RTDE BrokenPipeError on rtde_client.send(data_object) after communication pause

Technical Questions Robot Communication
1

I use RTDE python code to communicate with the URsim simulation tool in the VirtualBox
When I send command by command with short pauses - everything goes smoothly
But if I make two minute pause between consecutive rtde_client.send(data_object) - communication fails with the

rtde.py", line 267, in __sendall
    self.__sock.sendall(buf)
BrokenPipeError: [Errno 32] Broken pipe

error.

How should I connect to avoid this error?

2

This may happen due to the receive buffer overflow. RTDE constantly sends data packages and they are stored in the operating system receive buffer (look for a TCP Window size for more information). When the receive buffer is full, the operating system stops receiving new data, and after a while the connection breaks.

One of the possible solutions is to create a separate thread that constantly receives the data in the background and stores it in a local variable. Then this variable is read from the main thread.

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