Fanuc Karel（基于Pascal）帮助需要

问题描述：

我的项目的任务是通过语音操纵fanuc机器人......问题出在我在机器人控制器上的karel的第二个代码中......首先，在机器人获得他的命令之后通过tcp/ip的整数形式，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次会话运行命令而没有worning..and，这可能是非常危险的......所以我在卡雷尔程序BYTES_AHEAD和尝试清除端口，但它不会工作。接下来的问题是在条件循环...我试图运行多个命令，只要服务器连接使用循环REPEAT ... UNTIL ..但不会工作too.Please我需要帮助..不知道接下来什么...先谢谢大家！这是我的代码在卡雷尔...Fanuc Karel（基于Pascal）帮助需要

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

你找出问题？ – Jacob 2012-04-18 15:38:55

答

您发布的代码很难阅读（缺乏缩进），有些看起来很奇怪（例如，接近结尾：if（vox_str ='130'）then endif

因此...这是一个更多通用回复。

尝试添加代码以在开始时初始化变量并查看问题是否消失。如果确实如此，那就意味着未设置其中的一个或多个代码。

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

您可能还需要阅读http://www.allegro.com/papers/htpp.html

答

我使用这个程序init的缓冲区：

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

Fanuc Karel（基于Pascal）帮助需要

相关推荐