fix bug

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v3.3.2 (2023-12-15)
+
+- release v3.3.3
+- fix bug
+
 ## v3.3.2 (2023-12-5)
 
 - release v3.3.2

docs/README.md

@@ -934,23 +934,25 @@ Set the terminal atom io status
   - `gripper_type` (`int`):
     - 1 - Adaptive gripper.
     - 3 - Parallel gripper, this parameter can be omitted, default to adaptive gripper
+    - 4 - Flexible gripper
 
 - **Return**: gripper value (int)
 
 ### set_gripper_state
 
-- **Prototype**: `set_gripper_state(flag, speed, _type=None)`
+- **Prototype**: `set_gripper_state(flag, speed, _type_1=None)`
 
 - **Description**: Set gripper switch state
 
 - **Parameters**
 
   - `flag` (`int`): 0 - open, 1 - close
   - `speed` (`int`): 0 ~ 100
-  - `_type` (`int`): 
+  - `_type_1` (`int`): 
     - 1- Adaptive gripper, 
     - 2 - 5 finger dexterous hand, 
     - 3 - Parallel gripper, this parameter can be omitted, default to adaptive gripper
+    - 4 - Flexible gripper
 
 ### set_gripper_value
 
@@ -965,6 +967,7 @@ Set the terminal atom io status
   - `gripper_type` (int): 
     - 1 - Adaptive gripper
     - 3 - Parallel gripper, this parameter can be omitted, default to adaptive gripper
+    - 4 - Flexible gripper
 
 <!-- ### set_gripper_ini
 

pymycobot/__init__.py

@@ -23,6 +23,7 @@
 from pymycobot.mercury import Mercury
 from pymycobot.myagv import MyAgv
 from pymycobot.mecharmsocket import MechArmSocket
+from pymycobot.mercurychassis import MercuryChassis
 
 __all__ = [
     "MyCobot",
@@ -44,15 +45,16 @@
     "Mercury",
     "MyAgv",
     "MechArmSocket",
-    "MyArmSocket"
+    "MyArmSocket",
+    "MercuryChassis"
 ]
 
 
 if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.3.2"
+__version__ = "3.3.3"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -540,13 +540,13 @@ def read(self, genre, method=None, command=None, _class=None):
         while True and time.time() - t < wait_time:
             data = self._serial_port.read()
             k += 1
-            # if _class == "Mercury":
-            #     if data_len == 3:
-            #         datas += data
-            #         crc = self._serial_port.read(2)
-            #         if DataProcessor.crc_check(datas) == [v for v in crc]:
-            #             datas+=crc
-            #             break
+            if _class == "Mercury":
+                if data_len == 3:
+                    datas += data
+                    crc = self._serial_port.read(2)
+                    if DataProcessor.crc_check(datas) == [v for v in crc]:
+                        datas+=crc
+                        break
             if data_len == 1 and data == b"\xfa":
                 datas += data
                 if [i for i in datas] == command:

pymycobot/error.py

@@ -69,10 +69,10 @@ def check_0_or_1(parameter, value, range_data, value_type, exception_class, _typ
     check_value_type(parameter, value_type, exception_class, _type)
     if value not in range_data:
         error = "The data supported by parameter {} is ".format(parameter)
-        len = len(range_data)
-        for idx in range(len):
+        lens = len(range_data)
+        for idx in range(lens):
             error += str(range_data[idx])
-            if idx != len - 1:
+            if idx != lens - 1:
                 error += " or "
         error += ", but the received value is {}".format(value)
         raise exception_class(error)
@@ -110,7 +110,11 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
                     % value
                 )
         elif parameter == 'flag':
-            check_0_or_1(parameter, value, [0, 1, 10], value_type, exception_class, int)
+            check_0_or_1(parameter, value, [0, 1, 254], value_type, exception_class, int)
+        elif parameter == 'gripper_type':
+            check_0_or_1(parameter, value, [1, 3, 4], value_type, exception_class, int)
+        elif parameter == '_type_1':
+            check_0_or_1(parameter, value, [1, 2, 3, 4], value_type, exception_class, int)
             # if value not in [0, 1, 10]:
             #     raise exception_class("The data supported by parameter {} is 0 or 1 or 10, but the received value is {}".format(parameter, value))
         elif parameter == 'gripper_value':

pymycobot/generate.py

@@ -123,14 +123,13 @@ def _mesg(self, genre, *args, **kwargs):
                 LEN,
                 genre,
             ]
-        # if command_data:
-        #     command.extend(command_data)
-        # if self.__class__.__name__ == "Mercury":
-        #     command[2] += 1
-        #     command.extend(self.crc_check(command))
-        command.extend(command_data)
-        # else:
-        command.append(ProtocolCode.FOOTER)
+        if command_data:
+            command.extend(command_data)
+        if self.__class__.__name__ == "Mercury":
+            command[2] += 1
+            command.extend(self.crc_check(command))
+        else:
+            command.append(ProtocolCode.FOOTER)
 
         real_command = self._flatten(command)
         has_reply = kwargs.get("has_reply", False)
@@ -696,30 +695,42 @@ def set_pwm_output(self, channel, frequency, pin_val):
         """
         return self._mesg(ProtocolCode.SET_PWM_OUTPUT, channel, [frequency], pin_val)
 
-    def get_gripper_value(self, _type=None):
+    def get_gripper_value(self, gripper_type=None):
         """Get the value of gripper.
+        
+        Args:
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper
+                4: Flexible gripper
 
         Return: 
             gripper value (int)
         """
-        if _type is None:
+        self.calibration_parameters(class_name = self.__class__.__name__, gripper_type=gripper_type)
+        if gripper_type is None:
             return self._mesg(ProtocolCode.GET_GRIPPER_VALUE, has_reply=True)
         else:
-            return self._mesg(ProtocolCode.GET_GRIPPER_VALUE, _type, has_reply=True)
+            return self._mesg(ProtocolCode.GET_GRIPPER_VALUE, gripper_type, has_reply=True)
 
 
-    def set_gripper_state(self, flag, speed, _type):
+    def set_gripper_state(self, flag, speed, _type_1=None):
         """Set gripper switch state
 
         Args:
-            flag  (int): 0 - open, 1 - close, 10 - release
+            flag  (int): 0 - open, 1 - close, 254 - release
             speed (int): 1 ~ 100
-        """
-        self.calibration_parameters(class_name = self.__class__.__name__, flag=flag, speed=speed, _type=_type)
-        if _type is None:
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+        """
+        self.calibration_parameters(class_name = self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1)
+        if _type_1 is None:
             return self._mesg(ProtocolCode.SET_GRIPPER_STATE, flag, speed)
         else:
-            return self._mesg(ProtocolCode.SET_GRIPPER_STATE, flag, speed, _type)
+            return self._mesg(ProtocolCode.SET_GRIPPER_STATE, flag, speed, _type_1)
 
 
     def set_gripper_value(self, gripper_value, speed, gripper_type=None):
@@ -728,9 +739,13 @@ def set_gripper_value(self, gripper_value, speed, gripper_type=None):
         Args:
             gripper_value (int): 0 ~ 100
             speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
         """
         if gripper_type is not None:
-            self.calibration_parameters(class_name = self.__class__.__name__, gripper_value=gripper_value, speed=speed, gripper_type=gripper_type)
+            self.calibration_parameters(class_name = self.__class__.__name__, gripper_value=gripper_value, speed=speed, _type=gripper_type)
             return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, gripper_value, speed, gripper_type)
         else:
             return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, gripper_value, speed)

pymycobot/mercurychassis.py

@@ -6,39 +6,39 @@
 class MercuryChassis:
     def __init__(self):
         self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self._sock.connect(("192.168.99.102", 9000))
-        self.recv = threading.Thread(self.is_move_end, daemon=True)
+        self._sock.connect(("192.168.123.167", 9000))
+        self.recv = threading.Thread(target=self.check_move_end, daemon=True)
         self.recv.start()
         self.move_end = False
 
-    def is_move_end(self):
+    def check_move_end(self):
         while True:
             data = self._sock.recv(1024)
-            data = json.load(data)
-            key = data.keys()[0]
-            self.move_end = key["return"]
+            print(data)
+            data = json.loads(data)
+            self.move_end = data
 
-    @property
-    def move_end(self):
+    # @property
+    def is_move_end(self):
         return self.move_end
 
-    def go_straight(self, speed=0.5, exercise_duration=5):
+    def go_straight(self, speed=0.25, exercise_duration=5):
         command = {"goStraight": {"time": exercise_duration, "speed": speed}}
-        self._sock.sendall(json.dump(command))
+        self._sock.sendall(json.dumps(command).encode())
 
-    def go_back(self, speed=0.5, exercise_duration=5):
+    def go_back(self, speed=0.25, exercise_duration=5):
         command = {"goBack": {"time": exercise_duration, "speed": speed}}
-        self._sock.sendall(json.dump(command))
+        self._sock.sendall(json.dumps(command).encode())
 
     def turn_left(self, speed=0.5, exercise_duration=5):
         command = {"turnLeft": {"time": exercise_duration, "speed": speed}}
-        self._sock.sendall(json.dump(command))
+        self._sock.sendall(json.dumps(command).encode())
 
-    def go_straight(self, speed=0.5, exercise_duration=5):
+    def turn_right(self, speed=0.5, exercise_duration=5):
         command = {"turnRight": {"time": exercise_duration, "speed": speed}}
-        self._sock.sendall(json.dump(command))
+        self._sock.sendall(json.dumps(command).encode())
 
     def stop(self):
         command = {"stop": True}
-        self._sock.sendall(json.dump(command))
+        self._sock.sendall(json.dumps(command).encode())