Problem with call back function

Question

DEYIRE UMAR 2018-8-28

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/416535-problem-with-call-back-function

评论： Geoff Hayes 2018-8-30

log_table.csv

Guys, I have a program which obtains some data from UR5 robot via TCP/IP. I want to implement a call back function to enable it continuously obtaining this data if possible upto 10hours because it stops at some point (like 10minutes). But the call back is new to me and what I have also stops after the first reading of the specified bytes. Here are the programs:

CALLBACK FUNCTION

function urcallback(obj, event)
global t;
pause(t);
t = 0;
ur5_sample = fread(obj, 2216, 'uint8');
timestamp = now;
raw_data = uint8(ur5_sample');
X = typecast(fliplr(raw_data(445:452)), 'double');
Y = typecast(fliplr(raw_data(453:460)), 'double');
Z = typecast(fliplr(raw_data(461:468)), 'double');
Rx = typecast(fliplr(raw_data(469:476)), 'double');
Ry = typecast(fliplr(raw_data(477:484)), 'double');
Rz = typecast(fliplr(raw_data(485:492)), 'double');
Gripper_state = raw_data(1045);
timestring = datestr(timestamp,'HH:MM:SS.FFF');
[~,~,~,hours,minutes,seconds] = datevec(timestring);
Time = 1000*(3600*hours + 60*minutes + seconds);
global log_table;
table_row = table(Time, Gripper_state, X, Y, Z, Rx, Ry, Rz);
log_table = [log_table; table_row];

ACTUAL PROGRAM % Initialize variables % Unprocessed data global log_table log_table = table();

    global t
    t = 5;
    % Setup connection to UR5
    UR5_ADDRESS = '192.168.233.3';
    UR5_PORT = 30003;
    s = tcpip(UR5_ADDRESS, UR5_PORT, 'NetworkRole', 'client', 'Timeout', 10);
    s.InputBufferSize = 102400;
    s.BytesAvailableFcnCount = 1108; 
    s.BytesAvailableFcnMode = 'byte'; 
    s.BytesAvailableFcn = {@urcallback};     
    fopen(s);
    pause(5);
    fclose(s);
    delete(s);
    clear s; % Close connection
    filename = strcat('log_table.csv');
    writetable(log_table, filename);

Find attached, the result obtained after 1108 byte was read. Your help is welcomed please?

6 个评论
显示 4更早的评论隐藏 4更早的评论

Geoff Hayes 2018-8-30

在 MATLAB Online 中打开

Deyire's answer moved here

I still wonder why this program which is without the callback but using While loop, due stop after some minutes of running.

    raw_data = [];
    host = '10.53.106.139';
    port = 30003;
    s = tcpip(host, port,'NetworkRole', 'client', 'Timeout', 10);
    % Setup connection to UR5
    s.InputBufferSize = 102400;
    iteration = 0;
    T = table();
    MASK0 = 1;
    fopen(s);
    s.ReadAsyncMode = 'continuous';
    while (exist('.//lock.txt', 'file') == 2)
    ur5_sample = fread(s, 1108, 'uint8');
    timestamp = now;
    raw_data = uint8(ur5_sample');
    X = typecast(fliplr(raw_data(445:452)), 'double')*1000;
    Y = typecast(fliplr(raw_data(453:460)), 'double')*1000;
    Z = typecast(fliplr(raw_data(461:468)), 'double')*1000;
    Rx = typecast(fliplr(raw_data(469:476)), 'double')* 180 / 3.1459;
    Ry = typecast(fliplr(raw_data(477:484)), 'double')* 180 / 3.1459;
    Rz = typecast(fliplr(raw_data(485:492)), 'double')* 180 / 3.1459;
    digit_out= typecast(fliplr(raw_data(1045:1052)), 'double');
    Gripper_state  = bitand(digit_out, MASK0); 
    if (Gripper_state == MASK0)
    Gripper_state = 1;
    else
     Gripper_state  = 0;
end
timestring = datestr(timestamp,'HH:MM:SS.FFF');
[~,~,~,hours,minutes,seconds] = datevec(timestring);
Time1 = 1000*(3600*hours + 60*minutes + seconds);
iteration = iteration + 1;
%   fprintf('Time = %d sec       Gripper_state =%d        X = %f mm       Y  = %f mm   Z = %f mm     Rx  = %f deg  Ry  = %f deg  Rz  = %f deg \n',Time, Gripper_state, X, Y, Z, Rx, Ry, Rz);
T = [T; table(Time1,Gripper_state, X, Y, Z, Rx, Ry, Rz)];
tcp_coordinates = T;
    end
    writetable(T,'robotData.csv','Delimiter',',');
    fclose(s);
    delete(s);
    clear s; % Close connection

And displays this error:

    Warning: The specified amount of data was not returned within the Timeout period.
    'tcpip' unable to read all requested data. For more information on possible reasons, see TCPIP 
    Read Warnings. 
    Index exceeds array bounds.
    Error in ur_data_acquisition (line 25)
    X = typecast(fliplr(raw_data(441:448)), 'double')*1000;

Geoff Hayes 2018-8-30

在 MATLAB Online 中打开

Is this your line of code?

X = typecast(fliplr(raw_data(441:448)), 'double')*1000;

If so, then the warning and error messages are telling you what is wrong - not enough data was returned before the timeout expired and then you tried to access more data than what was available in the (presumably) raw_data array. You may need to check the size of raw_data before trying to extract data from it...

请先登录，再进行评论。

请先登录，再回答此问题。

Problem with call back function

6 个评论
显示 4更早的评论隐藏 4更早的评论

回答（0 个）

另请参阅

类别

标签

Community Treasure Hunt

Problem with call back function

6 个评论 显示 4更早的评论隐藏 4更早的评论

回答（0 个）

另请参阅

类别

标签

Community Treasure Hunt

6 个评论
显示 4更早的评论隐藏 4更早的评论