Hello,
I’ve tried your suggested changes.
I’ve changed Var_1 to com, and set an initial data variable.
I did set the IPv4 to static and changed it to 192.168.1.10.
Sadly the code still get’s stuck in the first loop.
I really don’t know what the problem is at the moment, hopefully you guys can help me further.
I’ve attached some picture below of my settings and put my server code underneath it.
UR5 program:
The error given:
UR Network settings:
Computer network settings:
My code:
#include
#include <WS2tcpip.h>
#pragma comment (lib, "ws2_32.lib")
using namespace std;
void main()
{
//initialize winsock (sockets)
WSADATA wsData;
WORD ver = MAKEWORD(2, 2);
int wsOk = WSAStartup(ver, &wsData);
if (wsOk != 0)
{
cerr << "Can't initialize winsock! quitting" << endl;
return;
}
//create a socket
SOCKET listening = socket(AF_INET, SOCK_STREAM, 0);
if (listening == INVALID_SOCKET)
{
cerr << "Can't create a socket! quitting" << endl;
return;
}
//bind the ip to a socket address and port
sockaddr_in hint;
hint.sin_family = AF_INET;
hint.sin_port = htons(1701);
hint.sin_addr.S_un.S_addr = INADDR_ANY; //could also use inet_pton
bind(listening, (sockaddr*)&hint, sizeof(hint));
//tell winsock the socket is for listening
listen(listening, SOMAXCONN);
//wait for a connection
sockaddr_in client;
int clientSize = sizeof(client);
SOCKET clientSocket = accept(listening, (sockaddr*)&client, &clientSize);
if (clientSocket == INVALID_SOCKET)
{
cerr << "Can't make connection! quitting" << endl;
return;
}
char host[NI_MAXHOST]; //client's remote name
char service[NI_MAXSERV]; //service (i.e. port) the client is connect on
ZeroMemory(host, NI_MAXHOST);
ZeroMemory(service, NI_MAXSERV);
if (getnameinfo((sockaddr*)&client, sizeof(client), host, NI_MAXHOST, service, NI_MAXSERV, 0) == 0)
{
cout << host << " connected on port " << service << endl;
}
else
{
inet_ntop(AF_INET, &client.sin_addr, host, NI_MAXHOST);
cout << host << " connected on port " <<
ntohs(client.sin_port) << endl;
}
//close listening socket
closesocket(listening);
char buf[4096];
while (true) //this part of the code will be used to send and receive data
{
ZeroMemory(buf, 4096);
float X = 12.4;
float Y = 456;
float Z = 900.87;
sprintf_s(buf, "(%lf,%lf,%lf)",X,Y,Z);
size_t buf_len = strlen(buf);
send(clientSocket, buf, buf_len, 0);
int bytesReceived = recv(clientSocket, buf, 4096, 0);
}
//close the socket(s)
closesocket(clientSocket);
//shutdown/cleanup winsock (sockets)
WSACleanup();
}
