Mitsubishi Electric CR750-Q Instruction Manual page 625

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,"------");
int DispType;
void *DispData;
switch(disp_data) {
case 0:
DispType = MXTrecv.RecvType;
DispData = &MXTrecv.dat;
break;
case 1:
DispType = MXTrecv.RecvType1;
DispData = &MXTrecv.dat1;
break;
case 2:
DispType = MXTrecv.RecvType2;
DispData = &MXTrecv.dat2;
break;
case 3:
DispType = MXTrecv.RecvType3;
DispData = &MXTrecv.dat3;
break;
default:
break;
}
switch(DispType) {
case MXT_TYP_JOINT:
case MXT_TYP_FJOINT:
case MXT_TYP_FB_JOINT:
if(loop==1) {
memcpy(&jnt_now, DispData, sizeof(JOINT));
loop = 2;
}
if(disp) {
JOINT *j=(JOINT*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d Type(JOINT)=%d\n
%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f (%s)"
,MXTrecv.CCount,MXTrecv.TCount,DispType
,j->j1, j->j2, j->j3 ,j->j4, j->j5, j->j6, j->j7, j->j8, str);
cout << buf << endl;
Real-time external control function Appendix-605
7Appendix