[feat] support new version vacuum gripper

1. support vacuum gripper with contact connection

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.14.6): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -978,7 +978,7 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 
 > Get the digital value of the specified Controller GPIO  
 >   
-> :param ionum: 0~15 or None(both 0~15), default is None  
+> :param ionum: 0~7(CI0~CI7), 8~15(DI0~DI7) or None(both 0~15), default is None  
 > :return: tuple((code, value or value list)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -1619,6 +1619,19 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __get_traj_speeding__(self, rate):
+
+> Obtain the joint and velocity values of joint overspeed during trajectory recording  
+> :param rate: speed rate, It can only be 1/2/4  
+>   
+> :return: tuple((code, speed_info)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     speed_info: [result_code, servo_id, servo_speed]  
+>                 result_code: 0：Pass, -1: Fail, >0: abnormal(1:Trajectory not loaded or incorrect status;2:The input magnification is incorrect)  
+>                 servo_id: Effective only when result_code is -1  
+>                 servo_speed: Effective only when result_code is -1
+
+
 #### def __get_trajectories__(self):
 
 > get the trajectories  
@@ -2311,6 +2324,14 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 > :param path: app path
 
 
+#### def __run_gcode_app__(self, path, **kwargs):
+
+> Run gcode project file by xArmStudio software  
+> :param path: gcode file path  
+>   
+> :return: code, only when code is 0, the returned result is correct.
+
+
 #### def __run_gcode_file__(self, path, **kwargs):
 
 > Run the gcode file  
@@ -2508,7 +2529,7 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 
 > Set the digital value of the specified Controller GPIO  
 >   
-> :param ionum: 0~15  
+> :param ionum: 0~7(CO0~CO7), 8~15(DO0~DO7)  
 > :param value: value  
 > :param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)  
 > :param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)  
@@ -2521,7 +2542,7 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 #### def __set_cgpio_digital_input_function__(self, ionum, fun):
 
 > Set the digital input functional mode of the Controller GPIO  
-> :param ionum: 0~15  
+> :param ionum: 0~7(CI0~CI7), 8~15(DI0~DI7)  
 > :param fun: functional mode  
 >     0: general input  
 >     1: external emergency stop  
@@ -2537,7 +2558,7 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 #### def __set_cgpio_digital_output_function__(self, ionum, fun):
 
 > Set the digital output functional mode of the specified Controller GPIO  
-> :param ionum: 0~15  
+> :param ionum: 0~7(CO0~CO7), 8~15(DO0~DO7)  
 > :param fun: functionnal mode  
 >     0: general output  
 >     1: emergency stop  
@@ -3565,7 +3586,7 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 >         code >= 0: the last_used_tcp_speed/last_used_tcp_acc will be modified
 
 
-#### def __set_vacuum_gripper__(self, on, wait=False, timeout=3, delay_sec=None, sync=True):
+#### def __set_vacuum_gripper__(self, on, wait=False, timeout=3, delay_sec=None, sync=True, hardware_version=1):
 
 > Set vacuum gripper state  
 >   
@@ -3578,6 +3599,9 @@ xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrappe
 > :param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)  
 >     1. only available if firmware_version >= 2.4.101  
 > &ensp;&ensp;&ensp;&ensp;2. only available if delay_sec <= 0  
+> :param hardware_version: hardware version  
+> &ensp;&ensp;&ensp;&ensp;1: Plug-in Connection, default  
+> &ensp;&ensp;&ensp;&ensp;2: Contact Connection  
 > :return: code  
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 

xarm/core/wrapper/uxbus_cmd.py

@@ -566,7 +566,7 @@ def move_circle(self, pose1, pose2, mvvelo, mvacc, mvtime, percent, only_check_t
 
     def move_circle_common(self, pose1, pose2, mvvelo, mvacc, mvtime, percent, coord=0, is_axis_angle=False, only_check_type=0, feedback_key=None):
         """
-        通用指令，固件1.10.0开始支持 
+        通用指令, 固件1.10.0开始支持 
         """
         txdata = [0] * 16
         for i in range(6):

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.14.5'
+__version__ = '1.14.6'

xarm/wrapper/xarm_api.py

@@ -1925,7 +1925,7 @@ def get_vacuum_gripper(self):
         """
         return self._arm.get_suction_cup()
 
-    def set_vacuum_gripper(self, on, wait=False, timeout=3, delay_sec=None, sync=True):
+    def set_vacuum_gripper(self, on, wait=False, timeout=3, delay_sec=None, sync=True, hardware_version=1):
         """
         Set vacuum gripper state
 
@@ -1938,10 +1938,13 @@ def set_vacuum_gripper(self, on, wait=False, timeout=3, delay_sec=None, sync=Tru
         :param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
             1. only available if firmware_version >= 2.4.101
             2. only available if delay_sec <= 0
+        :param hardware_version: hardware version
+            1: Plug-in Connection, default
+            2: Contact Connection
         :return: code
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
         """
-        return self._arm.set_suction_cup(on, wait=wait, timeout=timeout, delay_sec=delay_sec, sync=sync)
+        return self._arm.set_suction_cup(on, wait=wait, timeout=timeout, delay_sec=delay_sec, sync=sync, hardware_version=hardware_version)
 
     def get_cgpio_digital(self, ionum=None):
         """

xarm/x3/base.py

@@ -932,10 +932,10 @@ def connect(self, port=None, baudrate=None, timeout=None, axis=None, arm_type=No
                 self._report_connect_changed_callback()
             else:
                 if SerialPort is None:
-                    raise Exception('serial module is not found, if you want to connect to xArm with serial, please `pip install pyserial==3.4`')
+                    raise Exception('serial module is not found, if you want to connect to xArm with serial, please `pip install pyserial>=3.4`')
                 self._stream = SerialPort(self._port)
                 if not self.connected:
-                    raise Exception('connect serail failed')
+                    raise Exception('connect serial failed')
                 self._report_error_warn_changed_callback()
 
                 self.arm_cmd = UxbusCmdSer(self._stream)

xarm/x3/gpio.py

@@ -336,21 +336,21 @@ def get_tgpio_li_state(self, Ti_Li, timeout=3):
     @xarm_wait_until_cmdnum_lt_max
     @xarm_is_ready(_type='set')
     @xarm_is_not_simulation_mode(ret=0)
-    def set_suction_cup(self, on, wait=True, timeout=3, delay_sec=None, sync=True):
+    def set_suction_cup(self, on, wait=True, timeout=3, delay_sec=None, sync=True, hardware_version=1):
         if on:
-            code1 = self.set_tgpio_digital(ionum=0, value=1, delay_sec=delay_sec, sync=sync)
-            code2 = self.set_tgpio_digital(ionum=1, value=0, delay_sec=delay_sec, sync=sync)
+            code1 = self.set_tgpio_digital(ionum=0 if hardware_version == 1 else 3, value=1, delay_sec=delay_sec, sync=sync)
+            code2 = self.set_tgpio_digital(ionum=1 if hardware_version == 1 else 4, value=0, delay_sec=delay_sec, sync=sync)
         else:
-            code1 = self.set_tgpio_digital(ionum=0, value=0, delay_sec=delay_sec, sync=sync)
-            code2 = self.set_tgpio_digital(ionum=1, value=1, delay_sec=delay_sec, sync=sync)
+            code1 = self.set_tgpio_digital(ionum=0 if hardware_version == 1 else 3, value=0, delay_sec=delay_sec, sync=sync)
+            code2 = self.set_tgpio_digital(ionum=1 if hardware_version == 1 else 4, value=1, delay_sec=delay_sec, sync=sync)
         code = code1 if code2 == 0 else code2
         if code == 0 and wait:
             start = time.monotonic()
             code = APIState.SUCTION_CUP_TOUT
             if delay_sec is not None and delay_sec > 0:
                 timeout += delay_sec
             while time.monotonic() - start < timeout:
-                ret = self.get_suction_cup()
+                ret = self.get_suction_cup(hardware_version=hardware_version)
                 if ret[0] == XCONF.UxbusState.ERR_CODE:
                     code = XCONF.UxbusState.ERR_CODE
                     break
@@ -369,8 +369,8 @@ def set_suction_cup(self, on, wait=True, timeout=3, delay_sec=None, sync=True):
         return code
 
     @xarm_is_connected(_type='get')
-    def get_suction_cup(self):
-        return self.get_tgpio_digital(ionum=0)
+    def get_suction_cup(self, hardware_version=1):
+        return self.get_tgpio_digital(ionum=0 if hardware_version == 1 else 3)
 
     @xarm_wait_until_not_pause
     @xarm_wait_until_cmdnum_lt_max
@@ -412,14 +412,14 @@ def config_io_reset_when_stop(self, io_type, on_off):
 
     @xarm_is_connected(_type='set')
     @xarm_is_not_simulation_mode(ret=False)
-    def check_air_pump_state(self, state, timeout=3):
+    def check_air_pump_state(self, state, timeout=3, hardware_version=1):
         start_time = time.monotonic()
         is_first = True
         while is_first or time.monotonic() - start_time < timeout:
             is_first = False
             if not self.connected or self.state == 4:
                 return False
-            ret = self.get_suction_cup()
+            ret = self.get_suction_cup(hardware_version=hardware_version)
             if ret[0] == XCONF.UxbusState.ERR_CODE:
                 return False
             if ret[0] == 0: