ACE_omron_exam01_fh--00,视觉收到m,开始拍照，然后将数据传给机器人

.PROGRAM test()
;
; ABSTRACT:
;
; INPUTS:
;
; OUTPUTS:
;
; SIDE EFFECTS:
;
; DATA STRUCT:
;
; MISC:  Program created in ACE version 3.6.3.2
;
;* Copyright (c) 2017 by {company name}
        SIGNAL -2001
;        WHILE NOT SWITCH(POWER) DO
;            ENABLE POWER
;            WAIT.EVENT , 1
;            CALIBRATE
;        END
        DETACH () ;分离设备
        SELECT ROB = 1  ;1号选择机器人
        ATTACH () ;连接机器
;        c = 1
;        f = 1
        s = 1
        SPEED 1000 ALWAYS  ;设置速度
;设置坐标,试验一下
        SET pick = TRANS(495,-259,130,-128,177,57)
        APPRO pick, 50
        MOVE pick


        ;CALL home()
        EXECUTE 3 tcp_client()

        WAIT.EVENT , 0.02
        WHILE TRUE DO
 ;pic坐标，为准备拾取的位置
            APPRO pic, 50
            MOVE pic

;2001软件触发，拍照
            SIGNAL 2001
;等待，直到2002信号为true
            WAIT SIG(2002)
;接收相机传来的坐标
            SET pick = TRANS(str_data[1],str_data[2],130,-128,177,57)
;设置2002信号为false
            SIGNAL -2002
            SPEED 1000 ALWAYS
;靠近拾取坐标
            APPRO pick, 60
;到达拾取坐标
            MOVE pick

            BREAK

            MOVE pick

            BREAK
            SIGNAL 1
            DEPART 80

    50

            CASE str_data[0] OF
              VALUE 1:
                GOTO 10
;              VALUE 1:
;                GOTO 20
;              VALUE 3:
;                GOTO 30
;              ANY
;                GOTO 50
            END
    10
            APPRO s_p[s], 50
            MOVES s_p[s]
            BREAK
            SIGNAL -1
            s = s+1
            IF s > 3 THEN
                s = 1
            END
            GOTO 100
    20

;            APPRO c_p[c], 50
;            MOVES c_p[c]
;            BREAK
;            SIGNAL -1
;            c = c+1
;            IF c > 3 THEN
;                c = 1
;            END
;            GOTO 100
;    30


;            APPRO f_p[f], 50
;            MOVES f_p[f]
;            BREAK
;            SIGNAL -1
;            f = f+1
;            IF f > 3 THEN
;                f = 1
;            END

;            GOTO 100




   100

        END

.END

tcp_client

.PROGRAM tcp_client()


 ;----------------------------------------------------------------------------
 ; ABSTRACT: Client programming example.客服户子
 ; NOTES: This program will continuously ask for an input string. The input
 ; string is displayed, the string is then sent to the server
 ; controller. If the string is "quit" the client program stops and
 ; the connection is broken. Reexecuting the program, reestablishes
 ; connection with the server.
 ;这个程序连续请求输入字符串，显示输入字符串，然后这个字符串被发送到服务器控制
;器之中。如果字符串是quit，客户程序停止，连接终止，重新执行程序，则重新连接服务器
 ; INPUT PARMS: None
 ; OUTPUT PARMS: None
 ;----------------------------------------------------------------------------
        AUTO client_mode, lun, status, do_wait
        AUTO $message, $echo, $read_str
 ; Initialize constants.
        client_mode = 0
        do_wait = 0
        i3 = 1 ;
 ; Attach to the TCP device
        ATTACH (lun, 4) "TCP"
        TYPE "lun: ", lun
;type 相当于printf
        status = IOSTAT(lun) ;Check status of ATTACH
        IF status < 0 THEN
            TYPE "Error from ATTACH: ", $ERROR(status)
            GOTO 100
        END

        FSET (lun) "/node 'cell2' /address 172 16 196 100"
      ;  FSET (lun) "/node 'cell2' /address 10 39 97 103"
 ; "cell2" is the name of the server connection as defined either in
 ; the default controller configuration or using a FSET instruction. A
 ; local port number is automatically establised, since the /LOCAL_PORT
 ; keyword is absent. The remote port number for the server must be
 ; known--1234 in this case. The buffer size is set to 1024 bytes.
        FOPEN (lun, 0) "cell2 /REMOTE_PORT 9876 /BUFFER_SIZE 1024"
        status = IOSTAT(lun) ;Check status of FOPEN
        IF status < 0 THEN
            TYPE "Error from FOPEN: ", $ERROR(status)
            GOTO 100
        END
 ; Loop until string is "quit". Send the str and read the echo from the server.

        repeat_loop = TRUE
        WHILE repeat_loop DO
;假如收到2001端口的IO开关信号，发送给lun一个字母m，欧姆龙视觉模块的m，是开始拍摄照片的命令
            WHILE SIG(2001) DO
               ; WHILE i3 DO
                ;WAIT.EVENT 0.03
               ; i3 = 0 ;
                WRITE (lun) "m"


            ;WRITE (lun) "m"
               ; WAIT.EVENT 0.03

          ;  READ (lun, do_wait) $read_str
          ;  TYPE "Received string : ", $read_str

           ; READ (lun, do_wait, 0) $string_var
          ;  TYPE $string_var
                i1 = 0
                i2 = 0
;            FOR i = 0 TO 6


;                $temp = $DECODE($string_var,",",0)
;                str_data[i1] = VAL($temp)
;                i1 = i1+1

;            END
;            TYPE $string_var

      ;      WHILE $string_var <> " " DO

                READ (lun, do_wait, 0) $string_var
                DO

                    $temp = $DECODE($string_var,",",0)
             ;   TYPE $string_var
                    str_data[i2] = VAL($temp)
                    $temp = $DECODE($string_var,",",1)
                    i2 = i2+1


                UNTIL $string_var == ""
       ;     END

                SIGNAL -2001
                SIGNAL 2002

                $inp_str = "The server has received your massege:  "+$read_str
          ;  WRITE (lun) $inp_str
                IF $inp_str == "quit" THEN
                    repeat_loop = FALSE
                END
            END
        END

   100
        FCLOSE (lun)
        DETACH (lun)
        FCLOSE (mlun)
        DETACH (mlun)
        RETURN
        ;SIGNAL -2001

.END

.PROGRAM tcp_server()

.PROGRAM tcp_server()

 ;------------------------------------------------------------------------------
 ; ABSTRACT: Server programming example. The server program reads any
 ; incoming strings, displays them on the monitor, and echoes them back
 ; to the client node.
 ; INPUT PARMS: None
 ; OUTPUT PARMS: None
 ; Program may be terminated by aborting.
 ;-----------------------------------------------------------------------------
        AUTO handle, lun, no_wait, do_wait, server_mode, status
        AUTO $in.str, $out.str, repeat_loop
 ; Initialize constants.
        tcp.quit = FALSE
        server_mode = 2
        no_wait = 1
        do_wait = 0
        lun = 7
 ; Attach the TCP device (mode=4 means allocate next available LUN).
        ATTACH (lun, 4) "TCP"
        status = IOSTAT(lun) ;Check status of ATTACH
        IF status < 0 THEN
            TYPE "Error from ATTACH:", $ERROR(status)
            GOTO 100
        END
 ; Set up a socket with local port #1234, to accept 5 client
 ; connections, with a buffer size of 1024 bytes.
        FOPEN (lun, 16) "/LOCAL_PORT 1234 /CLIENTS 5 /BUFFER_SIZE 1024"
        status = IOSTAT(lun) ;Check status of ATTACH
        IF status < 0 THEN
            TYPE "Error from FOPEN:", $ERROR(status)
            GOTO 100
        END

        repeat_loop = TRUE
        WHILE repeat_loop DO
            WAIT.EVENT , 0.01
            READ (lun, handle, do_wait) $in.str
            status = IOSTAT(lun)
            CASE status OF
              VALUE 1: ;Success--echo string back
                $out.str = $in.str
                TYPE "Received string: ", $out.str
                WRITE (lun, handle) $out.str, /N
              VALUE 100: ;New connection opened
                TYPE "Newconnection established. Handle =", handle
              VALUE 101: ;Connection closed
                TYPE "Connection closed. Handle =", handle
                FCMND (lun, 600) $INTB(handle) ; eallocates handle
                status = IOSTAT(lun) ; Check status of FCMND
                IF status < 0 THEN
                    TYPE "Error from FCMND:", $ERROR(status)
                    GOTO 100
                END
                WAIT
              VALUE -526: ; No data received
              ANY ; Some other error
                TYPE "Error during READ: ", $ERROR(status)
                GOTO 100
            END
        END
    ; Close all open client connections, and release the logical unit.
   100  FCLOSE (lun)
        DETACH (lun)
        RETURN

.END