MyArmM&C add get_joints_coord interface

pymycobot/myarm_api.py

@@ -261,6 +261,13 @@ def get_joints_angle(self):
         """
         return self._mesg(ProtocolCode.GET_ANGLES, has_reply=True)
 
+    def get_joints_coord(self):
+        """Get the coordinates
+        Returns:
+            list[float] * 6: joints angle
+        """
+        return self._mesg(ProtocolCode.GET_JOINTS_COORD, has_reply=True)
+
     def set_servo_calibrate(self, servo_id):
         """Sets the zero position of the specified servo motor
 

pymycobot/myarmc.py

@@ -28,9 +28,3 @@ def is_tool_btn_clicked(self, mode=1):
 
         return self._mesg(ProtocolCode.GET_ATOM_PRESS_STATUS, mode, has_reply=True)
 
-    def get_joints_coord(self):
-        """Get the coordinates
-        Returns:
-            list[float] * 6: joints angle
-        """
-        return self._mesg(ProtocolCode.GET_JOINTS_COORD, has_reply=True)

pymycobot/pro630.py

@@ -44,8 +44,10 @@ def _mesg(self, genre, *args, **kwargs):
         read_data = super(Pro630, self)._mesg(genre, *args, **kwargs)
         if read_data is None:
             return None
-        elif read_data == 1:
-            return 1
+
+        if isinstance(read_data, int):
+            return read_data
+
         valid_data, data_len = read_data
         res = []
         if data_len in [8, 12, 14, 16, 26, 60]:
@@ -60,6 +62,14 @@ def _mesg(self, genre, *args, **kwargs):
             elif data_len == 6 and genre in [ProtocolCode.GET_SERVO_STATUS, ProtocolCode.GET_SERVO_VOLTAGES, ProtocolCode.GET_SERVO_CURRENTS]:
                 for i in range(data_len):
                     res.append(valid_data[i])
+            elif genre == ProtocolCode.MERCURY_ROBOT_STATUS:
+                res.extend(valid_data[:8])
+                data = valid_data[8:20]
+                for header_i in range(0, len(data), 2):
+                    one = data[header_i: header_i + 2]
+                    res.append(self._decode_int16(one))
+                res.extend(valid_data[20:26])
+                return res
             else:
                 for header_i in range(0, len(valid_data), 2):
                     one = valid_data[header_i : header_i + 2]
@@ -140,7 +150,8 @@ def _mesg(self, genre, *args, **kwargs):
                     data1 = self._decode_int8(valid_data[i : i + 1])
                     res.append(0xFF & data1 if data1 < 0 else data1)
             res.append(self._decode_int8(valid_data))
-        if res == []:
+
+        if len(res) == 0:
             return None
 
         if genre in [

pymycobot/pro630client.py

@@ -39,8 +39,10 @@ def _mesg(self, genre, *args, **kwargs):
         read_data = super(Pro630Client, self)._mesg(genre, *args, **kwargs)
         if read_data is None:
             return None
-        elif read_data == 1:
-            return 1
+
+        if isinstance(read_data, int):
+            return read_data
+
         valid_data, data_len = read_data
         res = []
         if data_len in [8, 12, 14, 16, 26, 60]:
@@ -55,6 +57,14 @@ def _mesg(self, genre, *args, **kwargs):
             elif data_len == 6 and genre in [ProtocolCode.GET_SERVO_STATUS, ProtocolCode.GET_SERVO_VOLTAGES, ProtocolCode.GET_SERVO_CURRENTS]:
                 for i in range(data_len):
                     res.append(valid_data[i])
+            elif genre == ProtocolCode.MERCURY_ROBOT_STATUS:
+                res.extend(valid_data[:8])
+                data = valid_data[8:20]
+                for header_i in range(0, len(data), 2):
+                    one = data[header_i: header_i + 2]
+                    res.append(self._decode_int16(one))
+                res.extend(valid_data[20:26])
+                return res
             else:
                 for header_i in range(0, len(valid_data), 2):
                     one = valid_data[header_i : header_i + 2]
@@ -135,7 +145,8 @@ def _mesg(self, genre, *args, **kwargs):
                     data1 = self._decode_int8(valid_data[i : i + 1])
                     res.append(0xFF & data1 if data1 < 0 else data1)
             res.append(self._decode_int8(valid_data))
-        if res == []:
+
+        if len(res) == 0:
             return None
 
         if genre in [