fix 280、270、260 asynchronous parameter problem

Author: wangWking

pymycobot/mecharm270.py

@@ -124,13 +124,20 @@ def _mesg(self, genre, *args, **kwargs):
         """
         real_command, has_reply, _async = super(
             MechArm270, self)._mesg(genre, *args, **kwargs)
-        if self.thread_lock:
-            with self.lock:
-                result = self._res(real_command, has_reply, genre)
+        if _async:
+            if self.thread_lock:
+                with self.lock:
+                    self._write(self._flatten(real_command))
+            else:
+                self._write(self._flatten(real_command))
+            return None
         else:
-            result = self._res(real_command, has_reply, genre)
-
-        return None if _async else result
+            if self.thread_lock:
+                with self.lock:
+                    result = self._res(real_command, has_reply, genre)
+            else:
+                result = self._res(real_command, has_reply, genre)
+            return result
 
     def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD or genre == ProtocolCode.GET_SSID_PWD:

pymycobot/mecharmsocket.py

@@ -123,9 +123,14 @@ def _mesg(self, genre, *args, **kwargs):
         real_command, has_reply, _async = super(
             MechArmSocket, self)._mesg(genre, *args, **kwargs)
         # [254,...,255]
-        with self.lock:
-            result = self._res(real_command, has_reply, genre)
-        return None if _async else result
+        if _async:
+            with self.lock:
+                self._write(self._flatten(real_command), "socket")
+            return None
+        else:
+            with self.lock:
+                result = self._res(real_command, has_reply, genre)
+            return result
 
     def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD or genre == ProtocolCode.GET_SSID_PWD:

pymycobot/mycobot280.py

@@ -129,13 +129,20 @@ def _mesg(self, genre, *args, **kwargs):
         """
         real_command, has_reply, _async = super(
             MyCobot280, self)._mesg(genre, *args, **kwargs)
-        if self.thread_lock:
-            with self.lock:
-                result = self._res(real_command, has_reply, genre)
+        if _async:
+            if self.thread_lock:
+                with self.lock:
+                    self._write(self._flatten(real_command))
+            else:
+                self._write(self._flatten(real_command))
+            return None
         else:
-            result = self._res(real_command, has_reply, genre)
-
-        return None if _async else result
+            if self.thread_lock:
+                with self.lock:
+                    result = self._res(real_command, has_reply, genre)
+            else:
+                result = self._res(real_command, has_reply, genre)
+            return result
 
     def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD or genre == ProtocolCode.GET_SSID_PWD:

pymycobot/mycobot280socket.py

@@ -125,9 +125,14 @@ def _mesg(self, genre, *args, **kwargs):
         real_command, has_reply, _async = super(
             MyCobot280Socket, self)._mesg(genre, *args, **kwargs)
         # [254,...,255]
-        with self.lock:
-            result = self._res(real_command, has_reply, genre)
-        return None if _async else result
+        if _async:
+            with self.lock:
+                self._write(self._flatten(real_command), "socket")
+            return None
+        else:
+            with self.lock:
+                result = self._res(real_command, has_reply, genre)
+            return result
 
     def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD or genre == ProtocolCode.GET_SSID_PWD:

pymycobot/mypalletizer260.py

@@ -120,10 +120,14 @@ def _mesg(self, genre, *args, **kwargs):
         real_command, has_reply, _async = super(MyPalletizer260, self)._mesg(
             genre, *args, **kwargs
         )
-        with self.lock:
-            result = self._res(real_command, has_reply, genre)
-
-        return None if _async else result
+        if _async:
+            with self.lock:
+                self._write(self._flatten(real_command))
+            return None
+        else:
+            with self.lock:
+                result = self._res(real_command, has_reply, genre)
+            return result
 
     def _res(self, real_command, has_reply, genre):
         self._write(self._flatten(real_command))

pymycobot/mypalletizersocket.py

@@ -86,10 +86,14 @@ def _mesg(self, genre, *args, **kwargs):
         real_command, has_reply, _async = super(
             MyPalletizerSocket, self)._mesg(genre, *args, **kwargs)
         # [254,...,255]
-        with self.lock:
-            result = self._res(real_command, has_reply, genre)
-
-        return None if _async else result
+        if _async:
+            with self.lock:
+                self._write(self._flatten(real_command), "socket")
+            return None
+        else:
+            with self.lock:
+                result = self._res(real_command, has_reply, genre)
+            return result
 
     def _res(self, real_command, has_reply, genre):
         self._write(self._flatten(real_command), "socket")