StoN_OK;
PERS bool Auto_JZ;

PROC Backmain()rBackInit;WHILE TRUE DOrAccpet;rSend;WaitTime 0.2;ENDWHILE
ENDPROCPROC rBackInit()SocketClose socket_S;SocketClose socket_C;client_ip:&＃61;"";SocketCreate socket_S;SocketBind socket_S,"192.168.1.10",8002;SocketListen socket_S;SocketAccept socket_S,socket_C\ClientAddress:&＃61;client_ip\Time:&＃61;WAIT_MAX;TPWrite client_ip;
ENDPROCPROC rAccpet()Accpet:&＃61;"";StN:&＃61;0;N2:&＃61;0;SocketReceive socket_C\Str:&＃61;Accpet\Time:&＃61;WAIT_MAX;TPWrite Accpet;FOR i FROM 0 TO 3 DON3:&＃61;StN&＃43;1;StN:&＃61;StrFind(Accpet,N3,",");N2:&＃61;StN-N3;C:TEST iCASE 0:StoN_OK:&＃61;Strtoval(StrPart(Accpet,N3,N2),PD);CASE 1:StoN_OK:&＃61;Strtoval(StrPart(Accpet,N3,N2),Nx);CASE 2:StoN_OK:&＃61;Strtoval(StrPart(Accpet,N3,N2),Ny);CASE 3:StoN_OK:&＃61;Strtoval(StrPart(Accpet,N3,N2),NEZ);DEFAULT:GOTO C;ENDTESTENDFORTEST PDCASE 0:TPWrite "Communication_OK";WaitTime 1;CASE 1:pCCD1.trans.x:&＃61;Nx;pCCD1.trans.y:&＃61;Ny;IF Auto_JZ THENEulerX:&＃61;EulerZYX(\X,pPJZBase.rot);EulerY:&＃61;EulerZYX(\Y,pPJZBase.rot);PCCD1.rot:&＃61;OrientZYX(NEZ,EulerY,EulerX);pPJZ:&＃61;pCCD1;ELSEIF Send2&＃61;"T1" THEN!&＃43;ValToStr(N&＃43;1)EulerX:&＃61;EulerZYX(\X,pPickBase.rot);EulerY:&＃61;EulerZYX(\Y,pPickBase.rot);PCCD1.rot:&＃61;OrientZYX(NEZ,EulerY,EulerX);pPick:&＃61;pCCD1;ELSEIF Send2&＃61;"T3"&＃43;ValToStr(F&＃43;1) THENEulerX:&＃61;EulerZYX(\X,pPutBase.rot);EulerY:&＃61;EulerZYX(\Y,pPutBase.rot);EZ1:&＃61;NEZ;IF F&＃43;1&＃61;3 THENEulerX:&＃61;EulerX&＃43;R1;ENDIFIF F&＃43;1&＃61;4 THENEulerX:&＃61;EulerX&＃43;R2;ENDIFPCCD1.rot:&＃61;OrientZYX(NEZ,EulerY,EulerX);pPut:&＃61;pCCD1;ENDIFReset Vo_1;CASE 2:TPWrite "AUTOJZ_OK";Auto_JZ:&＃61;FALSE;Stop;CASE -2:TPWrite "CCD,NG!";IF Send2&＃61;"T1" THENIncr N;TPWrite "Nothing!";YY:&＃61;"NOthing";IF N>&＃61;HN THENClear N;ENDIFReset Vo_1;ELSETPWrite "T1_CW";Stop;ENDIFCASE 3:TPWrite "T2Photo_OK";IF Send2&＃61;"T2" THENReset Vo_1;ELSETPWrite "DD_CW";Stop;ENDIFCASE -3:TPWrite "T2Photo_NG";IF Send2&＃61;"T2" THENYY:&＃61;"NG";Reset Vo_1;ELSETPWrite "DD_CW";Stop;ENDIFCASE 10:TPWrite "3DPhoto_OK";IF Send2&＃61;"DD" THENEulerX:&＃61;EulerZYX(\X,pPut.rot);EulerY:&＃61;EulerZYX(\Y,pPut.rot);EulerY:&＃61;Nx;pPut.rot:&＃61;OrientZYX(EZ1,EulerY,EulerX);TPWrite "3DEY:"\Num:&＃61;EulerY;Reset Vo_1;ELSETPWrite "DD_CW";Stop;ENDIFDEFAULT:TPWrite "CCD,NG!";Stop;ENDTEST
ERRORIF ERRNO&＃61;ERR_SOCK_CLOSED THENrBackInit;RETRY;ENDIFIF ERRNO&＃61;ERR_SOCK_TIMEOUT THENWaitTime 0.2;RETRY;ENDIF
ENDPROCPROC rSend()WaitDI Vi_1,1;PNx:&＃61;ValToStr(pPhotoPos.trans.x);PNy:&＃61;ValToStr(pPhotoPos.trans.y);PEz:&＃61;ValToStr(EulerZYX(\Z,pPhotoPos.rot));Send1:&＃61;Send2&＃43;KG&＃43;PNx&＃43;KG&＃43;PNy&＃43;KG&＃43;PEz;WaitTime 0.2;SocketSend socket_C\Str:&＃61;Send1;TPWrite Send1;ERRORIF ERRNO &＃61; ERR_SOCK_CLOSED OR ERRNO &＃61; SOCKET_LISTENING THENrBackInit;RETRY;ENDIF
ENDPROCPROC rTEST1()Accpet:&＃61;"";StN:&＃61;0;N2:&＃61;0;SocketReceive socket_C\Str:&＃61;Accpet;TPWrite Accpet;
ERRORIF ERRNO&＃61;ERR_SOCK_CLOSED THENrBackInit;RETRY;ENDIFIF ERRNO&＃61;ERR_SOCK_TIMEOUT THENWaitTime 0.2;RETRY;ENDIF
ENDPROC


ENDMODULE