UDP socket communication with virtual irc5

voidnoise

Hi, I am trying to send udp between virtual IRC5 and external python script but hitting problems. I am having trouble getting udp sockets to connect and communicate in to or out of robot studio. Firstly I am not that familiar with windows or robot studio which may not be helping. Initially I couldn't ping the robot studio machine from my unix machine. I played with the firewall to allow pinging and udp on all ports and the ping server responded. Next I checked that I could send udp between the windows PC and unix using python scripts. This works.

I have robot studio set up with an IRB1200 and IRC5 virtual controller with PC interface enabled. Using the following rapid code as a client send example;

MODULE socket_server

    

    VAR socketdev serverSocket;

    VAR socketdev clientSocket;

    VAR string data;

    

    PROC main()

        

        SocketCreate clientSocket;

        

        SocketConnect clientSocket, "10.0.1.29", 2021;

        SocketSend clientSocket \Str:="Hello server";        

        

    ENDPROC

    

ENDMODULE

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

Or as a server receive example;

MODULE socket_server

    

    VAR socketdev serverSocket;

    VAR socketdev clientSocket;

    VAR string data;

    

    PROC main()

        

        SocketCreate serverSocket;

        SocketBind serverSocket, "10.0.1.29", 2020;

        SocketListen serverSocket;

              

        SocketAccept serverSocket, clientSocket,\Time:=WAIT_MAX;

     

        ERROR

        

        IF ERRNO=ERR_SOCK_TIMEOUT THEN

            RETRY;

        

        ELSEIF ERRNO=ERR_SOCK_CLOSED THEN

            SocketClose clientSocket;

        SocketClose serverSocket;

        SocketCreate serverSocket;

        SocketBind serverSocket, "127.0.0.1", 5004;

        SocketListen serverSocket;

        SocketAccept serverSocket,clientSocket,\Time:=WAIT_MAX;

        

        RETRY;

        

        ELSE

            stop;

            

        ENDIF

        

        

    ENDPROC

    

ENDMODULE

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

The error I get when I try to connect the client on the virtual controller and send udp out:

***  SocketConnect clientSocket, "10.0.1.29", 2021;

41574: Socket error

Description

Task: T_ROB1.

The socket must be created before it can be used in any socket instruction.

Program ref: /socket_server/main/SocketConnect/11.

Causes

The reason for this error is one of the following:

1) Socket not created at all.

2) PP movements has been done.

3) Start of program after power fail.

4) The socket has been closed after SocketCreate.

Actions

Insert a SocketCreate instruction at a suitable place in the program before the socket is used.

Recovery: ERR_SOCK_CLOSED.

When I create the server on the virtual controller it just hangs on SocketAccept serverSocket, clientSocket,\Time:=WAIT_MAX; until it times out.


Is there anything obvious I have missed out on the set up? Is windows firewall getting in the way? Im totally stumped after a day of trying to get this to work. Any advice would be greatly appreciated. 

voidnoise

The server code I pasted is actually missing the socket receive line:

MODULE socket_server

    

    VAR socketdev serverSocket;

    VAR socketdev clientSocket;

    VAR string data;

    

    PROC main()

        SocketCreate clientSocket;

       

        SocketCreate serverSocket;

        SocketBind serverSocket, "10.0.1.29", 2020;

       
        SocketListen serverSocket;

                

        SocketAccept serverSocket, clientSocket,\Time:=WAIT_MAX;

        

        SocketReceive serverSocket \Str:=data;

        SocketSend clientSocket \Str:="received";

                

        SocketClose clientSocket;

        SocketClose serverSocket;

        

        

        ERROR

        

        IF ERRNO=ERR_SOCK_TIMEOUT THEN

            RETRY;

        

        ELSEIF ERRNO=ERR_SOCK_CLOSED THEN

            SocketClose clientSocket;

        SocketClose serverSocket;

        SocketCreate serverSocket;

        SocketBind serverSocket, "127.0.0.1", 5004;

        SocketListen serverSocket;

        SocketAccept serverSocket,clientSocket,\Time:=WAIT_MAX;

        

        RETRY;

        

        ELSE

            stop;

            

        ENDIF

        

        

    ENDPROC

    

ENDMODULE