Question

我的项目的任务是通过语音操作fanuc机器人...问题出现在我在机器人控制器上的karel中的第二个代码中...首先，在机器人通过tcp / ip以整数形式获取命令之后，它以某种方式将它存储在一个缓冲区中，所以下次我开始编程它从上一个会话运行命令而不用担心......这可能非常危险......所以我发现在karel程序BYTES_AHEAD并尝试清除端口，但它赢了' t work.Next问题是在条件循环...我试图运行多个命令，只要服务器连接循环REPEAT ... UNTIL ..但这也不会工作。请我帮忙..不知道下一步做什么...先谢谢大家！这是我在卡雷尔的代码...

PROGRAM nikola
%NOLOCKGROUP
%NOPAUSE = ERROR + COMMAND + TPENABLE



VAR
  i,n,tmp_int,STATUS:INTEGER
  file_var:FILE
  vox_str:STRING[128]
  stat,n_bytes,entry,prog_index:INTEGER
  FINISHED:BOOLEAN
  ----------------------VANJSKE RUTINE-------------------------
  ROUTINE OPEN_FILE_(FILE_ : FILE; TAG_ : STRING) FROM LIB_FILE
  ROUTINE CLOSE_FILE_(FILE_ : FILE; TAG_ : STRING) FROM LIB_FILE
  ROUTINE WRITE_(STRING_ : STRING) FROM LIB_FILE
  ROUTINE HANDSHAKING_(ID_ : STRING; TIP_: STRING) FROM LIB_FILE
  --------------------------------------------------------------

  BEGIN
  SET_FILE_ATR(file_var, ATR_IA)
  --set the server port BEFORE doing a CONNECT
  SET_VAR(entry, '*SYSTEM*','$HOSTS_CFG[5].$SERVER_PORT',12350,STATUS)
  stat=SET_PORT_ATR (PORT_1, ATR_READAHD,1)

  --Spajanje tag-a
  WRITE TPDISPLAY('Uspostava veze sa R2...',CR)
  CLOSE_FILE_(file_var,'S5:')
  OPEN_FILE_(file_var,'S5:')

  IF IO_STATUS(file_var)<>0--inpput,output,value have to be 0 if there is connection established
  THEN FINISHED=TRUE
  ENDIF

  REPEAT
   BYTES_AHEAD (file_var, n_bytes, STAT)--catching number of bytes ready to be read
   IF (n_bytes >= 1) THEN --if there is byres to be read
   READ file_var(vox_str::1) --read byte by byte
   stat=IO_STATUS (file_var) --status of operation
   ENDIF
   UNTIL stat <> 0 --continue until there is no bytes



 REPEAT
   FINISHED=FALSE
  --Reading Command "Robovox go up" 
   REPEAT
   BYTES_AHEAD (file_var, n_bytes, STAT)--catching number of bytes ready to be read
   IF (n_bytes >= 1) THEN --if there is byres to be read
   READ file_var(vox_str::1) --read byte by byte
   stat=IO_STATUS (file_var) --status of operation
   ENDIF
   UNTIL stat <> 0 --continue until there is no bytes
   --
   IF (n_bytes = 0) THEN --is there is no bytes
   READ file_var(vox_str::3)
    ENDIF
   IF UNINIT(vox_str) THEN
    vox_str=''
   ENDIF
   IF (vox_str='120') THEN
   CALL_PROG('NIK_UP',prog_index) 
   ENDIF

--Reading command "Robovox go down"
   REPEAT
   BYTES_AHEAD (file_var, n_bytes, STAT)--catching number of bytes ready to be read
   IF (n_bytes >= 1) THEN --if there is byres to be read
   READ file_var(vox_str::1) --read byte by byte
   stat=IO_STATUS (file_var) --status of operation
   ENDIF
   UNTIL stat <> 0 --continue until there is ni bytes
   --
   IF (n_bytes = 0) THEN --if there is no bytes
   READ file_var(vox_str::3)
   ENDIF
   IF (vox_str='130') THEN
    ENDIF
   CALL_PROG('NIK_DOWN',prog_index)
   ENDIF

 UNTIL (FINISHED=TRUE)


END nikola

Answer 1

我使用此例程来初始化缓冲区：

ROUTINE init_buffer
BEGIN
    WRITE('init buffer',CR)
    n_bytes=0
    REPEAT
        BYTES_AHEAD (file_var, n_bytes, STATUS) --Get number of bytes ready  to be read 
        WRITE('remaining byte:',n_bytes,' STATUS ',STATUS, CR)
        IF (n_bytes >= 1) THEN --there are bytes to be read 
            IF n_bytes>128 THEN
                READ file_var(init_bufs::128) 
                STATUS=IO_STATUS (rs232) --get the status of the read operation 
            else
                READ file_var(init_bufs::n_bytes) 
                STATUS=IO_STATUS (rs232) --get the status of the read operation 
            ENDIF
        ENDIF 
    UNTIL n_bytes = 0 --continue until no more bytes are left 
END init_buffer

Answer 2

您发布的代码难以阅读（缺少缩进），有些看起来奇数（例如，接近结尾：if（vox_str ='130'），然后是endif

所以......这是一个更通用的回复。

尝试添加代码以在开始时初始化变量并查看是否存在问题消失。如果是这样，那意味着代码中有一些路径没有设置其中一个或多个。

i：= 0; n：= 0; vox_str：=''; stat：= 0; n_bytes：= 0; entry：= 0; prog_index：= 0;

您可能还想阅读http://www.allegro.com/papers/htpp.html

Fanuc Karel（基于Pascal）需要帮助

2 个答案: