1. 空间表示一个位姿，通常需要XYZABC来表示（其中ABC分别为RZ,RY,RX的欧拉角）

2. 3D相机通过socket发送如下形式坐标：1,2,3,4,5,6 （”,”为分隔符），ABB机器人如何通过socket接受以上数据并存储到对应数组内容，并将对应数据转化为机器人点位Robtarget？

3. 对于接收到的字符串1,2,3,4,5,6，可以使用如下代码解析并存入数组a12中

PERS num a12{6}:=[1,2,3,4,5,6];
PROC test22()
datadecode "1,2,3,4,5,6",",",a12;
ENDPROC

PROCdatadecode(string inputstr,string sp,inout num data{*})
!inputstr为输入数据字符串
!sp为分割字符
!data为存入数据数组
VAR string s1;
VAR string s2;
VAR num count;
VAR bool flag1;
count:=1;
FORi FROM 1 TOStrLen(inputstr) DO
!遍历字符串内所有字符
s1:=StrPart(inputstr,i,1);
!每次取一个字符
IF s1=sp THEN
!如果当前字符是分隔符，则将之前的字符串转化为数据并存入data{count}中
flag1:=strtoval(s2,data{count});
s2:="";
Incr count;
ELSE
!如果当前字符不是分割字符，则字符串拼接
s2:=s2+s1;
ENDIF
flag1:=strtoval(s2,data{count});
ENDFOR
ENDPROC


4. 对于存入数组a12中的数据，可以通过如下代码赋值到对应robtarget并移动机器人

PROCpath_move()
ptmp2:=p10;
!p10为标准位置
ptmp2.trans.x:=a12{1};
ptmp2.trans.y:=a12{2};
ptmp2.trans.z:=a12{3};
ptmp2.rot:=OrientZYX(a12{4},a12{5},a12{6});
!orientzyx(rz,ry,rx)
!将欧拉角转化为四元数
MoveL ptmp2,v100,fine,tool1WObj:=wobj0;
ENDPROC
5. 完整通过socket接受3D相机坐标并移动示例代码如下：

MODULE m3
PERS num a1:=4;
pers robtarget p100:=[[637.0908,93.56882,1145.292],[0.9970773,0.07639935,-6.336661E-06,7.70224E-06],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR socketdev socket1;
VAR string received_string;
PERS num a12{6}:=[1,2,3,4,5,6];
VAR robtarget ptmp:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
VAR robtarget ptmp2:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
pers num curr_position{6}:=[0,0,0,0,0,0];
CONST robtarget p10:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

PROC main1()
VAR string str_pose;
SocketCreate socket1;
SocketConnect socket1,"127.0.0.1",8025;
WHILE TRUE DO
ptmp:=CRobT();
curr_position{1}:=ptmp.trans.x;
curr_position{2}:=ptmp.trans.y;
curr_position{3}:=ptmp.trans.z;
curr_position{4}:=EulerZYX(\z,ptmp.rot);
curr_position{5}:=EulerZYX(\y,ptmp.rot);
curr_position{6}:=EulerZYX(\x,ptmp.rot);

SocketSend socket1\Str:="request cam";
SocketSend socket1\Str:="curr_pos "+ValToStr(curr_position);
!send curr position

SocketReceive socket1\Str:=received_string;
!receive postion
TPWrite "Server wrote - "+received_string;
datadecode received_string,",",a12;
!put receive string position into a12 array
path_move;
ENDWHILE
received_string:="";
ERROR
SocketClose socket1;
ENDPROC

PROC path_move()
ptmp2:=p10;
ptmp2.trans.x:=a12{1};
ptmp2.trans.y:=a12{2};
ptmp2.trans.z:=a12{3};
ptmp2.rot:=OrientZYX(a12{4},a12{5},a12{6});
!orientzyx(rz,ry,rx)
MoveL ptmp2,v100,fine,tool1\WObj:=wobj0;
ENDPROC

PROC datadecode(string inputstr,string sp,inout num data{*})
VAR string s1;
VAR string s2;
VAR num count;
VAR bool flag1;

count:=1;
FOR i FROM 1 TO StrLen(inputstr) DO
s1:=StrPart(inputstr,i,1);
IF s1=sp THEN
flag1:=strtoval(s2,data{count});
s2:="";
Incr count;
ELSE
s2:=s2+s1;
ENDIF
flag1:=strtoval(s2,data{count});
ENDFOR
ENDPROC
ENDMODULE

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