Mitsubishi Electric CR800 Series - Page 140

4 Appendix
4-20
cout << "Input the numeral [0] to [11] -> ";
cin.getline(msg, MAXBUFLEN);
type_mon[k] = atoi(msg);
}
sprintf(msg, "IP=%s / PORT=%d / Send Type=%d / Monitor Type0/1/2/3=%d/%d/%d/%d", dst_ip_address, port , type,
type_mon[0], type_mon[1], type_mon[2], type_mon[3]);
cout << msg << endl;
cout << "[Enter]= End / [d]= Monitor data display";
cout << "[z/x]= Increment/decrement first command data transmitted by the delta amount. ";
cout << " Is it all right? [Enter] / [Ctrl+C] ";
cin.getline(msg, MAXBUFLEN);
// Windows Socket DLL initialization
status=WSAStartup(MAKEWORD(1, 1), &Data);
if (status != 0)
cerr << "ERROR: WSAStartup unsuccessful" << endl;
// IP address, port, etc., setting
memset(&destSockAddr, 0, sizeof(destSockAddr));
destAddr=inet_addr(dst_ip_address);
memcpy(&destSockAddr.sin_addr, &destAddr, sizeof(destAddr));
destSockAddr.sin_port=htons(port);
destSockAddr.sin_family=AF_INET;
// Socket creation
destSocket=socket(AF_INET, SOCK_DGRAM, 0);
if (destSocket == INVALID_SOCKET) {
cerr << "ERROR: socket unsuccessful" << endl;
status=WSACleanup();
if (status == SOCKET_ERROR)
cerr << "ERROR: WSACleanup unsuccessful" << endl;
return(1);
}
MXTCMD MXTsend;
MXTCMD MXTrecv;
JOINT jnt_now;
POSE pos_now;
PULSE pls_now;
unsigned long counter = 0;
int loop = 1;
int disp = 0;
int disp_data = 0;
int ch;
float delta=(float)0.0;
long ratio=1;
int retry;
fd_set SockSet; // Socket group used with select
timeval sTimeOut; // For timeout setting
memset(&MXTsend, 0, sizeof(MXTsend));
memset(&jnt_now, 0, sizeof(JOINT));
memset(&pos_now, 0, sizeof(POSE));
memset(&pls_now, 0, sizeof(PULSE));
while(loop) {
memset(&MXTsend, 0, sizeof(MXTsend));