[feat] Added sync parameter to gpio api to control whether to execute in motion queue

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.14.2): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -686,13 +686,15 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __close_lite6_gripper__(self):
+#### def __close_lite6_gripper__(self, sync=True):
 
 > Close the gripper of Lite6 series robotic arms  
 > Note:  
 >     1. only available if firmware_version >= 1.10.0  
 >     2. this API can only be used on Lite6 series robotic arms  
 >   
+> :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  
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -1853,13 +1855,15 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __open_lite6_gripper__(self):
+#### def __open_lite6_gripper__(self, sync=True):
 
 > Open the gripper of Lite6 series robotic arms  
 > Note:  
 >     1. only available if firmware_version >= 1.10.0  
 >     2. this API can only be used on Lite6 series robotic arms  
 >   
+> :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  
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -2476,12 +2480,14 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_cgpio_analog__(self, ionum, value):
+#### def __set_cgpio_analog__(self, ionum, value, sync=True):
 
 > Set the analog value of the specified Controller GPIO  
 >   
 > :param ionum: 0 or 1  
 > :param value: value  
+> :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  
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -2498,13 +2504,16 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_cgpio_digital__(self, ionum, value, delay_sec=None):
+#### def __set_cgpio_digital__(self, ionum, value, delay_sec=None, sync=True):
 
 > Set the digital value of the specified Controller GPIO  
 >   
 > :param ionum: 0~15  
 > :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)  
+>     1. only available if firmware_version >= 2.4.101  
+> &ensp;&ensp;&ensp;&ensp;2. only available if delay_sec <= 0  
 > :return: code  
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -2758,7 +2767,7 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 > Set the gripper enable  
 >   
 > :param enable: enable or not  
-> &ensp;Note： such as code = arm.set_gripper_enable(True)  #turn on the Gripper  
+> &ensp;&ensp;&ensp;&ensp;Note: such as code = arm.set_gripper_enable(True)  #turn on the Gripper  
 > :return: code  
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -2768,7 +2777,7 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 > Set the gripper mode  
 >   
 > :param mode: 0: location mode  
-> &ensp;Note： such as code = arm.set_gripper_mode(0)  
+> &ensp;&ensp;&ensp;&ensp;Note: such as code = arm.set_gripper_mode(0)  
 > :return: code  
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -3455,13 +3464,16 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_tgpio_digital__(self, ionum, value, delay_sec=None):
+#### def __set_tgpio_digital__(self, ionum, value, delay_sec=None, sync=True):
 
 > Set the digital value of the specified Tool GPIO  
 >   
 > :param ionum: 0 or 1  
 > :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)  
+> &ensp;&ensp;&ensp;&ensp;1. only available if firmware_version >= 2.4.101  
+> &ensp;&ensp;&ensp;&ensp;2. only available if delay_sec <= 0  
 > :return: code  
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -3553,7 +3565,7 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 > &ensp;&ensp;&ensp;&ensp;&ensp;&ensp;&ensp;&ensp;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):
+#### def __set_vacuum_gripper__(self, on, wait=False, timeout=3, delay_sec=None, sync=True):
 
 > Set vacuum gripper state  
 >   
@@ -3563,6 +3575,9 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 > :param wait: wait or not, default is False  
 > :param timeout: wait time, unit:second, default is 3s  
 > :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)  
+> &ensp;&ensp;&ensp;&ensp;1. only available if firmware_version >= 2.4.101  
+> &ensp;&ensp;&ensp;&ensp;2. only available if delay_sec <= 0  
 > :return: code  
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -3593,13 +3608,15 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
 > &ensp;&ensp;&ensp;&ensp;code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __stop_lite6_gripper__(self):
+#### def __stop_lite6_gripper__(self, sync=True):
 
 > Stop the gripper of Lite6 series robotic arms  
 > Note:  
 > &ensp;&ensp;&ensp;&ensp;1. only available if firmware_version >= 1.10.0  
 > &ensp;&ensp;&ensp;&ensp;2. this API can only be used on Lite6 series robotic arms  
 >   
+> :param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)  
+> &ensp;&ensp;&ensp;&ensp;1. only available if firmware_version >= 2.4.101  
 > :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

@@ -110,9 +110,13 @@ def get_nu8(self, funcode, num):
         return self.recv_modbus_response(funcode, ret, num, self._G_TOUT)
 
     @lock_require
-    def set_nu16(self, funcode, datas, num):
+    def set_nu16(self, funcode, datas, num, additional_bytes=None):
         hexdata = convert.u16s_to_bytes(datas, num)
-        ret = self.send_modbus_request(funcode, hexdata, num * 2)
+        if additional_bytes is not None:
+            hexdata += additional_bytes
+            ret = self.send_modbus_request(funcode, hexdata, num * 2 + len(additional_bytes))
+        else:
+            ret = self.send_modbus_request(funcode, hexdata, num * 2)
         if ret == -1:
             return [XCONF.UxbusState.ERR_NOTTCP]
         ret = self.recv_modbus_response(funcode, ret, 0, self._S_TOUT)
@@ -679,11 +683,15 @@ def gripper_clean_err(self):
         return self.gripper_addr_w16(XCONF.ServoConf.RESET_ERR, 1)
 
     @lock_require
-    def tgpio_addr_w16(self, addr, value, bid=XCONF.TGPIO_HOST_ID):
+    def tgpio_addr_w16(self, addr, value, bid=XCONF.TGPIO_HOST_ID, additional_bytes=None):
         txdata = bytes([bid])
         txdata += convert.u16_to_bytes(addr)
         txdata += convert.fp32_to_bytes(value)
-        ret = self.send_modbus_request(XCONF.UxbusReg.TGPIO_W16B, txdata, 7)
+        if additional_bytes is not None:
+            txdata += additional_bytes
+            ret = self.send_modbus_request(XCONF.UxbusReg.TGPIO_W16B, txdata, 7 + len(additional_bytes))
+        else:
+            ret = self.send_modbus_request(XCONF.UxbusReg.TGPIO_W16B, txdata, 7)
         if ret == -1:
             return [XCONF.UxbusState.ERR_NOTTCP] * (7 + 1)
 
@@ -734,7 +742,7 @@ def tgpio_get_digital(self):
         value[4] = (ret[1] & 0x0008) >> 3
         return value
 
-    def tgpio_set_digital(self, ionum, value):
+    def tgpio_set_digital(self, ionum, value, sync=None):
         tmp = 0
         if ionum == 1:
             tmp = tmp | 0x0100
@@ -758,7 +766,10 @@ def tgpio_set_digital(self, ionum, value):
                 tmp = tmp | 0x0008
         else:
             return [-1, -1]
-        return self.tgpio_addr_w16(XCONF.ServoConf.DIGITAL_OUT, tmp)
+        if sync is not None:
+            return self.tgpio_addr_w16(XCONF.ServoConf.DIGITAL_OUT, tmp, additional_bytes=bytes([sync]))
+        else:
+            return self.tgpio_addr_w16(XCONF.ServoConf.DIGITAL_OUT, tmp)        
 
     def tgpio_get_analog1(self):
         ret = self.tgpio_addr_r16(XCONF.ServoConf.ANALOG_IO1)
@@ -1014,30 +1025,39 @@ def cgpio_get_analog2(self):
         value[1] = ret[1] * 10.0 / 4095.0
         return value
 
-    def cgpio_set_auxdigit(self, ionum, value):
+    def cgpio_set_auxdigit(self, ionum, value, sync=None):
         tmp = [0] * 2
         if ionum > 7:
             tmp[1] = tmp[1] | (0x0100 << (ionum - 8))
             if value:
                 tmp[1] = tmp[1] | (0x0001 << (ionum - 8))
+            if sync is not None:
+                return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 2, additional_bytes=bytes([sync]))
+            else:
+                return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 2)
         else:
             tmp[0] = tmp[0] | (0x0100 << ionum)
             if value:
                 tmp[0] = tmp[0] | (0x0001 << ionum)
-        return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 2 if ionum > 7 else 1)
-        # tmp = [0] * 1
-        # tmp[0] = tmp[0] | (0x0100 << ionum)
-        # if value:
-        #     tmp[0] = tmp[0] | (0x0001 << ionum)
-        # return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 1)
-
-    def cgpio_set_analog1(self, value):
+            if sync is not None:
+                return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 1, additional_bytes=bytes([sync]))
+            else:
+                return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 1)
+        # return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_DIGIT, tmp, 2 if ionum > 7 else 1)
+
+    def cgpio_set_analog1(self, value, sync=None):
         txdata = [int(value / 10.0 * 4095.0)]
-        return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_ANALOG1, txdata, 1)
+        if sync is not None:
+            return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_ANALOG1, txdata, 1, additional_bytes=bytes([sync]))
+        else:
+            return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_ANALOG1, txdata, 1)
 
-    def cgpio_set_analog2(self, value):
+    def cgpio_set_analog2(self, value, sync=None):
         txdata = [int(value / 10.0 * 4095.0)]
-        return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_ANALOG2, txdata, 1)
+        if sync is not None:
+            return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_ANALOG2, txdata, 1, additional_bytes=bytes([sync]))
+        else:
+            return self.set_nu16(XCONF.UxbusReg.CGPIO_SET_ANALOG2, txdata, 1)
 
     def cgpio_set_infun(self, num, fun):
         txdata = [int(num), int(fun)]

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.14.1'
+__version__ = '1.14.2'