[feat] add api get_iden_status

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.13.26): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.13.28): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -1200,6 +1200,17 @@ xArm-Python-SDK API Documentation (V1.13.26): class XArmAPI in module xarm.wrapp
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __get_iden_status__(self):
+
+> Get iden status  
+> Note:  
+>     Only available if firmware_version >= 2.3.0  
+>   
+> :return: tuple((code, status)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     status: 1 means in identifying, 0 means not in identifying
+
+
 #### def __get_initial_point__(self):
 
 > Get the initial point from studio  

xarm/core/wrapper/uxbus_cmd.py

@@ -1392,7 +1392,7 @@ def get_common_info(self, param_type):
         data = [0] * 2
         data[0] = ret[0]
         if ret[0] != XCONF.UxbusState.ERR_NOTTCP:
-            if param_type == 1:
+            if param_type == 1 or param_type == 2:
                 data[1] = ret[1]
             elif param_type == 50:
                 data[1] = convert.bytes_to_fp32(ret[1:])

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.13.27'
+__version__ = '1.13.28'

xarm/wrapper/xarm_api.py

@@ -4057,6 +4057,18 @@ def get_poe_status(self):
             status: 1 means poe is valid, 0 means poe is invalid
         """
         return self._arm.get_common_info(1)
+
+    def get_iden_status(self):
+        """
+        Get iden status
+        Note:
+            Only available if firmware_version >= 2.3.0
+
+        :return: tuple((code, status)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+            status: 1 means in identifying, 0 means not in identifying
+        """
+        return self._arm.get_common_info(2)
 
     def get_c31_error_info(self):
         """