usb = serial.Serial(usbPort, 9600, timeout=10)
usb.open()
time.sleep(2) # give the serial time to get opened
except serial.SerialException:
print("Could not connect to requested port")
time.sleep(1)
continue
while True:
message = []
while '!' not in message:
message.append(client.recv(1))
message = ''.join(message[:])
print(message)
usb.flush()
usb.write(message)
usb.flush()
message = usb.readline()
print("Message was: " + str(message))
if (message == ''):
usb.flush()
usb.write('S!')
usb.flush()
usb.close()
sys.exit("Lost Connection")
if (message[0] == "S"):
usb.flush()
usb.close()
myGripper.allOff()
sys.exit("Successfully Exited")
print("Communication Thread Started.")
communication = threading.Thread(target=myTCPServer, args=(":"))
communication.start()
# Main loop.
while True:
try:
usb = serial.Serial(usbPort, 9600, timeout=10)
usb.open()
# Put the gripper in the initial configuration defined in Gripper
# class.
myGripper.gripperInitial()
time.sleep(2) # give the serial time to get opened
print("USB Connection Initialized.")
except serial.SerialException:
myGripper.allOff() # Turns off all the gripper servos.
os.system("sudo killall servod") # Kills the servod program.
temp = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
temp.connect((get_ip_address('wlan0'), 1160))
temp.sendall("S:")
temp.close()
sys.exit("USB connection not found (Is the USB cord plugged in?)")
while True:
try:
gripperAction(mes, num)
print("Command: " + mes + " Number: " + str(num))
time.sleep(0.1) # Thread can execute too fast for communication?
except KeyboardInterrupt:
myGripper.allOff() # Turns off all the gripper servos.
os.system("sudo killall servod") # Kills the servod program.
usb = serial.Serial(usbPort, 9600, timeout=10)
usb.open()
time.sleep(2) # give the serial time to get opened
except serial.SerialException:
print("Could not connect to requested port")
time.sleep(1)
continue
while True:
message = []
while '!' not in message:
message.append(client.recv(1))
message = ''.join(message[:])
print(message)
usb.flush()
usb.write(message)
usb.flush()
message = usb.readline()
print("Message was: " + str(message))
if (message == ''):
usb.flush()
usb.write('S!')
usb.flush()
usb.close()
sys.exit("Lost Connection")
if (message[0] == "S"):
usb.flush()
usb.close()
myGripper.allOff()
sys.exit("Successfully Exited")
print("Communication Thread Started.")
communication = threading.Thread(target=myTCPServer, args=(":"))
communication.start()
# Main loop.
while True:
try:
usb = serial.Serial(usbPort, 9600, timeout=10)
usb.open()
# Put the gripper in the initial configuration defined in Gripper
# class.
myGripper.gripperInitial()
time.sleep(2) # give the serial time to get opened
print("USB Connection Initialized.")
except serial.SerialException:
myGripper.allOff() # Turns off all the gripper servos.
os.system("sudo killall servod") # Kills the servod program.
temp = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
temp.connect((get_ip_address('wlan0'), 1160))
temp.sendall("S:")
temp.close()
sys.exit("USB connection not found (Is the USB cord plugged in?)")
while True:
try:
gripperAction(mes, num)
print("Command: " + mes + " Number: " + str(num))
time.sleep(0.1) # Thread can execute too fast for communication?
except KeyboardInterrupt:
myGripper.allOff() # Turns off all the gripper servos.
os.system("sudo killall servod") # Kills the servod program.
