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.