&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF parameter_passing()
; ================================================================
; Parameter Passing via Tech Variables
; ================================================================
; Demonstrates bidirectional numerical data exchange between KRL
; and Python using RSI Tech variables.
;
; Tech Variable Conventions:
;   - Tech.C[11-199]: Python writes, KRL reads (Control variables)
;   - Tech.T[11-199]: KRL writes, Python reads (Transfer variables)
;
; Python-KRL Coordination Flow:
; 1. KRL writes current position to Tech.T
; 2. Python reads position from Tech.T
; 3. Python processes data and writes target to Tech.C
; 4. KRL reads target from Tech.C and executes motion
;
; Python Code Example:
;   api = RSIAPI('RSI_EthernetConfig.xml')
;   api.start()
;
;   # Wait for KRL to signal data ready
;   api.krl.wait_for_signal(1)
;
;   # Read current position from KRL
;   current_x = api.krl.read_param('T11')
;   current_y = api.krl.read_param('T12')
;   current_z = api.krl.read_param('T13')
;
;   # Calculate target (e.g., move 100mm in X)
;   target_x = current_x + 100.0
;   target_y = current_y
;   target_z = current_z
;
;   # Write target back to KRL
;   api.krl.write_param('C11', target_x)
;   api.krl.write_param('C12', target_y)
;   api.krl.write_param('C13', target_z)
;
;   # Signal completion
;   api.krl.signal_complete(1)
;
;   api.stop()
; ================================================================

  ; Variable declarations
  E6POS current_pos, target_pos
  REAL target_x, target_y, target_z
  INT i
  BOOL data_ready

  BAS(#INITMOV, 0)

  ; ============================================================
  ; STEP 1: KRL writes current position to Tech.T
  ; ============================================================
  current_pos = $POS_ACT  ; Get current TCP position

  ; Write position components to Transfer variables (Python reads)
  $TECH.T[11] = current_pos.X
  $TECH.T[12] = current_pos.Y
  $TECH.T[13] = current_pos.Z
  $TECH.T[14] = current_pos.A
  $TECH.T[15] = current_pos.B
  $TECH.T[16] = current_pos.C

  ; ============================================================
  ; STEP 2: Signal Python that data is ready
  ; ============================================================
  $OUT[1] = TRUE
  WAIT SEC 0.1

  ; ============================================================
  ; STEP 3: Wait for Python to process and write target
  ; ============================================================
  data_ready = FALSE
  i = 0

  ; Poll input 1 for Python completion signal
  WHILE (data_ready == FALSE) AND (i < 100)
    IF $IN[1] == TRUE THEN
      data_ready = TRUE
    ELSE
      WAIT SEC 0.1
      i = i + 1
    ENDIF
  ENDWHILE

  IF data_ready == TRUE THEN
    ; ============================================================
    ; STEP 4: Read target position from Tech.C
    ; ============================================================
    ; Python has written to Control variables (KRL reads)
    target_x = $TECH.C[11]
    target_y = $TECH.C[12]
    target_z = $TECH.C[13]

    ; Construct target pose
    target_pos = current_pos  ; Copy orientation
    target_pos.X = target_x
    target_pos.Y = target_y
    target_pos.Z = target_z

    ; ============================================================
    ; STEP 5: Execute motion to target
    ; ============================================================
    ; Reset signals
    $OUT[1] = FALSE

    ; Move to calculated target
    LIN target_pos Vel=0.5 m/s CPDAT1 Tool[1] Base[0]

    ; Success indication
    WAIT SEC 0.5

  ELSE
    ; Timeout - halt for safety
    HALT
  ENDIF

END