Struggling with sending data via TCP/IP socket connection

Question

DEYIRE UMAR 2018-9-17

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/419470-struggling-with-sending-data-via-tcp-ip-socket-connection

编辑： DEYIRE UMAR 2018-9-17

I want to write script code which sends strings to a robot (Universal robot simulator, URSim) via TCP/IP, the string is a translation of the URscript for the robot into acceptable form in MATLAB. I only succeeded in making turning on/off the "digital_out". All the move commands aren't working when I run the program, the robot remained at its initial position. But when I remove the command to set digital_out, the next move command works. It means it only implement the first command. Any help on the right syntax in Matlab? I am working with examples from python http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/script-from-host-to-robot-via-socket-connection/ and javascript https://github.com/ABC-iRobotics/ur-nodejs-client-example/blob/master/index.js.

Here is my code:

    host = '192.168.233.3';
    port = 30003;
    s = tcpip(host, port,'NetworkRole', 'client');
    s.InputBufferSize = 221600;
    fopen(s);
    disp('Connected!');
    While(true)
    fprintf (s, strcat('set_standard_digital_out(0,False)', '\n')), 
    strcat('movej([-0.3596764999985558, -1.174431851788599, 1.88734483936274, -2.277712271407693, -1.5605291909381744, -0.4576386031765587], a=1.3962634015954636, v=1.0471975511965976)', '\n');
    strcat('while (true)', '\n'), 
    strcat('movel([-0.3600129734254667, -1.0838046643374781, 1.923101135878433, -2.4040936317428048, -1.5618407243079862, -0.45651480620647433], a=1.2, v=0.25)', '\n'),
    strcat('set_standard_digital_out(0,True)', '\n'),
    strcat('pause(1)', '\n'),
    strcat('movel([-0.3596764999985558, -1.174431851788599, 1.88734483936274, -2.277712271407693, -1.5605291909381744, -0.4576386031765587], a=1.2, v=0.25)', '\n'),
    strcat('movej([-0.10482278180937676, -1.1835615192007545, 1.9014732903964209, -2.2826424641984957, -1.5592584674169627, -0.20275108288563892], a=1.3962634015954636, v=1.0471975511965976)', '\n'),
    strcat('movel([-0.10516193553895548, -1.0924099301580732, 1.9372874633103936, -2.409607446651929, -1.5605816595381992, -0.20162872498015805], a=1.2, v=0.25', '\n'),
    strcat('set_standard_digital_out(0,False)', '\n'), 
    strcat('pause(1)', '\n'), 
    strcat('movel([-0.10482278180937676, -1.1835615192007545, 1.9014732903964209, -2.2826424641984957, -1.5592584674169627, -0.20275108288563892], a=1.2, v=0.25)', '\n'),
    strcat('pause(1)', '\n'),
    strcat('movel([-0.10516193553895548, -1.0924099301580732, 1.9372874633103936, -2.409607446651929, -1.5605816595381992, -0.20162872498015805], a=1.2, v=0.25)', '\n'),
    strcat('set_standard_digital_out(0,True)', '\n'),
    strcat('pause(1)', '\n'),
    strcat('movel([-0.10482278180937676, -1.1835615192007545, 1.9014732903964209, -2.2826424641984957, -1.5592584674169627, -0.20275108288563892], a=1.2, v=0.25)', '\n'),
    strcat('movej([-0.3596764999985558, -1.174431851788599, 1.88734483936274, -2.277712271407693, -1.5605291909381744, -0.4576386031765587], a=1.3962634015954636, v=1.0471975511965976)', '\n'),
    strcat('movel([-0.3600129734254667, -1.0838046643374781, 1.923101135878433, -2.4040936317428048, -1.5618407243079862, -0.45651480620647433], a=1.2, v=0.25)', '\n'),
    strcat('set_standard_digital_out(0,False)', '\n'),
    strcat('pause(1)', '\n'),
    strcat('movel([-0.3596764999985558, -1.174431851788599, 1.88734483936274, -2.277712271407693, -1.5605291909381744, -0.4576386031765587], a=1.2, v=0.25)', '\n'),
    strcat('pause(1)', '\n'), 
    strcat('end' , '\n');
    settings = fscanf(s);
    end
    fclose(s);
    delete(s);
    clear s;