[fix] fix the return data format of get_c23_error_info/get_c38_error_info

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.13.21): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.13.26): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -905,7 +905,7 @@ xArm-Python-SDK API Documentation (V1.13.21): class XArmAPI in module xarm.wrapp
 >   
 > :return: tuple((code, err_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.  
->     err_info: [servo_id, angle]
+>     err_info: [(servo_id, angle), ...]
 
 
 #### def __get_c24_error_info__(self, is_radian=None):
@@ -949,7 +949,7 @@ xArm-Python-SDK API Documentation (V1.13.21): class XArmAPI in module xarm.wrapp
 >   
 > :return: tuple((code, err_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.  
->     err_info: [servo_id, angle]
+>     err_info: [(servo_id, angle), ...]
 
 
 #### def __get_c60_error_info__(self):

xarm/core/comm/base.py

@@ -197,7 +197,7 @@ def recv_report_proc(self):
                                 buffer = buffer[233:]
                                 continue
 
-                        if convert.bytes_to_u32(buffer[0:4]) != size:
+                        if convert.bytes_to_u32(buffer[0:4]) != size and not (size_is_not_confirm and size == 245 and convert.bytes_to_u32(buffer[0:4]) == 233):
                             logger.error('report data error, close, length={}, size={}'.format(convert.bytes_to_u32(buffer[0:4]), size))
                             break
 

xarm/core/wrapper/uxbus_cmd.py

@@ -1400,12 +1400,15 @@ def get_common_info(self, param_type):
                 data[1] = ret[1]
                 data.append(convert.bytes_to_fp32(ret[2:6]))
                 data.append(convert.bytes_to_fp32(ret[6:10]))
-            elif param_type in [102, 103, 104, 106]:
+            elif param_type in [102, 104]:
                 data[1] = ret[1]
                 data.append(convert.bytes_to_fp32(ret[2:]))
             elif param_type == 105:
                 data[1] = convert.bytes_to_fp32(ret[1:])
                 data.append(convert.bytes_to_fp32(ret[5:]))
+            elif param_type in [103, 106]:
+                data[1] = ret[1]
+                data.extend(convert.bytes_to_fp32s(ret[2:], 7))
             else:
                 data[0] = XCONF.UxbusState.ERR_PARAM
         return data

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.13.25'
+__version__ = '1.13.26'

xarm/wrapper/xarm_api.py

@@ -4083,8 +4083,7 @@ def get_c37_error_info(self, is_radian=None):
         ret = self._arm.get_common_info(102, return_val=False)
         if ret[0] == 0 and len(ret) > 1 and len(ret[1]) > 1:
             is_rad = self._is_radian if is_radian is None else is_radian
-            if not is_rad:
-                ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
+            ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
         return ret
 
     def get_c23_error_info(self, is_radian=None):
@@ -4095,13 +4094,18 @@ def get_c23_error_info(self, is_radian=None):
 
         :return: tuple((code, err_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.
-            err_info: [servo_id, angle]
+            err_info: [(servo_id, angle), ...]
         """
         ret = self._arm.get_common_info(103, return_val=False)
         if ret[0] == 0 and len(ret) > 1 and len(ret[1]) > 1:
             is_rad = self._is_radian if is_radian is None else is_radian
-            if not is_rad:
-                ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
+            err_info = []
+            bits = ret[1][0]
+            for i in range(self.axis):
+                if (bits >> i) & 0x01:
+                    err_info.append((i + 1, ret[1][i+1] if is_rad else math.degrees(ret[1][i+1])))
+            return 0, err_info
+            # ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
         return ret
 
     def get_c24_error_info(self, is_radian=None):
@@ -4117,8 +4121,7 @@ def get_c24_error_info(self, is_radian=None):
         ret = self._arm.get_common_info(104, return_val=False)
         if ret[0] == 0 and len(ret) > 1 and len(ret[1]) > 1:
             is_rad = self._is_radian if is_radian is None else is_radian
-            if not is_rad:
-                ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
+            ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
         return ret
 
     def get_c60_error_info(self):
@@ -4142,11 +4145,16 @@ def get_c38_error_info(self, is_radian=None):
 
         :return: tuple((code, err_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.
-            err_info: [servo_id, angle]
+            err_info: [(servo_id, angle), ...]
         """
         ret = self._arm.get_common_info(106, return_val=False)
         if ret[0] == 0 and len(ret) > 1 and len(ret[1]) > 1:
             is_rad = self._is_radian if is_radian is None else is_radian
-            if not is_rad:
-                ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
+            err_info = []
+            bits = ret[1][0]
+            for i in range(self.axis):
+                if (bits >> i) & 0x01:
+                    err_info.append((i + 1, ret[1][i+1] if is_rad else math.degrees(ret[1][i+1])))
+            return 0, err_info
+            # ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
         return ret