xarm_set_suction_cup

1. Introduction

Open/Close the xArm vacuum gripper.

Button: [Blockly] - [End effector] - [xArm vacuum gripper] - open/close

2. Request & Response

Message

```
{
    "cmd": "xarm_set_suction_cup",
    "data": {
        "on": false,
        "wait": true
    },
    "id": "close_Vgripper"
}
```

Request

Name	Type	Required fields	Description
on	bool	Yes	True: Open False: Close
wait	bool	Yes	wait or not
delay	int	No	delay time; 0: set it immediately

Response

code=0->success;
code!=0->Failed, refer to xarm_api_code;

3. Code Example

background

yield self._wait_until_not_pause()
if self.is_simulation_robot:
    return response(client, cmd_id, 0)
ret = yield self._wait_until_cmdnum_lt_max()
if ret is not None:
    return response(client, cmd_id, ret)
on = data.get('on')
wait = data.get('wait', True)
delay = data.get('delay', 0)
timeout = 3
code = GLOBAL.XArm.xarm.set_suction_cup(on, wait=False, delay_sec=delay)
if code == 0 and wait:
    start = time.monotonic()
    code = APIState.SUCTION_CUP_TOUT
    if delay is not None and delay > 0:
        timeout += delay
    while time.monotonic() - start < timeout:
        ret = GLOBAL.XArm.xarm.get_suction_cup()
        if ret[0] == XCONF.UxbusState.ERR_CODE:
            code = XCONF.UxbusState.ERR_CODE
            break
        if ret[0] == 0:
            if on and ret[1] == 1:
                code = 0
                break
            if not on and ret[1] == 0:
                code = 0
                break
        if not GLOBAL.XArm.xarm_connected or GLOBAL.XArm.xarm.state == 4:
            code = APIState.EMERGENCY_STOP
            break
        yield gen.sleep(0.2)
response(client, cmd_id, code)

front_end

self.setSuctionCup = (on, wait, callback, delay) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    on: on,
    wait: wait,
    delay: delay,
  });
  self.sendCmd(window.GlobalConstant.SET_SUCTION_CUP, params, (dict) => {
    // self.codeHandle(dict, 'set suction cup', true);
    if (callback) {
      callback(dict);
    }
  });
};