Integrated example - Thread

#----- thread 1: client comm. ---------------------
def fn_th_client():  
  global g_sock
  global g_cmd      
  res, rx_data = client_socket_read(g_sock)
  if res > 0:
    g_cmd = rx_data.decode() #decode: Converts byte type into a string.        
  else: # Communication error
    client_socket_close(g_sock)
    exit()  # Terminates the program. 
  wait(0.1)    
  return 0

#----- thread 2: check IO -------------------------
def fn_th_check_io():
  if get_digital_input(1) == ON: 
    exit()  # Terminates the program.   	
  wait(0.1)
  return 0

#----- main ---------------------------------------
g_sock = client_socket_open("192.168.137.2", 20002) # Connects to the server. 
g_cmd = ""  

g_th_id1 = thread_run(th_client, loop=True)   # Runs the th_client thread.
g_th_id2 = thread_run(th_check_io, loop=True) # Runs the th_check_io thread.

p1 = posj(0, 0, 90, 0, 90, 0)
p2 = posj(10, 0, 90, 0, 90, 0) 
p3 = posj(20, 0, 90, 0, 90, 0)

while 1: 
  if g_cmd == "a":
    g_cmd = ""    
    movej(p1,vel=100,acc=100)
    client_socket_write(g_sock, b"end")    
  if g_cmd == "b":  
    g_cmd = ""    
    movej(p2,vel=100,acc=100)
    client_socket_write(g_sock, b"end")    
  if g_cmd == "c":  
    g_cmd = ""    
    movej(p3,vel=100,acc=100)
    client_socket_write(g_sock, b"end")    
  wait(0.1)