Mitsubishi Electric CR800 Series - Releasing Robot Brakes

4 Appendix
4-22
case 'c':
delta = (float)0.0;
break;
case 'd':
disp = ~disp;
break;
case '0': case '1': case '2': case '3':
disp_data = ch - '0';
break;
}
}
memset(sendText, 0, MAXBUFLEN);
memcpy(sendText, &MXTsend, sizeof(MXTsend));
if(disp) {
sprintf(buf, "Send (%ld):",counter);
cout << buf << endl;
}
numsnt=sendto(destSocket, sendText, sizeof(MXTCMD), NO_FLAGS_SET, (LPSOCKADDR) &destSockAddr,
sizeof(destSockAddr));
if (numsnt != sizeof(MXTCMD)) {
cerr << "ERROR: sendto unsuccessful" << endl;
status=closesocket(destSocket);
if (status == SOCKET_ERROR)
cerr << "ERROR: closesocket unsuccessful" << endl;
status=WSACleanup();
if (status == SOCKET_ERROR)
cerr << "ERROR: WSACleanup unsuccessful" << endl;
return(1);
}
memset(recvText, 0, MAXBUFLEN);
retry = 1; // No. of reception retries
while(retry) {
FD_ZERO(&SockSet); // SockSet initialization
FD_SET(destSocket, &SockSet); // Socket registration
sTimeOut.tv_sec = 1; // Transmission timeout setting (sec)
sTimeOut.tv_usec = 0; // (micro sec)
status = select(0, &SockSet, (fd_set *)NULL, (fd_set *)NULL, &sTimeOut);
if(status == SOCKET_ERROR) {
return(1);
}
if((status > 0) && (FD_ISSET(destSocket, &SockSet) != 0)) { // If it receives by the time-out
numrcv=recvfrom(destSocket, recvText, MAXBUFLEN, NO_FLAGS_SET, NULL, NULL);
if (numrcv == SOCKET_ERROR) {
cerr << "ERROR: recvfrom unsuccessful" << endl;
status=closesocket(destSocket);
if (status == SOCKET_ERROR)
cerr << "ERROR: closesocket unsuccessful" << endl;
status=WSACleanup();
if (status == SOCKET_ERROR)
cerr << "ERROR: WSACleanup unsuccessful" << endl;
return(1);
}
memcpy(&MXTrecv, recvText, sizeof(MXTrecv));
char str[10];
if(MXTrecv.SendIOType==MXT_IO_IN) sprintf(str,"IN%04x", MXTrecv.IoData);
else if(MXTrecv.SendIOType==MXT_IO_OUT) sprintf(str,"OT%04x", MXTrecv.IoData);
else sprintf(str,"------");