2.作为server时，需要考虑其他客户端连接机器人时断开后的机器人异常处理。同时，机器人作为socket 的server，通常编写测试完成后，对应的task会被设为semi static（即开机自启动，且前台无法停止程序，除非程序出错或者再次进入controller的task设定，将task类型设为normal）

 

3.此处推荐Ros编写的机器人作为socket server的代码，以供参考。相关代码可以从https://github.com/ros-industrial/abb_driver/tree/kinetic-devel/rapid 下载

 

主程序如下：

 

MODULE ROS_stateServer

   !程序运行模式设定为循环

  LOCAL CONST num server_port := 11002;

  LOCAL CONST num update_rate := 0.10;  ! broadcast rate (sec)

 

  LOCAL VAR socketdev server_socket;

  LOCAL VAR socketdev client_socket;

 

PROC main()

    TPWrite "StateServer: Waiting for connection.";

    ROS_init_socket server_socket, server_port;

    ROS_wait_for_client server_socket, client_socket;

 

    WHILE (TRUE) DO

        send_joints;

        send_status;

        WaitTime update_rate;

    ENDWHILE

 

ERROR (ERR_SOCK_TIMEOUT, ERR_SOCK_CLOSED)

    IF (ERRNO=ERR_SOCK_TIMEOUT) OR (ERRNO=ERR_SOCK_CLOSED) THEN

        SkipWarn;  ! TBD: include this error data in the message logged below?

        ErrWrite \W, "ROS StateServer disconnect", "Connection lost.  Waiting for new connection.";

        ExitCycle;  ! restart program

         !程序运行模式设定为循环，这样ExitCycle可以重新从main***行开始运行

    ELSE

        TRYNEXT;

    ENDIF

UNDO

ENDPROC

ENDMODULE

 

 

 

MODULE ROS_socket(SYSMODULE)

PROC ROS_init_socket(VAR socketdev server_socket, num port)

    IF (SocketGetStatus(server_socket) = SOCKET_CLOSED) SocketCreate server_socket;

    IF (SocketGetStatus(server_socket) = SOCKET_CREATED) SocketBind server_socket, GetSysInfo(\LanIp), port;

    IF (SocketGetStatus(server_socket) = SOCKET_BOUND) SocketListen server_socket;

 

ERROR

    RAISE;  ! raise errors to calling code

ENDPROC

 

PROC ROS_wait_for_client(VAR socketdev server_socket, VAR socketdev client_socket, \num wait_time)

    VAR string client_ip;

    VAR num time_val := WAIT_MAX;  ! default to wait-forever

 

    IF Present(wait_time) time_val := wait_time;

 

    IF (SocketGetStatus(client_socket) <> SOCKET_CLOSED) SocketClose client_socket;

    WaitUntil (SocketGetStatus(client_socket) = SOCKET_CLOSED);

 

    SocketAccept server_socket, client_socket, \ClientAddress:=client_ip, \Time:=time_val;

    TPWrite "Client at "+client_ip+" connected.";

 

ERROR

    RAISE;  ! raise errors to calling code

    ! 所有的错误处理使用Raise，即调用上层统一进行错误处理

ENDPROC

ENDMODULE