法奥机器人操作与 Lua 脚本基础 | 极客日志

法奥机器人操作与 Lua 脚本基础 | 极客日志

ip = "192.168.58.2"
port = 8888
tcp = 0
while 1 do
    if tcp == 0 then
        tcp = SocketOpen(ip, port, "socket_0")
    elseif tcp == 1 then
        SocketSendString("hello,this is fa tcp!", "socket_0", 0)
        res = SocketReadString("socket_0", 0)
        if #res == 0 then
            SocketClose("socket_0")
        else
            RegisterVar("string", "res")
        end
    end
    WaitMs(1000)
end

port = 8888
clientID = 0
SocketServerListen(port)
while 1 do
    if clientID == 0 then
        clientID = SocketServerAccept()
    elseif type(clientID) == "number" then
        if clientID > 0 then
            RegisterVar("number", "clientID")
            res = SocketServerSendString("hello world", clientID, 0)
            if res == 0 then -- 返回值为 0 表示发送失败
                SocketServerClose(clientID)
                clientID = 0
            else -- 发送成功则接受返回值
                str = SocketServerReadString(clientID, 0)
                if #str == 0 then -- 返回值长度 0，读取失败，关闭通道
                    SocketServerClose(clientID)
                else
                    RegisterVar("string", "str") --打印返回值
                end
            end
        end
    end
end

while 1 do
    PTP(C1, 100, -1, 0)
    ARC(C2, 0, 0, 0, 0, 0, 0, 0, C3, 0, 0, 0, 0, 0, 0, 0, 100, -1)
end