kobbled / kl-paths

path functions for FANUC Karel

Paths

FANUC KAREL generic paths, and helper functions for path types. Uses rossum and ktrans_w.

kl-paths's Issues

ERROR: ROUTINE argument data type does not match the parameter definition. | Building "pathmotion" tests

I got this error when building the tests in the pathmotion library (test_pth_mtn.kl and test_pth_rot.kl):

`C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\tstrot.kl(1207)
1207 tsplrt_impp(filename)
^ ERROR
ROUTINE argument data type does not match the parameter definition.

===============Translation not successful===============
Error executing KTrans: Error translating program: Code: 0xFFFFFFFF:

KTRANS Version V9.40 (Build 83 4/22/2021)
Copyright (C) FANUC America Corporation, 1985 through 2019.
All Rights Reserved.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\tstrot.kl(1207)
1207 tsplrt_impp(filename)
^ ERROR
ROUTINE argument data type does not match the parameter definition.

===============Translation not successful===============
Error executing KTrans: Error translating program: Code: 0xFFFFFFFF:

KTRANS Version V9.40 (Build 83 4/22/2021)
Copyright (C) FANUC America Corporation, 1985 through 2019.
All Rights Reserved.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\tstrot.kl(1207)
1207 tsplrt_impp(filename)
^ ERROR
ROUTINE argument data type does not match the parameter definition.

===============Translation not successful===============
Error executing KTrans: Error translating program: Code: 0xFFFFFFFF:

KTRANS Version V9.40 (Build 83 4/22/2021)
Copyright (C) FANUC America Corporation, 1985 through 2019.
All Rights Reserved.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\test_pth_rot.kl(1027)
1027 tstrot_pthpl(lines, contours, 4, 1, FALSE, FALSE)
^ ERROR
ROUTINE called has more arguments than ROUTINE definition.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\test_pth_rot.kl(1085)
1085 tstrot_pthpl(lines, contours, 4, 1, FALSE, FALSE)
^ ERROR
ROUTINE called has more arguments than ROUTINE definition.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\test_pth_rot.kl(1139)
1139 tstrot_pthpl(lines, contours, 1, 1, FALSE, FALSE)
^ ERROR
ROUTINE called has more arguments than ROUTINE definition.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\test_pth_rot.kl(1209)
1209 tstrot_pthpl(lines, contours, 4, 1, FALSE, FALSE)
^ ERROR
ROUTINE called has more arguments than ROUTINE definition.

C:\Users\Kevin Alfsen\EffeeDevelopment\Fanuc Plugins\Karel Environment\Ka-Boost\lib\paths\pathmotion\test\test_pth_rot.kl(1265)
1265 tstrot_pthpl(lines, contours, 1, 1, FALSE, FALSE)
^ ERROR
ROUTINE called has more arguments than ROUTINE definition.`

The first error seems to come from pathplan.klc::importPath. There is a comment there stating that the method should be updated to the new csv/layout. The error seems to come from passing a filename as a parameter to the function which is declared to take a PATH : nodedata = t_VEC_PATH as input.

The second error comes from passing to many parameters into the tstrot_pthpl (pathmake.klc::planPath) function.

My workaround was to comment out pathplan.klc::importPath and to remove the last boolean parameter from any calls to planPath in the test_mtn and test_rot scripts.

Here is a changelog of my workaround.
workaround_diff.pdf

Hope this is helpful

Make interface for using a generic workstation in `test_layers`

• Look at pathforms in the paths library.
• Might have to use CALL_PROG method, and define an interface in main entry point for each object, as objects cannot be passed around in karel.

Can not compile. Pathdraw is missing

I have following error when trying to compile rossum_example_ws:
CRITICAL | Error occured while checking packages: Package pathforms is missing dependencies: pathdraw. Cannot continue