[feat] use BytesData for data conversion

Author: vimior

.gitignore

@@ -10,5 +10,4 @@ example/wrapper/bak/
 example/wrapper/robot.conf
 bak-xarm/
 .vscode/
-.claude/
-xarm/core/utils/bytes_data.py
+.claude/

example/wrapper/common/3004-get_report_data.py

@@ -19,7 +19,7 @@
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), '../../..'))
 
 from xarm.core.comm import SocketPort
-from xarm.core.utils import convert
+from xarm.core.utils.bytes_data import BytesData
 
 
 #######################################################
@@ -49,9 +49,9 @@
     if data == -1:
         time.sleep(0.1)
         continue
-    total = convert.bytes_to_u32(data[0:4])
-    angles = convert.bytes_to_fp32s(data[7:35], 7)
-    poses = convert.bytes_to_fp32s(data[35:59], 6)
+    total = BytesData.to_u32(data[0:4])
+    angles = BytesData.to_fp32_list(data[7:35], 7)
+    poses = BytesData.to_fp32_list(data[35:59], 6)
     print('total={}, now={}'.format(total, datetime.datetime.now()))
     print('angles: {}'.format(angles))
     print('poses: {}'.format(poses))

example/wrapper/common/3005-task_feedback.py

@@ -19,7 +19,7 @@
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), '../../..'))
 
 from xarm.wrapper import XArmAPI
-from xarm.core.utils import convert
+from xarm.core.utils.bytes_data import BytesData
 
 
 #######################################################
@@ -51,12 +51,12 @@
 # arm.set_cgpio_digital(0, 0)
 
 def feedback_callback(data):
-    cmd_id = convert.bytes_to_u16(data[0:2])
+    cmd_id = BytesData.to_u16(data[0:2])
     feedback_type = data[8]
     feedback_funcode = data[9]
-    feedback_taskid = convert.bytes_to_u16(data[10:12])
+    feedback_taskid = BytesData.to_u16(data[10:12])
     feedback_code = data[12]
-    feedback_us = convert.bytes_to_u64(data[13:21])
+    feedback_us = BytesData.to_u64(data[13:21])
     if feedback_type == 1:
         # motion start
         print('[FB] motion task {} starts executing, funcode={}, cmd_id={}, us={}, {}'.format(feedback_taskid, feedback_funcode, cmd_id, feedback_us, datetime.datetime.now()))

xarm/core/comm/base.py

@@ -12,7 +12,7 @@
 import select
 import threading
 from ..utils.log import logger
-from ..utils import convert
+from ..utils.bytes_data import BytesData
 
 
 class RxParse(object):
@@ -182,7 +182,7 @@ def recv_report_proc(self):
                     if size == 0:
                         if data_num != 4:
                             continue
-                        size = convert.bytes_to_u32(buffer[0:4])
+                        size = BytesData.to_u32(buffer[0:4])
                         if size == 233:
                             size_is_not_confirm = True
                             size = 245
@@ -192,17 +192,17 @@ def recv_report_proc(self):
                             continue
                         if size_is_not_confirm:
                             size_is_not_confirm = True
-                            if convert.bytes_to_u32(buffer[233:237]) == 233:
+                            if BytesData.to_u32(buffer[233:237]) == 233:
                                 size = 233
                                 buffer = buffer[233:]
                                 continue
 
-                        if convert.bytes_to_u32(buffer[0:4]) != size and not (size_is_not_confirm and size == 245 and convert.bytes_to_u32(buffer[0:4]) == 233):
-                            logger.error('report data error, close, length={}, size={}'.format(convert.bytes_to_u32(buffer[0:4]), size))
+                        if BytesData.to_u32(buffer[0:4]) != size and not (size_is_not_confirm and size == 245 and BytesData.to_u32(buffer[0:4]) == 233):
+                            logger.error('report data error, close, length={}, size={}'.format(BytesData.to_u32(buffer[0:4]), size))
                             break
 
                         # # buffer[494:502]
-                        # data_curr_us = convert.bytes_to_u64(buffer[-8:])
+                        # data_curr_us = BytesData.to_u64(buffer[-8:])
                         # recv_curr_us = time.monotonic() * 1000000
                         #
                         # if data_prev_us != 0 and recv_prev_us != 0:
@@ -276,7 +276,7 @@ def recv_proc(self):
                     while True:
                         if len(buffer) < 6:
                             break
-                        length = convert.bytes_to_u16(buffer[4:6]) + 6
+                        length = BytesData.to_u16(buffer[4:6]) + 6
                         if len(buffer) < length:
                             break
                         rx_data = buffer[:length]