[feat] add api set_control_modbus_baudrate

Author: SchoolMater

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.13.28): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.13.30): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -3489,6 +3489,15 @@ xArm-Python-SDK API Documentation (V1.13.28): class XArmAPI in module xarm.wrapp
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
+#### def __set_control_modbus_baudrate__(self, baud):
+
+> Set the modbus baudrate of the control box 
+>   
+> :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000  
+>   
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
 
 #### def __set_timeout__(self, timeout):
 

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.13.29'
+__version__ = '1.13.30'

xarm/wrapper/xarm_api.py

@@ -2880,6 +2880,17 @@ def get_tgpio_modbus_baudrate(self):
             baudrate: the modbus baudrate of the tool gpio
         """
         return self._arm.get_tgpio_modbus_baudrate()
+        
+    def set_control_modbus_baudrate(self, baud):
+        """
+        Set the modbus baudrate of the control box
+
+        :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000
+
+        :return: code
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.set_control_modbus_baudrate(baud)
 
     def getset_tgpio_modbus_data(self, datas, min_res_len=0, host_id=9, is_transparent_transmission=False, use_503_port=False, **kwargs):
         """

xarm/x3/base.py

@@ -2495,7 +2495,13 @@ def get_tgpio_modbus_baudrate(self):
         # if code == 0 and baud_inx < len(self.arm_cmd.BAUDRATES):
         #     self.modbus_baud = self.arm_cmd.BAUDRATES[baud_inx]
         return code, self.modbus_baud
-
+    
+    @xarm_is_connected(_type='set')
+    def set_control_modbus_baudrate(self, baud):
+        code = self.checkset_modbus_baud(baud, check=False, host_id=XCONF.LINEER_TRACK_HOST_ID)
+        self.log_api_info('API -> set_control_modbus_baudrate -> code={}'.format(code), code=code)
+        return code
+    
     def getset_tgpio_modbus_data(self, datas, min_res_len=0, ignore_log=False, host_id=XCONF.TGPIO_HOST_ID, is_transparent_transmission=False, use_503_port=False, **kwargs):
         if not self.connected:
             return APIState.NOT_CONNECTED, []