RAPID_IRB_1200_7_0_9

VAR socketdev server_socket;
VAR socketdev client_socket;
VAR jointtarget joint_data;
VAR string joint_data_str;
VAR num send_status;

PROC main()
    ! Create and bind server socket
    SocketCreate server_socket;
    SocketBind server_socket, "127.0.0.1", 5000;
    SocketListen server_socket;

    WHILE TRUE DO
        ! Accept a connection (store accepted socket in client_socket)
        SocketAccept server_socket, client_socket;

        WHILE TRUE DO
            ! Read current robot joint positions
            joint_data := CJointT();  ! Correct function

            ! Format joint data as CSV string
            joint_data_str := 
                NumToStr(joint_data.robax.rax_1, 3) + "," +
                NumToStr(joint_data.robax.rax_2, 3) + "," +
                NumToStr(joint_data.robax.rax_3, 3) + "," +
                NumToStr(joint_data.robax.rax_4, 3) + "," +
                NumToStr(joint_data.robax.rax_5, 3) + "," +
                NumToStr(joint_data.robax.rax_6, 3);
            
            ! Send joint data over socket
            send_status := SocketSend(client_socket, joint_data_str);

            ! Check if send failed (client disconnected)
            IF send_status <> 1 THEN
                EXIT;  ! Break out of loop if sending failed
            ENDIF

            ! Wait before sending next update
            WaitTime 0.1;  ! Adjust logging frequency (10Hz)
        ENDFOR
        
        ! Close the client socket when disconnected
        SocketClose client_socket;
    ENDWHILE
ENDPROC