Probleme von EthernetKRLXML

Hallo zusammen,

vielleicht erzähl ich erstmal um was es bei mir geht und wo ich im Moment grade steh:
Bei uns am Lehrstuhl sollte der Robi über ein externes System zugriffen werden. Da butzen wir das EthernetKRLXML-Technologiepaket. Dann hab ich in c++ programmiert und beim Versuch, erstmals hab ich den xmlstring-Befehl <AR:RobotCommand><Gripper><Value>Close</Value></Gripper></AR:RobotCommand> an Roboter geschickt, und er hat auch richtig reagiert. Dann hab ich noch einen xmlstring-Befehl <AR:RobotCommand><Linear><Point XPos="-1900" YPos="-2000" ZPos="14" RX="0" RY="0" RZ="0"/></Linear></AR:RobotCommand> geschickt. Diesmal funktioniert nicht mehr. Ich wußte nicht, was passierte. Ich startete das embeded XP-system neu. Die Files AriktInt.src und AriktInt.dat wurden mit roten Kreuzen gekennzeichnet. Im Meldungsfenster gibt es solche Fehlermeldungen:

Die Fehlerlist von dem File AriktInt.src sehen so aus:

Zeile Spalte FehlerNr. Beschreibung
161 6 2123 Name nicht als Funktion vereinbart
162 1 2135 Name nicht als Funktion vereinbart
164 6 2123 Name nicht als Funktion vereinbart
253 6 2123 Name nicht als Funktion vereinbart
265 6 2123 Name nicht als Funktion vereinbart
277 6 2123 Name nicht als Funktion vereinbart
289 6 2123 Name nicht als Funktion vereinbart
... ... ... ...

Die betroffenen Namen sind die XMLAPI-Funktionsnamen wie z.b. xmlApiGetNextElementName().

Ich weiss, dass das hier jetzt etwas länger geworden ist. Bin total genervt.
Ich hab probiert, die Dateien wiederzustellen. Aba auch geht's nicht. Was soll und kann ich tun?

Vielen Dank für eure Antwort

Simon

Danke erstmal für die Antwort.

Die Version ist V5.2.12 HF3.

Gruß

Simon

Entschuldigung, diesmal,

-----------------------------------AriktInt.src----------------------------------------------------------
&ACCESS RVEO
&REL 151
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF AriktInt()
; =============================================
; ***h* AriktInt/ArkitInt
; NAME
; AriktInt
; COPYRIGHT
; AMATEC Robotics GmbH (C) 2003
; FUNCTION
; This file is mainly designed to
; communicate with a vision system. The data
; exchange works on an endless XML String.
;
; The vision system send the parameters like
; <AR:RobotCommand>
; <PointToPoint>
; <Point XPos="110" YPos="0" ZPos="50"/>
; <Point XPos="80" YPos="10" ZPos="90"/>
; <Point XPos="290" YPos="0" ZPos="10"/>
; </PointToPoint>
; </AR:RobotCommand>
; The XML-Strings musst have the same
; spelling as the stacks in the file
; "AriktInt.xml" you can find in
; C:\KRC\Roboter\Init
;
; Actual working features of AriktInt:
; ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
; * PointToPoint-move
; - for a given point
; - for a given vector
; - continuous motion
; * Linear-move
; - for a given point
; - for a given vector
; - continuous motion
; * TCP-setting
; * Order of movements like in the
; XML- Document
; * Send a signal to server
; * Set velocity and acceleration
; - Lokal setting
; - Global setting
; * Set global continuous motion
;
; Further features to implement:
; ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
; * Circle-move
; - for a given point
; - for a given vector
; - continuous motion
; * Wait with the movements until the
; server sends a defined signal
;
; Data structure:
; TAG: This Structure consists of strings.
; In this strings you set the names
; of the stacks you want to read out
; from the buffer. There are only
; real elements you can read out from
; the buffer. You need the data types
; DATA and PKT to save the real
; elements.
; TAG consists of:
; CHAR cXPos[81]
; CHAR cYPos[81]
; CHAR cZPos[81]
; CHAR cRX[81]
; CHAR cRY[81]
; CHAR cRZ[81]
; CHAR cToleranceXYZ[81]
; CHAR cVelocity[81]
; CHAR cAcceleration[81]
; CHAR cAccuracy[81]
; DATA: This structure consists of
; Booleans and real values. Here you save
; the local and global settings in
; LIN- and CIRC-moves.
; DATA consists of:
; BOOL bVelNew
; BOOL bAccelNew
; BOOL bAccuNew
; REAL rVelocity
; REAL rAcceleration
; REAL rAccuracy
; PKT: This structure consists of a
; Boolean and a real to set the
; continuous motion for one movements.
; In the frame-element the new point
; is saved.
; PKT consists of:
; BOOL bToLNew ???
; REAL rTolerance
; FRAME fr
;
; CREATION DATE
; 03-06-01 Michael Baehr
; MODIFICATION HISTORY
; 03-06-11 Little Docu. update.
; Heinrich Mueller
; 03-06-12 Now with name space
; Heinrich Mueller
; 03-06-23 Send signal implemented
; Heinrich Mueller
; 03-06-24 Now movements in order
; Heinrich Mueller
; 03-09-01 Now set of velocity, acceleration
; and Coninuous motion in global
; and lokal settings
; Michael Baehr
; 03-09-10 "Override" Bug fixed
; Heinrich Mueller
; 03-09-17 "Missing Movement" Bug fixed
; and intriduced struc STRING
; Heinrich Mueller
; NOTES
; Doc needs some work
; BUGS
; 03-09-10 You need to send always X Y Z and
; XR YR ZR for LIN and PTP
; Heinrich Mueller
; 03-09-21 Program will fail after a while
; because of an error in the XML API
; (xmlApiGetNextElementName(..))
; Heinrich Mueller
; AUTHOR
; Michael Baehr
; (Heinrich Mueller)
; ***
; =============================================

STRUC TAG ASTRING strXPos, ASTRING strYPos, ASTRING strZPos, ASTRING strRX, ASTRING strRY, ASTRING strRZ, ASTRING strToleranceXYZ, ASTRING strVelocity, ASTRING strAcceleration, ASTRING strAccuracy

STRUC DATA BOOL bVelNew, BOOL bAccelNew, BOOL bAccuNew, REAL rVelocity, REAL rAcceleration, REAL rAccuracy

STRUC PKT BOOL bTolNew, REAL rTolerance, FRAME fr

BOOL bErr
INT iErr
DECL ASTRING strHostName
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;FOLD USER INI;%{E}%V3.2.0,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)

;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%R 4.1.6,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT=FHOME
BAS(#FRAMES)
BAS(#VEL_PTP,100)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
strHostName.s[]="AriktInt"
iErr=xmlApiOpen(strHostName )
xmlApiHandleError(iErr)
waitForData()
bErr=xmlApiClose(strHostName )
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
END

; =============================================
; ***f* AriktInt/waitForData
; NAME
; waitForData
; USAGE
; waitForData()
; DISCRIPTION
; Wait for NEW incoming data and call the
; right function.
; For PTP-Move: call getPTPFrame()
; For LIN-Move: call getLINFrames()
; For CIRC-Move: call getCIRCFrames()
; For TCP-setting: call setTool()
; PARAMETERS
; -
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; Michael Baehr
; ***
DEF waitForData()

INT iErr
INT iIndex
BOOL bErr
BOOL bNew
BOOL bEqual
DECL ASTRING strEmpty
DECL ASTRING strHostName
DECL ASTRING strDocumentStartTag
DECL ASTRING strPTPTag
DECL ASTRING strLINTag
DECL ASTRING strCIRCTag
DECL ASTRING strTCPTag
DECL ASTRING strVelocityTag
DECL ASTRING strAccelerationTag
DECL ASTRING strAccuracyTag
DECL ASTRING strOutputSignalTag
DECL ASTRING strNextTag
DECL ASTRING strRealElementTag
DECL ASTRING strPosActTag
DECL ASTRING strGripperTag
DECL PKT zPkt
DECL PKT hPkt
DECL DATA glData
DECL DATA loData

strEmpty.s[] = " "
strHostName.s[] = "AriktInt"
strDocumentStartTag.s[] = "AriktInt.AR:RobotCommand"
strPTPTag.s[] = "AriktInt.AR:RobotCommand.PointToPoint"
strLINTag.s[] = "AriktInt.AR:RobotCommand.Linear"
strCIRCTag.s[] = "AriktInt.AR:RobotCommand.Cirstrle"
strTCPTag.s[] = "AriktInt.AR:RobotCommand.TCP"
strVelocityTag.s[] = "AriktInt.AR:RobotCommand.Velocity"
strAccelerationTag.s[] = "AriktInt.AR:RobotCommand.Acceleration"
strAccuracyTag.s[] = "AriktInt.AR:RobotCommand.Accuracy"
strOutputSignalTag.s[] = "AriktInt.AR:RobotCommand.OutputSignal"
strPosActTag.s[] = "AriktInt.AR:RobotCommand.PosAct"
strGripperTag.s[] = "AriktInt.AR:RobotCommand.Gripper"
strNextTag = strEmpty
strRealElementTag = strEmpty

dataInit(glData)

LOOP
bNew = false

; Is it a new document
bEqual = strCmp(strNextTag, strDocumentStartTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strDocumentStartTag , bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
strNextTag=strEmpty
ENDIF

; Is the next a PTP movement?
bEqual = strCmp(strNextTag, strPTPTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strPTPTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
getPTPFrame(zPkt, glData, loData, strNextTag)
ENDIF

; Is it a LIN movement?
bEqual = strCmp(strNextTag, strLINTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strLINTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
getLINFrames(zPkt, glData, loData, strNextTag)
ENDIF

; Is there a new TCP ?
bEqual = strCmp(strNextTag, strTCPTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strTCPTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
setTool()
strNextTag=strEmpty
ENDIF

; Is there a new Velocity ?
bEqual = strCmp(strNextTag, strVelocityTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strVelocityTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
strRealElementTag=strEmpty
strRealElementTag.s[] = "AriktInt.AR:RobotCommand.Velocity.Nominal"
readOutRealElement(strRealElementTag, glData.rVelocity, glData.bVelNew)
glData.rVelocity = glData.rVelocity / 1000
strNextTag=strEmpty
ENDIF

; Is there a new Acceleration ?
bEqual = strCmp(strNextTag, strAccelerationTag)
IF bEqual == TRUE THEN
bErr = xmlAPiGetStructElement(0, strAccelerationTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
strRealElementTag=strEmpty
strRealElementTag.s[] = "AriktInt.AR:RobotCommand.Acceleration.Nominal"
readOutRealElement(strRealElementTag, glData.rAcceleration, glData.bAccelNew)
strNextTag=strEmpty
ENDIF

; Is there a new Accuracy (Continuous Motion) ?
bEqual = strCmp(strNextTag, strAccuracyTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strAccuracyTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
strRealElementTag=strEmpty
strRealElementTag.s[] = "AriktInt.AR:RobotCommand.Accuracy.ToleranceXYZ"
readOutRealElement(strRealElementTag, glData.rAccuracy, glData.bAccuNew)
strNextTag=strEmpty
ENDIF

;SELBST DEFINIERT 20060801 by DD
;Hier soll auf Abfragetags reagiert werden
bEqual = strCmp(strNextTag, strPosActTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strPosActTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
sendPosAct()
strNextTag=strEmpty
ENDIF

;ENDE SELBST DEFINIERT 20060801 by DD
;SELBST DEFINIERT 20060802 by DD

; Greiferbefehl
bEqual = strCmp(strNextTag, strGripperTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strGripperTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
setGripper()
strNextTag=strEmpty

ENDIF
;ENDE SELBST DEFINIERT 20060802 by DD

; OutputSignal ?
bEqual = strCmp(strNextTag, strOutputSignalTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strOutputSignalTag, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
sendSignal()
strNextTag=strEmpty

ENDIF

; read new element name
bEqual = strCmp(strNextTag, strEmpty)
IF bEqual == TRUE THEN
iErr = xmlApiGetNextElementName(strHostName, strNextTag)
ENDIF

ENDLOOP
END

; =============================================
; ***f* AriktInt/getPTPFrame
; NAME
; getPTPFrame
; USAGE
; getPTPFrame(FrameZPkt, GlobalData, LokalData)
; DESCRIPTION
; Test if a new Point or vector is
; coming in and call the right function.
; For a new Point: call getNewPTPPoint()
; For a new Vector: call addNewPTPVector()
; PARAMETERS
; see header!
; DECL PKT zPkt:
; DECL DATA glData
; DECL DATA loData
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; Michael Baehr
; ***
DEF getPTPFrame(zPkt:OUT, glData:OUT, loData:OUT, strNextTag:OUT)
DECL PKT zPkt
DECL DATA glData
DECL DATA loData
DECL ASTRING strNextTag

INT iErr
BOOL bErr
BOOL bNew
BOOL bEqual
DECL ASTRING strPointTag
DECL ASTRING strVectorTag
DECL ASTRING strHostName

strHostName.s[]="AriktInt"
strPointTag.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point"
strVectorTag.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector"

dataInit(loData)
zPkt.rTolerance = 0
zPkt.bTolNew = FALSE
REPEAT
iErr=xmlApiGetNextElementName(strHostName, strNextTag)
bNew = FALSE

; Is the next a Point?
bEqual=strCmp(strNextTag, strPointTag)
IF bEqual==TRUE THEN
bErr=xmlApiGetStructElement(0, strPointTag, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew==TRUE THEN
getNewPTPPoint(zPkt)
movePTP(zPkt, glData, loData)
ENDIF
ENDIF

;Or is it a Vector?
bEqual=strCmp(strNextTag, strVectorTag)
IF bEqual==TRUE THEN
bErr=xmlApiGetStructElement(0, strVectorTag, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew==TRUE THEN
addNewPTPVector(zPkt)
movePTP(zPkt, glData, loData)
ENDIF
ENDIF

UNTIL( bNew==FALSE )
END

; =============================================
; ***f* AriktInt/getNewPTPPoint
; NAME
; getNewPTPPoint
; USAGE
; getNewPTPPoint(frameZPkt)
; DESCRIPTION
; Set Strings with the name of the stacks in
; the buffer. Then call readOutFrame() to get the
; frame from the buffer.
; PARAMETERS
; see header!
; DECL PKT zPkt
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; Michael Baehr
; ***
DEF getNewPTPPoint(zPkt:OUT)
DECL PKT zPkt

DECL TAG tag
BOOL bErr

tag.strXPos.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.XPos"
tag.strYPos.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.YPos"
tag.strZPos.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.ZPos"
tag.strRX.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.RX"
tag.strRY.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.RY"
tag.strRZ.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.RZ"
tag.strToleranceXYZ.s[]="AriktInt.AR:RobotCommand.PointToPoint.Point.ToleranceXYZ"
readOutFrame(zPkt, tag)

zPkt.rTolerance = 0
zPkt.bTolNew = FALSE
bErr=xmlApiGetRealElement(0, tag.strToleranceXYZ, zPkt.rTolerance, zPkt.bTolNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF zPkt.bTolNew==TRUE THEN
readNext(1)
ENDIF
END

; =============================================
; ***f* AriktInt/addNewPTPVector
; NAME
; addNewPTPVector
; USAGE
; addNewPTPVector(frameZPkt)
; DESCRIPTION
; Set Strings with the name of the stacks in
; the buffer. Then call readOutFrame() to get the
; vector from the buffer and call
; addVectorToActPos() to add the vector-
; Parameters to the actual position.
; PARAMETERS
; see header!
; DECL PKT zPkt
; RESULT
; -
; NOTES
; - none -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF addNewPTPVector(zPkt:OUT)
DECL PKT zPkt

DECL PKT vector
DECL TAG tag
BOOL bErr

tag.strXPos.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.XPos"
tag.strYPos.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.YPos"
tag.strZPos.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.ZPos"
tag.strRX.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.RX"
tag.strRY.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.RY"
tag.strRZ.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.RZ"
tag.strToleranceXYZ.s[]="AriktInt.AR:RobotCommand.PointToPoint.Vector.ToleranceXYZ"
readOutFrame(vector, tag)

vector.rTolerance = 0
vector.bTolNew = FALSE
bErr=xmlApiGetRealElement(0, tag.strToleranceXYZ, zPkt.rTolerance, zPkt.bTolNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF zPkt.bTolNew==TRUE THEN
readNext(1)
ENDIF
addVectorToActPos(vector, zPkt)
END

; =============================================
; ***f* AriktInt/movePTP
; NAME
; movePTP
; USAGE
; movePTP(frameZPkt, GlobalData, LokalData)
; DESCRIPTION
; Call getMoveTyp(). If the return is:
; 'eCONT_OFF' there will be no continuous
; motion.
; If the return is:'eCONT_ON' a
; tolerance-distance is set. And move to the
; given position.
; PARAMETERS
; see header!
; DECL PKT zPkt
; DECL DATA glData
; DECL DATA loData
; RESULT
; -
; NOTES
; - notes -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF movePTP(zPkt:OUT, glData:OUT, loData:OUT)
DECL PKT zPkt
DECL DATA glData
DECL DATA loData

BOOL bErr
INT choice

choice = getMoveTyp(zPkt, glData, loData)
setData(glData, loData)
SWITCH choice
CASE eCONT_OFF
PTP zPkt.fr
CASE eCONT_ON
PTP zPkt.fr C_PTP
DEFAULT
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDSWITCH
END

; =============================================
; ***f* AriktInt/getLINFrames
; NAME
; getLINFrames
; USAGE
; getLINFrames(frameZPkt, GlobalData, LokalData)
; DESCRIPTION
; see getPTPFrame
; PARAMETERS
; see getPTPFrame
; RESULT
; -
; NOTES
; - none -
; BUGS
; * Not all error return values are handled
; AUTHOR
; Michael Baehr
; ***
DEF getLINFrames(zPkt:OUT, glData:OUT, loData:OUT, strNextTag:OUT)
DECL PKT zPkt
DECL DATA glData
DECL DATA loData
DECL ASTRING strNextTag

INT iErr
BOOL bErr
BOOL bNew
BOOL bEqual
DECL ASTRING strPointTag
DECL ASTRING strVectorTag
DECL ASTRING strHostName
DECL ASTRING strVelocityTag
DECL ASTRING strAccelerationTag
DECL ASTRING strAccuracyTag
DECL ASTRING strRealElementTag

strHostName.s[] = "AriktInt"
strPointTag.s[] = "AriktInt.AR:RobotCommand.Linear.Point"
strVectorTag.s[] = "AriktInt.AR:RobotCommand.Linear.Vector"
strVelocityTag.s[] = "AriktInt.AR:RobotCommand.Linear.Velocity"
strAccelerationTag.s[] = "AriktInt.AR:RobotCommand.Linear.Acceleration"
strAccuracyTag.s[] = "AriktInt.AR:RobotCommand.Linear.Accuracy"
strRealElementTag.s[] = " "
;strNextTag[]=" "

dataInit(loData)
REPEAT
iErr=xmlApiGetNextElementName(strHostName, strNextTag)
bNew=false

; Is the next a Point?
bEqual=strCmp(strNextTag, strPointTag)
IF bEqual==TRUE THEN
bErr=xmlApiGetStructElement(0, strPointTag, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew==TRUE THEN
getNewLINPoint(zPkt)
moveLIN(zPkt, glData, loData)
ENDIF
ENDIF

;Or is it a Vector?
bEqual=strCmp(strNextTag, strVectorTag)
IF bEqual==TRUE THEN
bErr=xmlApiGetStructElement(0, strVectorTag, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew==TRUE THEN
addNewLINVector(zPkt)
moveLIN(zPkt, glData, loData)
ENDIF
ENDIF

; Is there a new Velocity ?
bEqual = strCmp(strNextTag, strVelocityTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strVelocityTag, bNew)
IF bErr == FALSE THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
strRealElementTag.s[] = "AriktInt.AR:RobotCommand.Linear.Velocity.Nominal"
readOutRealElement(strRealElementTag, loData.rVelocity, loData.bVelNew)
loData.rVelocity = loData.rVelocity / 1000
ENDIF
ENDIF

; Is there a new Acceleration ?
bEqual = strCmp(strNextTag, strAccelerationTag)
IF bEqual == TRUE THEN
bErr = xmlAPiGetStructElement(0, strAccelerationTag, bNew)
IF bErr == FALSE THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
strRealElementTag.s[] = "AriktInt.AR:RobotCommand.Linear.Acceleration.Nominal"
readOutRealElement(strRealElementTag, loData.rAcceleration, loData.bAccelNew)
loData.bAccelNew = TRUE
ENDIF
ENDIF

; Is there a new Accuracy (Continuous Motion) ?
bEqual = strCmp(strNextTag, strAccuracyTag)
IF bEqual == TRUE THEN
bErr = xmlApiGetStructElement(0, strAccuracyTag, bNew)
IF bErr == FALSE THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
strRealElementTag.s[] = "AriktInt.AR:RobotCommand.Linear.Accuracy.ToleranceXYZ"
readOutRealElement(strRealElementTag, loData.rAccuracy, loData.bAccuNew)
loData.bAccuNew = TRUE
ENDIF
ENDIF

UNTIL( bNew==FALSE )
END

; =============================================
; ***f* AriktInt/getNewLINPoint
; NAME
; getNewLINPoint
; USAGE
; getNewLINPoint(frameZPkt)
; DESCRIPTION
; see getNewPTPPoint
; PARAMETERS
; see getNewPTPPoint
; RESULT
; -
; NOTES
; - none -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF getNewLINPoint(zPkt:OUT)
DECL PKT zPkt

DECL TAG tag
BOOL bErr

tag.strXPos.s[]="AriktInt.AR:RobotCommand.Linear.Point.XPos"
tag.strYPos.s[]="AriktInt.AR:RobotCommand.Linear.Point.YPos"
tag.strZPos.s[]="AriktInt.AR:RobotCommand.Linear.Point.ZPos"
tag.strRX.s[]="AriktInt.AR:RobotCommand.Linear.Point.RX"
tag.strRY.s[]="AriktInt.AR:RobotCommand.Linear.Point.RY"
tag.strRZ.s[]="AriktInt.AR:RobotCommand.Linear.Point.RZ"
tag.strToleranceXYZ.s[]="AriktInt.AR:RobotCommand.Linear.Point.ToleranceXYZ"
readOutFrame(zPkt, tag)

zPkt.rTolerance = 0
zPkt.bTolNew = FALSE
bErr=xmlApiGetRealElement(0, tag.strToleranceXYZ, zPkt.rTolerance, zPkt.bTolNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF zPkt.bTolNew==TRUE THEN
readNext(1)
ENDIF
END

; =============================================
; ***f* AriktInt/addNewLINVector
; NAME
; addNewLINVector
; USAGE
; addNewLINVector(frameZPkt)
; DESCRIPTION
; see addNewPTPVector
; PARAMETERS
; see addNewPTPVector
; RESULT
; -
; NOTES
; - none -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF addNewLINVector(zPkt:OUT)
DECL PKT zPkt

DECL PKT vector
DECL TAG tag
BOOL bErr

tag.strXPos.s[]="AriktInt.AR:RobotCommand.Linear.Vector.XPos"
tag.strYPos.s[]="AriktInt.AR:RobotCommand.Linear.Vector.YPos"
tag.strZPos.s[]="AriktInt.AR:RobotCommand.Linear.Vector.ZPos"
tag.strRX.s[]="AriktInt.AR:RobotCommand.Linear.Vector.RX"
tag.strRY.s[]="AriktInt.AR:RobotCommand.Linear.Vector.RY"
tag.strRZ.s[]="AriktInt.AR:RobotCommand.Linear.Vector.RZ"
tag.strToleranceXYZ.s[]="AriktInt.AR:RobotCommand.Linear.Vector.ToleranceXYZ"
readOutFrame(vector, tag)

vector.rTolerance = 0
vector.bTolNew = FALSE
bErr=xmlApiGetRealElement(0, tag.strToleranceXYZ, zPkt.rTolerance, zPkt.bTolNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF zPkt.bTolNew==TRUE THEN
readNext(1)
ENDIF
addVectorToActPos(vector, zPkt)
END

; =============================================
; ***f* AriktInt/moveLIN
; NAME
; moveLIN
; USAGE
; moveLIN(frameZPkt, GlobalData, LokalData)
; DESCRIPTION
; see movePTP
; PARAMETERS
; see movePTP
; RESULT
; -
; NOTES
; - none -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF moveLIN(zPkt, glData, loData)
DECL PKT zPkt
DECL DATA glData
DECL DATA loData
BOOL bErr
INT choice

choice = getMoveTyp(zPkt, glData, loData)
setData(glData, loData)
SWITCH choice
CASE eCONT_OFF
LIN zPkt.fr
CASE eCONT_ON
LIN zPkt.fr C_DIS
DEFAULT
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDSWITCH
END

; =============================================
; ***f* AriktInt/getCIRCFrames
; NAME
; getCIRCFrames
; USAGE
; getCIRCFrames(frameZPkt, frameHPkt,
; GlobalData, LokalData)
; DISCRIPTION
; see getPTPFrame
; PARAMETERS
; see getPTPFrame
; RESULT
; -
; NOTES
; not finished!!!
; BUGS
; * Not all error return values are handled
; AUTHOR
; Michael Baehr
; ***
DEF getCIRCFrames(zPkt:OUT, hPkt:OUT, glData:OUT, loData:OUT)
DECL PKT zPkt
DECL PKT hPkt
DECL DATA glData
DECL DATA loData

BOOL bErr
BOOL bNewPoint
BOOL bNewVector
DECL ASTRING strPointTag
DECL ASTRING strVectorTag

strPointTag.s[]="AriktInt.AR:RobotCommand.Circle.Point"
strVectorTag.s[]="AriktInt.AR:RobotCommand.Circle.Vector"

REPEAT
;Is it a Point?
bErr=xmlApiGetStructElement(0, strPointTag, bNewPoint)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNewPoint==TRUE THEN
getNewLINPoint(zPkt)
ENDIF

;Is it a Vector?
bErr=xmlApiGetStructElement(0, strVectorTag, bNewVector)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNewVector==TRUE THEN
addNewLINVector(zPkt)
ENDIF

; Do the movement
IF (bNewPoint==TRUE)OR(bNewVector==TRUE) THEN
moveLIN(zPkt, glData, loData)
ENDIF
UNTIL( (bNewPoint==FALSE)AND(bNewVector==FALSE) )

END
; =============================================
; ***f* AriktInt/getNewCIRCPoint
; NAME
; getNewCIRCPoint
; USAGE
; getNewCIRCPoint(frameZPkt)
; DESCRIPTION
; see getNewPTPPoint()
; PARAMETERS
; see getNewPTPPoint
; RESULT
; -
; Notes
; not finished!!!
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF getNewCIRCPoint(pkt:OUT)
DECL PKT pkt

END

; =============================================
; ***f* AriktInt/addNewCIRCVector
; NAME
; addNewCIRCVector
; USAGE
; addNewCIRCVector(frameZPkt)
; DESCRIPTION
; see addNewPTPVector()
; PARAMETERS
; see addNewPTPVector()
; RESULT
; -
; Notes
; not finished!!!
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF addNewCIRCVector(pkt:OUT)
DECL PKT pkt

END

; =============================================
; ***f* AriktInt/setTool
; NAME
; setTool
; USAGE
; setTool()
; DESCRIPTION
; Set Strings with the name of the stacks in
; the buffer. Then call readOutFrame() to get the
; Frame from the buffer and set the new Tool
; PARAMETERS
; - none -
; RESULT
; -
; NOTES
; - none -
; BUGS
; -
; AUTHOR
; Michael Baehr
; ***
DEF setTool()

DECL PKT newTool
DECL TAG tag

tag.strXPos.s[]="AriktInt.AR:RobotCommand.TCP.Vector.XPos"
tag.strYPos.s[]="AriktInt.AR:RobotCommand.TCP.Vector.YPos"
tag.strZPos.s[]="AriktInt.AR:RobotCommand.TCP.Vector.ZPos"
tag.strRX.s[]="AriktInt.AR:RobotCommand.TCP.Vector.RX"
tag.strRY.s[]="AriktInt.AR:RobotCommand.TCP.Vector.RY"
tag.strRZ.s[]="AriktInt.AR:RobotCommand.TCP.Vector.RZ"

readOutFrame(newTool, tag)
$tool=newTool.fr
END

; =============================================
; ***f* AriktInt/readOutRealElement
; NAME
; readOutRealElement
; USAGE
; readOutRealElement(cRealElemtnTag[],
; rElement, bNew)
; DESCRIPTION
; Read out a real element from the buffer and
; save it under rElement. The String for the
; right stack is given with strRealElementTag[]
; PARAMETERS
;
; BOOL bErr
; BOOL bNew
; REAL rElement
; CHAR strRealElementTag[]
; RESULT
; -
; NOTES
; - none -
; BUGS
; -
; AUTHOR
; Michael Baehr

DEF readOutRealElement(strRealElementTag:OUT, rElement:OUT, bNew:OUT)
BOOL bNew
REAL rElement
DECL ASTRING strRealElementTag

BOOL bErr

bErr = xmlApiGetRealElement(0, strRealElementTag, rElement, bNew)
IF bErr == FALSE THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF
END

; =============================================
; ***f* AriktInt/readOutFrame
; NAME
; readOutFrame
; USAGE
; readOutFrame(frameZPkt, )
; DESCRIPTION
; Read out real and boolean elements from the
; buffer und save them under Frame and
; rTolerance. The Strings for the right
; stacks are given with tag e.g. tag.strXPos.s[]
; or tag.strToleranceXYZ.s[].
; PARAMETERS
; see header!
; DECL PKT new
; DECL TAG tag
; RESULT
; -
; NOTES
; - none -
; BUGS
; * bNew need to be tested on plausibility
; * Consider here a KRL FRAME instead of a
; own structure
; AUTHOR
; Michael Baehr
; ***
DEF readOutFrame(new:OUT, tag:OUT)
DECL PKT new
DECL TAG tag

BOOL bErr
BOOL bNew

bErr=xmlApiGetRealElement(0, tag.strXPos, new.fr.x, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF

bErr=xmlApiGetRealElement(0, tag.strYPos, new.fr.y, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF

bErr=xmlApiGetRealElement(0, tag.strZPos, new.fr.z, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF

bErr=xmlApiGetRealElement(0, tag.strRX, new.fr.a, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF

bErr=xmlApiGetRealElement(0, tag.strRY, new.fr.b, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF

bErr=xmlApiGetRealElement(0, tag.strRZ, new.fr.c, bNew)
IF bErr==FALSE THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
IF bNew == TRUE THEN
readNext(1)
ENDIF

END

; =============================================
; ***f* AriktInt/addVectorToActPos
; NAME
; addVectorToActPos
; USAGE
; addVectorToActPos(vector, frameZPkt)
; DESCRIPTION
; Add a new vector from the buffer to actual
; position of the robot. Only X, Y and Z
; must be added because A, B and C are
; angles.
; PARAMETERS
; see header!
; DECL PKT zPkt: The vector will be added to
; this frame
; DECL PKT vector
; RESULT
; -
; NOTES
; - none -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF addVectorToActPos(vector:IN, zPkt:OUT)
DECL PKT zPkt
DECL PKT vector

zPkt.fr.x=vector.fr.x + $pos_act.x
zPkt.fr.y=vector.fr.y + $pos_act.y
zPkt.fr.z=vector.fr.z + $pos_act.z
zPkt.fr.a=vector.fr.a
zPkt.fr.b=vector.fr.b
zPkt.fr.c=vector.fr.c
zPkt.rTolerance=vector.rTolerance
zPkt.bTolNew=vector.bTolNew
END

; =============================================
; ***f* AriktInt/setData
; NAME
; setData
; USAGE
; setData(GlobalData, LokalData)
; DESCRIPTION
; Test data an set the right acceleration
; and velocity
; PARAMETERS
; see header!
; DECL PKT zPkt
; DECL DATA glData
; DECL DATA loData
; RESULT
; -
; NOTES
; -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF setData(glData, loData)
DECL DATA glData
DECL DATA loData

REAL rVelocity
REAL rAcceleration

rVelocity = 0
rAcceleration = 0
IF glData.rVelocity <> 0 THEN
rVelocity = glData.rVelocity
ENDIF
IF loData.rVelocity <> 0 THEN
rVelocity = loData.rVelocity
ENDIF
IF rVelocity <> 0 THEN
$VEL.CP = rVelocity
ENDIF

IF glData.rAcceleration <> 0 THEN
rAcceleration = glData.rAcceleration
ENDIF
IF loData.rAcceleration <> 0 THEN
rAcceleration = loData.rAcceleration
ENDIF
IF rAcceleration <> 0 THEN
$ACC.CP = rAcceleration
ENDIF

END

; =============================================
; ***f* AriktInt/getMoveTyp
; NAME
; getMoveTyp
; USAGE
; getMoveTyp(frameZPkt, choice)
; DESCRIPTION
; Test if a tolerance distance is given or
; not. For a given tolerance distance the
; overlap-setting is on (choice = eCONT_ON)
; and if the tolerance distance is not given
; the overlap-setting is off (choice =
; eCONT_OFF).
; PARAMETERS
; see header!
; DECL PKT zPkt
; RESULT
; INT choice:
; eCONT_OFF :tolerance distance is
; NOT given
; eCONT_ON :tolerance distance is
; given
; NOTES
; - none -
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEFFCT INT getMoveTyp(zPkt, glData, loData)
DECL PKT zPkt
DECL DATA glData
DECL DATA loData

REAL rTolerance

rTolerance = 0
IF glData.rAccuracy <> 0 THEN
rTolerance = glData.rAccuracy
ENDIF
IF loData.rAccuracy <> 0 THEN
rTolerance = loData.rAccuracy
ENDIF
IF zPkt.bTolNew == TRUE THEN
IF zPkt.rTolerance <> 0 THEN
rTolerance = zPkt.rTolerance
ENDIF
ENDIF
IF rTolerance <> 0 THEN
$APO.CDIS = rTolerance
RETURN eCONT_ON
ELSE
RETURN eCONT_OFF
ENDIF
ENDFCT

; =============================================
; ***f* AriktInt/tagInit
; NAME
; tagInit
; USAGE
; tagInit(tag)
; DESCRIPTION
; Clear all Strings in tag!!!
; PARAMETERS
; see header!
; DECL TAG tag
; RESULT
; -
; NOTES
; Not finished!!!
; BUGS
; In that way there is no function!!!
; AUTHOR
; Michael Baehr
; ***
DEF tagInit(tag:OUT)
DECL TAG tag

tag.strXPos.s[]=" "
tag.strYPos.s[]=" "
tag.strZPos.s[]=" "
tag.strRX.s[]=" "
tag.strRY.s[]=" "
tag.strRZ.s[]=" "
tag.strToleranceXYZ.s[]=" "
tag.strVelocity.s[]=" "
tag.strAcceleration.s[]=" "
tag.strAccuracy.s[]=" "
END

; =============================================
; ***f* AriktInt/dataInit
; NAME
; dataInit

; USAGE
; dataInit(data)
; DESCRIPTION
; set all REAL in data= 0 and all BOOL in
; data= FALSE
; PARAMETERS
; DECL DATA data
; RESULT
; -
; NOTES
; not in use!!!
; BUGS
; - none -
; AUTHOR
; Michael Baehr
; ***
DEF dataInit(data:OUT)
DECL DATA data

data.rVelocity=0
data.rAcceleration=0
data.rAccuracy=0
data.bVelNew=FALSE
data.bAccelNew=FALSE
data.bAccuNew=FALSE
END

; =============================================
; ***f* AriktInt/sendSignal
; NAME
; sendSignal
; USAGE
; -
; DESCRIPTION
; This part send a signal back to the server
; if a defined position is reached.
; PARAMETERS
; -
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; Heinrich Mueller
; ***
DEF sendSignal()

INT iErr
BOOL bErr
BOOL bNew
DECL ASTRING strHostName
DECL ASTRING strSignal
DECL ASTRING strSignalOut
DECL STATE_T state
INT iIndex

strHostName.s[]="AriktInt"
strSignal.s[]="AriktInt.AR:RobotCommand.OutputSignal.Value"
strSignalOut.s[]=" "
iIndex=0

bErr=xmlApiGetStringElement(0, strSignal, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
readNext(1)

CONTINUE
SWRITE(strSignalOut.s[], state, iIndex, "<Signal Value=~")
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
CONTINUE
SWRITE(strSignalOut.s[], state, iIndex, strSignal.s[])
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
CONTINUE
SWRITE(strSignalOut.s[], state, iIndex, "~/>")
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF

WAIT SEC 0.0 ; Here we do need a advance stop
iErr=xmlApiWriteLine(strHostName, strSignalOut)
IF iErr==eIOC_ERROR THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
END

; =============================================
; =============================================
; ***f* AriktInt/sendPosAct
; NAME
; sendPosAct
; USAGE
; -
; DESCRIPTION
; Diese Prozedur schickt die aktuelle Position an den Server
; PARAMETERS
; -
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; D. Dötz
; ***
DEF sendPosAct()

INT iErr
BOOL bErr
BOOL bNew
DECL ASTRING strHostName
DECL ASTRING strPosAct
DECL ASTRING strPosActOut1
DECL ASTRING strPosActOut2
DECL ASTRING strPosActOut3
DECL STATE_T state
INT iIndex

strHostName.s[]="AriktInt"
strPosAct.s[]="AriktInt.AR:RobotCommand.PosAct.Value"
strPosActOut1.s[]=" "
strPosActOut2.s[]=" "
strPosActOut3.s[]=" "
iIndex=0
bErr=xmlApiGetStringElement(0, strPosAct, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
readNext(1)
;Die Positionsdaten werden in drei Pakete aufgeteilt, weil
;die MTU (Maximum Transmission Unit) eines xmlApiWrite-Befehls
;bei 80 Zeichen liegt.
;1. Paket (CONTINUE steht um den Vorlaufzeigerstop des
;SWRITE-Befehls aufzuheben

CONTINUE
SWRITE(strPosActOut1.s[], state, iIndex,"<Point XPos=~%e~ YPos=~%e~ ", $POS_ACT.X, $POS_ACT.Y)
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF

;WAIT SEC 0.0 Den Advance Stop mach ich bewusst mal raus
iErr=xmlApiWrite(strHostName, strPosActOut1)
IF iErr==eIOC_ERROR THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
;2. Paket - Zuvor noch den Pufferzeiger resetten

iIndex=0
CONTINUE
SWRITE(strPosActOut2.s[], state, iIndex,"ZPos=~%e~ RX=~%e~ ", $POS_ACT.Z, $POS_ACT.A)
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF

;WAIT SEC 0.0 Den Advance Stop mach ich bewusst mal raus
iErr=xmlApiWrite(strHostName, strPosActOut2)
IF iErr==eIOC_ERROR THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
;3. Paket - zuvor noch den Pufferzeiger resetten

iIndex=0
CONTINUE
SWRITE(strPosActOut3.s[], state, iIndex,"RY=~%e~ RZ=~%e~/>", $POS_ACT.B, $POS_ACT.C)
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF

;WAIT SEC 0.0 Den Advance Stop mach ich bewusst mal raus
iErr=xmlApiWriteLine(strHostName, strPosActOut3)
IF iErr==eIOC_ERROR THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF
END
; =============================================

; =============================================
; ***f* AriktInt/setGripper
; NAME
; setGripper
; USAGE
; -
; DESCRIPTION
; In Abhaengigkeit vom Wert des Elements Value wird der
; Greifer geoeffnet ("Open") bzw. geschlossen ("Close")
; PARAMETERS
; -
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; D. Doetz
; ***
DEF setGripper()

INT iErr
BOOL bErr
BOOL bNew
DECL ASTRING strHostName
DECL ASTRING strGripper
DECL ASTRING strGripperOpen
DECL ASTRING strGripperClose

strHostName.s[]="AriktInt"
strGripperOpen.s[]="Open"
strGripperClose.s[]="Close"
strGripper.s[]="AriktInt.AR:RobotCommand.Gripper.Value"

bErr=xmlApiGetStringElement(0, strGripper, bNew)
IF (bErr==FALSE)OR(bNew==FALSE) THEN
error(bErr, eOutPrintQuitt)
HALT
error(bErr, eOutPrintStop)
ENDIF
readNext(1)
WAIT SEC 0.0 ; Vorlaufzeiger stoppen
IF strCmp(strGripper,strGripperOpen) THEN

;FOLD SET GRP 1 State= OPN GDAT1;%{PE}%R 6.0.4,%MKUKATPGRP,%CGRP,%VGRP,%P 2:1, 4:1, 5:#NO, 6:GDAT1, 8:0, 10:0
H50(GRP,1,1,GGDAT1)
;ENDFOLD
ENDIF

IF strCmp(strGripper,strGripperClose) THEN

;FOLD SET GRP 1 State= CLO GDAT2;%{PE}%R 6.0.4,%MKUKATPGRP,%CGRP,%VGRP,%P 2:1, 4:2, 5:#NO, 6:GDAT2, 8:0, 10:0
H50(GRP,1,2,GGDAT2)
;ENDFOLD
ENDIF

END

; =============================================
; ***f* AriktInt/error
; NAME
; error
; USAGE
; error(bErr)
; DESCRIPTION
; Test if there is an error. if bErr=FALSE
; then the function print out:"SERIOUS ERROR!
; STOP AND RESET!" and stop system.
; PARAMETERS
; BOOL bErr:
; FALSE=error
; TRUE=NO error
; INT chooseOutPrint
; eOutPrintQuitt="SERIOUS ERROR!"
; eOUTPrintStop="STOP AND RESET!!!"
; RESULT
; -
; NOTES
; This programm tells you where the error is.
; BUGS
; AUTHOR
; Michael Baehr
; Heinrich Mueller
; ***
DEF error(bErr:IN,chooseOutPrint:IN)
BOOL bErr
INT chooseOutPrint

DECL MSG_T msgError

msgError={MSG_T: VALID FALSE,RELEASE FALSE,TYP #QUIT,MODUL[] "AriktInt",KEY[] "-",PARAM_TYP #VALUE,PARAM[] " ",DLG_FORMAT[] " ",ANSWER 0}
$msg_t=msgError

SWITCH chooseOutPrint
CASE eOutPrintQuitt
$msg_t.key[] = "SERIOUS ERROR"
$msg_t.valid=TRUE

CASE eOutPrintStop
LOOP
$msg_t.key[] = "STOP AND RESET!"
$msg_t.valid=TRUE
ENDLOOP

DEFAULT
LOOP
$msg_t.key[] = "Unkown_error! STOP AND RESET!"
ENDLOOP
ENDSWITCH
END

; =============================================
; ***f* AriktInt/readNext
; NAME
; -
; USAGE
; -
; DESCRIPTION
; -
; PARAMETERS
; -
; RESULT
; -
; NOTES
; -
; BUGS
; -
; AUTHOR
; Heinrich Mueller
; ***
DEF readNext(iNr:IN)
INT iNr

INT iIndex
INT iErr
DECL ASTRING strNextTag
DECL ASTRING strHostName

strNextTag.s[]=" "
strHostName.s[]="AriktInt"

FOR iIndex=1 TO iNr
iErr=xmlApiGetNextElementName(strHostName, strNextTag)
IF iErr<>0 THEN
;error(bErr,eOutPrintQuitt)
;HALT
;error(bErr,eOutPrintStop)
ENDIF
ENDFOR
END

; =============================================
; ***f* AriktInt/strCmp
; NAME
; -
; USAGE
; -
; DESCRIPTION
; Compare 2 strings
; PARAMETERS
; -
; RESULT
; true if strings are equal
; NOTES
; -
; BUGS
; -
; AUTHOR
; Heinrich Mueller
; ***
GLOBAL DEFFCT BOOL strCmp(str1:OUT, str2:OUT)
DECL ASTRING str1
DECL ASTRING str2

BOOL bErr
INT iLength1, iLength2, iIndex
DECL STATE_T state
DECL ASTRING strDummy

iLength1=0
iLength2=0

; get length of string 1
CONTINUE
SWRITE(strDummy.s[], state, iLength1, "%s", str1.s[])

IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF

; get length of string 2
CONTINUE
SWRITE(strDummy.s[], state, iLength2, "%s", str2.s[])
IF state.RET1<>#CMD_OK THEN
error(bErr,eOutPrintQuitt)
HALT
error(bErr,eOutPrintStop)
ENDIF

IF( iLength1<>iLength2) THEN
RETURN FALSE
ENDIF

FOR iIndex=1 TO iLength1
IF( str1.s[iIndex]<>str2.s[iIndex] ) THEN
RETURN FALSE
ENDIF
ENDFOR
RETURN TRUE
ENDFCT

-----------------------------------------------------------------------------------------------------------------------------------------------------------------AriktInt.Dat--------------------------------------------
&ACCESS RVEO
&REL 151
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe

---------------------------------------------------AriktInt.Dat---------------------------------------------
&ACCESS RVEO
&REL 151
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT ARIKTINT

;FOLD EXTERNAL DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BAS EXT;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD
;FOLD USER EXT;%{E}%V3.2.0,%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD
;ENDFOLD

; =============================================
; ***h* AriktInt/ArkitInt
; NAME
; AriktInt
; COPYRIGHT
; AMATEC Robotics GmbH (C) 2003
; FUNCTION
; pseudo enumeration to indicate
; continuous motion
; CREATION DATE
; 03-06-01 Michael Baehr
; MODIFICATION HISTORY
; -
; NOTES
; -
; BUGS
; -
;
; AUTHOR
; Michael Baehr, Heinrich Mueller
; ***
CONST INT eCONT_OFF=1
CONST INT eCONT_ON=2

CONST INT eOutPrintQuitt=1
CONST INT eOutPrintStop=2

DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P0 ",POINT2[] "P0 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "PDAT0 ",CONT[] " ",CP_VEL[] "2.0 ",PTP_VEL[] " 100 "}
DECL GRP_SUGG_T LAST_GRP={NUMBER[] "1 ",STATE[] "2 ",PARAMS[] "GDAT2 "}
DECL GRP_TYP GGDAT1={G_APO #NO,TIME 0.200000003,CTRL #OFF,DLY 0,DST 1}
DECL GRP_TYP GGDAT2={G_APO #NO,TIME 0.200000003,CTRL #OFF,DLY 0,DST 1}
ENDDAT

---------------

Hi robodoc,

Vielen Dank!
Ich werde mal probieren mal neu zu installieren. Von der c++-Seite gibt es noch keinen XML-Parser. Die Überwachung vom Roboter wurde durch serielle Verbindung realisiert. Ich sendete nur XML-Strings zu.

Gruß
Simon

robodoc,

danke Dir noch mal.
Du hast vollkommende Rechte. Ich hab neu installiert und jetzt geht's.

Gruß
simon