[feat] add report data structure

Author: vimior

xarm/core/config/x_config.py

@@ -256,6 +256,7 @@ class SerialConf:
 
     class SocketConf:
         TCP_CONTROL_PORT = 502
+        TCP_REPORT_RT_PORT = 30000
         TCP_REPORT_NORM_PORT = 30001
         TCP_REPORT_RICH_PORT = 30002
         TCP_REPORT_REAL_PORT = 30003

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.18.0'
+__version__ = '1.18.1'

xarm/wrapper/xarm_api.py

@@ -157,6 +157,10 @@ def core(self):
         """
         return self._arm.arm_cmd
 
+    @property
+    def report_data(self):
+        return self._arm.report_data
+
     @property
     def count(self):
         """

xarm/x3/base.py

@@ -44,6 +44,7 @@
 from .utils import compare_time, version_is_ge, filter_invalid_number
 from .decorator import xarm_is_connected, xarm_is_ready, xarm_is_not_simulation_mode, xarm_wait_until_cmdnum_lt_max, xarm_wait_until_not_pause
 from .code import APIState
+from .report import ReportDataStructure
 from ..tools.threads import ThreadManage
 from ..version import __version__
 
@@ -274,6 +275,8 @@ def __init__(self, port=None, is_radian=False, do_not_open=False, **kwargs):
             self.rh56_finger_speed = [0, 0, 0, 0, 0, 0]
             self.rh56_finger_force = [0, 0, 0, 0, 0, 0]
 
+            self.report_data = None
+
             if not do_not_open:
                 self.connect()
 
@@ -1201,16 +1204,19 @@ def _connect_report(self):
                     self._port, XCONF.SocketConf.TCP_REPORT_REAL_PORT,
                     buffer_size=1024 if not self._is_old_protocol else 87,
                     forbid_uds=self._forbid_uds)
+                self.report_data = ReportDataStructure.create(XCONF.SocketConf.TCP_REPORT_REAL_PORT, is_radian=self._default_is_radian)
             elif self._report_type == 'normal':
                 self._stream_report = SocketPort(
                     self._port, XCONF.SocketConf.TCP_REPORT_NORM_PORT,
                     buffer_size=XCONF.SocketConf.TCP_REPORT_NORMAL_BUF_SIZE if not self._is_old_protocol else 87,
                     forbid_uds=self._forbid_uds)
+                self.report_data = ReportDataStructure.create(XCONF.SocketConf.TCP_REPORT_NORM_PORT, is_radian=self._default_is_radian)
             else:
                 self._stream_report = SocketPort(
                     self._port, XCONF.SocketConf.TCP_REPORT_RICH_PORT,
                     buffer_size=1024 if not self._is_old_protocol else 187,
                     forbid_uds=self._forbid_uds)
+                self.report_data = ReportDataStructure.create(XCONF.SocketConf.TCP_REPORT_RICH_PORT, is_radian=self._default_is_radian)
 
     def __report_callback(self, report_id, item, name=''):
         if report_id in self._report_callbacks.keys():
@@ -1349,6 +1355,7 @@ def _report_thread_handle(self):
                     size = convert.bytes_to_u32(recv_data)
                     if self._is_old_protocol and size > 256:
                         self._is_old_protocol = False
+                    self.report_data.update(recv_data)
                     self._handle_report_data(recv_data)
                 # else:
                 #     if self.connected:
@@ -2245,6 +2252,7 @@ def get_joint_states(self, is_radian=None, num=3):
         ret[0] = self._check_code(ret[0])
         positon = ret[1:8]
         result = [positon]
+        num = num & 0x0F
         if num >= 2:
             velocity = ret[8:15]
             result.append(velocity)