Festo SBO***-Q Series, Manual

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A. Technical appendix
A-50
Festo P.BE-SBO-Q-EN en 1602e
! Important !
! Here we don’t receive ASCII text, but, instead we get a binary
data stream.
SocketReceive ComSocket \RawData := dataCollectionRaw;
! Error handling has been omitted here.
! Extract all floating point values from the data container
! Offsets of each data element are determined by CheckOpti.
UnpackRawBytes dataCollectionRaw, 31, float_x, \Float4;
UnpackRawBytes dataCollectionRaw, 35, float_y, \Float4;
UnpackRawBytes dataCollectionRaw, 39, float_angle, \Float4;
TPWrite ”X coordinate = ”, \Num := float_x;
TPWrite ”Y coordinate = ”, \Num := float_y;
TPWrite ”Angle = ”, \Num := float_angle;
ENDPROC
! −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
! Procedure CheckConnectionStatus
! Description:
! Procedure checks that the socket is still connected, if not, then
! it will attempt to re
− connect. This procedure can be used before
! communications.
! An alternative would be to use error handlers.
!
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
PROC CheckConnectionStatus()
status := SocketGetStatus(ComSocket);
TPWrite ”Connection Status: ”\Num:=status;
IF status <> SOCKET_CONNECTED THEN
TPWrite ”Camera Not Connected, re
− connecting”;
ConnectToCamera;
ENDIF
ERROR
Stop;
ENDPROC