Async gripper move and stop

[lukashermann]

I am looking for a way to control the gripper asynchronously, which means I want to have a non-blocking move function and a stop function that immediately stops the gripper, such that a new move command can be executed.
In the implementation of the gripper this blocking function is called to wait for the TCP response. (see here)
Did anyone find a way to rewrite the code to achieve what I am looking for?