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feat: added support to FANUC robots #43

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merged 1 commit into from
Jan 3, 2025
Merged

feat: added support to FANUC robots #43

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9 changes: 9 additions & 0 deletions examples/POSIX/sample_application/cipster_user_conf.h
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,15 @@ const bool kCIPsterConsumedDataHasRunIdleHeader = true;
*/
const bool kCIPsterProducedDataHasRunIdleHeader = false;

/**
* The setting of this affects point to point connections with a FANUC robot
* configured as a scanner by adding an O->T Saii in the forward_open reply
* even if the port is 0x08AE. FANUC always needs this parameter to work
* properly.
* @see Vol2 3-3.9.6
*/
const bool kCIPsterFanucScanner = false;

#ifdef CIPSTER_WITH_TRACES
// If we have tracing enabled provide print tracing macro
#include <stdio.h>
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9 changes: 9 additions & 0 deletions examples/WINDOWS/sample_application/cipster_user_conf.h
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Expand Up @@ -129,6 +129,15 @@ const bool kCIPsterConsumedDataHasRunIdleHeader = true;
*/
const bool kCIPsterProducedDataHasRunIdleHeader = false;

/**
* The setting of this affects point to point connections with a FANUC robot
* configured as a scanner by adding an O->T Saii in the forward_open reply
* even if the port is 0x08AE. FANUC always needs this parameter to work
* properly.
* @see Vol2 3-3.9.6
*/
const bool kCIPsterFanucScanner = false;

#ifdef CIPSTER_WITH_TRACES
// If we have tracing enabled provide print tracing macro
#include <stdio.h>
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5 changes: 3 additions & 2 deletions source/src/cip/cipconnection.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -443,7 +443,7 @@ int ConnectionData::Serialize( BufWriter aOutput, int aCtl ) const

out.put32( ConsumingRPI() );
ConsumingNCP().Serialize( out );

trigger.Serialize( out );

if( !(CTL_OMIT_CONN_PATH & aCtl) )
Expand Down Expand Up @@ -1636,7 +1636,8 @@ CipError CipConn::openConsumingPointToPointConnection( Cpf* aCpf, ConnMgrStatus*

// Vol2 3-3.9.6 return O->T Saii in the forward_open reply if I am
// using a port different than the 0x08AE.
if( g_my_io_udp_port != kEIP_IoUdpPort )
// Handle special case for FANUC robots.
if( g_my_io_udp_port != kEIP_IoUdpPort || kCIPsterFanucScanner )
{
// See Vol2 table 3-3.3.
// Originator ignores the IP address portion of peers_destination
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