통합 예제 - 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: byte형을 string으로 변환 
else: # 통신에러가 발생한 경우
client_socket_close(g_sock)
exit() #프로그램 종료 
wait(0.1) 
return 0

#----- thread 2: check IO -------------------------
def fn_th_check_io():
if get_digital_input(1) == ON: 
exit() #프로그램 종료 
wait(0.1)
return 0

#----- main ---------------------------------------
g_sock = client_socket_open("192.168.137.2", 20002) #서버에 접속 
g_cmd = "" 

g_th_id1 = thread_run(fn_th_client, loop=True) # th_client 쓰레드 실행
g_th_id2 = thread_run(fn_th_check_io, loop=True) # th_check_io 쓰레드 실행

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)