RobotStudio event

UDP socket communication with virtual irc5

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voidnoise
voidnoise ✭
edited October 2018 in RAPID Programming
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. 
Post edited by voidnoise on

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  • voidnoise
    voidnoise ✭
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    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

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