A

# Check if something is in between gripper fingers by measuring grasp width
# def check_grasp_robotiq(self):
# self._gripper_data = None
# tcp_msg = 'def process():\n'
# tcp_msg += ' socket_open("127.0.0.1",63352,"gripper_socket")\n'
# tcp_msg += ' rq_pos = socket_get_var("POS","gripper_socket")\n'
# tcp_msg += ' sync()\n'
# tcp_msg += ' textmsg("value = ",rq_pos)\n'
# tcp_msg += ' socket_open("100.107.146.22",50201,"desktop_socket")\n'
# tcp_msg += ' socket_send_int(rq_pos,"desktop_socket")\n'
# tcp_msg += ' sync()\n'
# tcp_msg += ' socket_close("desktop_socket")\n'
# tcp_msg += 'end\n'
# self._tcp_sock.send(str.encode(tcp_msg))
# time.sleep(0.1)
# while not self._gripper_data:
# time.sleep(0.01)
# print(self._gripper_data)
# # exit()
# return self._gripper_data < 225
I forgot if this worked or not
Oh and then there’s a thread that continually parses for _gripper_data
self._gripper_data = None
gripper_thread = threading.Thread(target=self.get_gripper_data)
gripper_thread.daemon = True
gripper_thread.start()
def get_gripper_data(self):
hostName = socket.gethostbyname('0.0.0.0')
TCP_PORT = 50201
BUFFER_SIZE = 1024
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((hostName, TCP_PORT))
while 1:
time.sleep(0.01)
s.listen(1)
conn, addr = s.accept()
# print 'Connection address:', addr
data = conn.recv(BUFFER_SIZE)
if not data: continue
# message_type = int(struct.unpack('!i',state_data[0:4])[0])
self._gripper_data = int(struct.unpack('!i',data[0:4])[0])

# Parse TCP