fix(MyAGVPro): The issue that Bluetooth address matching fails is fixed (#178)

* add MyCobot 280 X5PI API

* add MyCobot 280 X5 PI doc

* Fix MyCobot 280 X5 Pi doc errors

* add MyCobot 280 X5 PI sokcet sever&client

* MyCobot 280 X5 PI server compatible with python2

* rename MyCobot280x5pi to MyCobot280RDKX5

* fix MyArmMControl bugs

* fix MyArmC bugs

* fix myArmM&C demo bug

* update M&C demo

* fix MyCobot280 rdkx5 bug

* fix MyArmM&C bugs

* fix bugs

* fix bug

* fix ThreeHand api bug

* Fixed the issue that Pro630 could not read data

* fix MyArmM bug

* MyArmM&C adds get_joints_coord interface

* fix Pro630 bug

* fix Pro630 bugs

* Fixed the pro630 socket communication bug

* Optimize MyCobot280 RDK X5 interface parameter error prompt

* Optimized the way MyAGV reads MCU data

* feat(myagvpro): add myagvpro api

* fix(ConveyorApi):Fix the problem that no data is returned

* feat(MyAGVPro): Adapt to Bluetooth and socket TCP communication modes

* docs(MyAGVPro): Format the document

* docs(MyAGVPro): Documentation to increase use cases

* docs(MyAGVPro): rename MyAGVPro_zh.md

* docs(MyAGVPro): Update the serial port

* fix(MyArmM): Correction of joint limit and motor code value range

* feat(MyAGVPro): Add get_emergency_stop_state api

* feat(MyAGVPro): Add get_emergency_stop_state api

* refactor(MyAGVPro): rename get_emergency_stop_state to get_estop_state

* feat(MyAgv): Added setting/reading automatic report status interface

* fix(M750):Updated M750 Swing Limit

* fix(MyAGVPro): The issue that Bluetooth address matching fails is fixed

---------

Co-authored-by: Mrkun5018 <[email protected]>

Author: K-Shuffler

pymycobot/myagvpro.py

@@ -49,7 +49,10 @@ class ProtocolCode(enum.Enum):
     GET_BLUETOOTH_ADDRESS = 0x53
 
     def equal(self, other):
-        return self.value == other.value
+        if isinstance(other, ProtocolCode):
+            return self.value == other.value
+        else:
+            return self.value == other
 
 
 PLAINTEXT_REPLY_PROTOCOL_CODE = (
@@ -117,6 +120,8 @@ def _match_protocol_data(self, genre, timeout=0.1):
                 reply_data = self._read_plaintext_data(timeout=timeout)
             else:
                 reply_data = self._read_protocol_data(timeout=timeout)
+                if not genre.equal(reply_data[3]):  # check genre
+                    continue
 
             if len(reply_data) == 0:
                 continue
@@ -220,7 +225,7 @@ def _parsing_data(cls, genre, reply_data):
             return data[0] if len(data) == 1 else None
 
         if ProtocolCode.GET_BLUETOOTH_ADDRESS.equal(genre):
-            data = re.findall(r'AGVPro:BLE:MAC:(.*)', reply_data)
+            data = re.findall(r'AGVPro:BLE:MAC:(.*);\r\n', reply_data)
             return data[0] if len(data) == 1 else None
 
         if ProtocolCode.GET_MOTOR_STATUS.equal(genre):
@@ -360,6 +365,26 @@ def is_power_on(self):
         """
         return self._merge(ProtocolCode.GET_POWER_STATE)
 
+    def _basic_move(self, vertical_speed=0.0, horizontal_speed=0.0, rotate_speed=0.0):
+        """ Basic moving control
+
+        Args:
+            vertical_speed: +-0.01 ~ +-1.50m/s
+            horizontal_speed: +-0.01 ~ +-1.00m/s
+            rotate_speed:
+
+        Returns:
+
+        """
+        return self._merge(
+            ProtocolCode.AGV_MOTION_CONTROL,
+            [
+                int(vertical_speed * 100),
+                int(horizontal_speed * 100),
+                int(rotate_speed * 100)
+            ]
+        )
+
     def move_forward(self, speed):
         """Pan the robot forward
 
@@ -390,6 +415,7 @@ def move_backward(self, speed):
 
         if self.get_significant_bit(speed) > 2:
             raise ValueError(f"speed must be a number with 2 significant bits, but got {speed}")
+
         return self._merge(ProtocolCode.AGV_MOTION_CONTROL, [int(speed * 100 * -1)])
 
     def move_left_lateral(self, speed):