From e559510a9acd0491e2ecb17efb8deef32c197346 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Thu, 27 Nov 2025 14:40:38 +0800
Subject: [PATCH 1/4] fix(280-api):Fixed an issue where the get_servo_data(4,
 85) interface could not read servo parameters on 280 PI and JN version
 machines.

---
 pymycobot/common.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/pymycobot/common.py b/pymycobot/common.py
index 28a2cb2..09573ea 100644
--- a/pymycobot/common.py
+++ b/pymycobot/common.py
@@ -1198,7 +1198,17 @@ def read(self, genre, method=None, command=None, _class=None, timeout=None, real
                     continue
                 break
             elif len(datas) == 2:
+                if data == b'\xfe':
+                    datas += data
+                    data_len = -1
+                else:
+                    data_len = struct.unpack("b", data)[0]
+                    datas += data
+            elif len(datas) == 3 and datas[:3] == b'\xfe\xfe\xfe' and data_len == -1:
+                # This resolves an issue where the `get_servo_data(4, 85)` interface
+                # on 280 PI and JN version machines cannot read parameters at address 85 of servo motor 4.
                 data_len = struct.unpack("b", data)[0]
+                datas = datas[1:]
                 datas += data
             elif len(datas) > 2 and data_len > 0:
                 datas += data

From 54f871f8db6bfcec89f2f01d6aa7afc6b2305661 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Thu, 27 Nov 2025 14:42:17 +0800
Subject: [PATCH 2/4] fix(280-api):When fixing packet loss issues, the read
 command was garbled.

---
 pymycobot/mycobot280.py       | 12 +++++++++---
 pymycobot/mycobot280socket.py | 11 ++++++++---
 2 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/pymycobot/mycobot280.py b/pymycobot/mycobot280.py
index fcc2482..40573e0 100644
--- a/pymycobot/mycobot280.py
+++ b/pymycobot/mycobot280.py
@@ -150,12 +150,18 @@ def _res(self, real_command, has_reply, genre):
             data = self._read(genre)
         else:
             try_count = 0
+            expected_genre = genre
             while try_count < 3:
+                self._serial_port.reset_input_buffer()
                 self._write(self._flatten(real_command))
                 data = self._read(genre)
-                if data is not None and data != b'':
-                    break
-                try_count += 1
+                if not data or len(data) < 4:
+                    try_count += 1
+                    continue
+                if data[3] != expected_genre:
+                    try_count += 1
+                    continue
+                break
             else:
                 return -1
         if genre == ProtocolCode.SET_SSID_PWD:
diff --git a/pymycobot/mycobot280socket.py b/pymycobot/mycobot280socket.py
index 40f7d45..21f0132 100644
--- a/pymycobot/mycobot280socket.py
+++ b/pymycobot/mycobot280socket.py
@@ -140,12 +140,17 @@ def _res(self, real_command, has_reply, genre):
             data = self._read(genre, method='socket')
         else:
             try_count = 0
+            expected_genre = genre
             while try_count < 3:
                 self._write(self._flatten(real_command), "socket")
                 data = self._read(genre, method='socket')
-                if data is not None and data != b'':
-                    break
-                try_count += 1
+                if not data or len(data) < 4:
+                    try_count += 1
+                    continue
+                if data[3] != expected_genre:
+                    try_count += 1
+                    continue
+                break
             else:
                 return -1
         if genre == ProtocolCode.SET_SSID_PWD:

From 25c4cb8c9e4643e88ff1d3979cc3729c1d22c192 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Thu, 4 Dec 2025 18:02:47 +0800
Subject: [PATCH 3/4] perf(280-api): opt get_servo_data() api read data

---
 pymycobot/common.py | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/pymycobot/common.py b/pymycobot/common.py
index 09573ea..dc2e506 100644
--- a/pymycobot/common.py
+++ b/pymycobot/common.py
@@ -1198,17 +1198,10 @@ def read(self, genre, method=None, command=None, _class=None, timeout=None, real
                     continue
                 break
             elif len(datas) == 2:
-                if data == b'\xfe':
-                    datas += data
-                    data_len = -1
-                else:
-                    data_len = struct.unpack("b", data)[0]
-                    datas += data
-            elif len(datas) == 3 and datas[:3] == b'\xfe\xfe\xfe' and data_len == -1:
-                # This resolves an issue where the `get_servo_data(4, 85)` interface
-                # on 280 PI and JN version machines cannot read parameters at address 85 of servo motor 4.
                 data_len = struct.unpack("b", data)[0]
-                datas = datas[1:]
+                if data_len < 0 or data_len > 30:
+                    data_len = -1
+                    continue
                 datas += data
             elif len(datas) > 2 and data_len > 0:
                 datas += data

From c25aff1bfabf11edffaae2d4377f2adf82d2fb9c Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Wed, 10 Dec 2025 11:25:37 +0800
Subject: [PATCH 4/4] feat(280-api):Add support for pin 39 to the terminal I/O
 pin.

---
 pymycobot/error.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pymycobot/error.py b/pymycobot/error.py
index dd8ea94..782f9df 100644
--- a/pymycobot/error.py
+++ b/pymycobot/error.py
@@ -418,7 +418,7 @@ def public_check(
                 check_0_or_1(
                     parameter,
                     value,
-                    [19, 22, 23, 33],
+                    [19, 22, 23, 33, 39],
                     value_type,
                     exception_class,
                     int,