[feat] add set_external_device_monitor_params/get_external_device_monitor_params

1. add `set_external_device_monitor_params`/`get_external_device_monitor_params`
2. fix core.set_modbus_baudrate
3. remove pretty_print
4. fix move_servo_cartesian_aa

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.17.2): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -527,6 +527,13 @@ xArm-Python-SDK API Documentation (V1.17.2): class XArmAPI in module xarm.wrappe
 
 #### def __get_external_device_monitor_params__(self):
 
+> Get the monitor params of the external device  
+> Note:  
+>     1. only available if firmware_version >= 2.7.110  
+>   
+> :return: tuple((code, params)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     params: [dev_type, frequency]
 
 
 #### def __get_fdb_mat_history_num__(self):
@@ -2368,6 +2375,23 @@ xArm-Python-SDK API Documentation (V1.17.2): class XArmAPI in module xarm.wrappe
 
 #### def __set_external_device_monitor_params__(self, dev_type, frequency):
 
+> Set the monitor params of the external device  
+> Note:  
+>     1. only available if firmware_version >= 2.7.110  
+>     2. after it is turned on, the position/speed/current information of the external device will be reported through port 30000  
+>     3. once an error occurs, you need to restart to monitor  
+>   
+> :param dev_type: the type of the external device  
+>     0: Turn off monitoring  
+>     1: xArm Gripper  
+>     2: xArm Gripper G2  
+>     3: BIO Gripper G2  
+>     4: Robotiq 2F-85  
+>     5: Robotiq 2F-140  
+> :param frequency: the frequency of communication with the external device  
+>   
+> :return code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
 #### def __set_fdb_mat_history_num__(self, num):

xarm/core/utils/log.py

@@ -88,6 +88,13 @@ def __new__(cls, *args, **kwargs):
     'light_cyan': '\033[96m{}\033[0m',
 }
 
+origin_logger = logging.getLogger("origin.print")
+origin_logger.handlers.clear()
+stream_handler = logging.StreamHandler(sys.stdout)
+stream_handler.setLevel(logging.INFO)
+origin_logger.addHandler(stream_handler)
+origin_logger.setLevel(logging.INFO)
+
 
 def pretty_print(*args, sep=' ', end='\n', file=None, color='none'):
     msg = ''

xarm/core/wrapper/uxbus_cmd.py

@@ -439,9 +439,10 @@ def move_line_aa(self, mvpose, mvvelo, mvacc, mvtime, mvcoord, relative, only_ch
 
     def move_servo_cart_aa(self, mvpose, mvvelo, mvacc, tool_coord, relative):
         float_data = [mvpose[i] for i in range(6)]
-        float_data += [mvvelo, mvacc, tool_coord]
-        byte_data = bytes([relative])
-        return self.set_nfp32_with_bytes(XCONF.UxbusReg.MOVE_SERVO_CART_AA, float_data, 9, byte_data)
+        float_data += [mvvelo, mvacc]
+        byte_data = convert.int32_to_bytes(tool_coord)
+        byte_data += bytes([relative])
+        return self.set_nfp32_with_bytes(XCONF.UxbusReg.MOVE_SERVO_CART_AA, float_data, 8, byte_data)
 
     def move_relative(self, pose, mvvelo, mvacc, mvtime, radius, is_joint_motion=False, is_angle_axis=False, only_check_type=0, motion_type=0, feedback_key=None):
         float_data = [0] * 7

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.17.2'
+__version__ = '1.17.3'

xarm/wrapper/xarm_api.py

@@ -4549,9 +4549,37 @@ def get_ft_admittance_ctrl_threshold(self):
         return self._arm.get_ft_admittance_ctrl_threshold()
 
     def set_external_device_monitor_params(self, dev_type, frequency):
+        """
+        Set the monitor params of the external device
+        Note:
+            1. only available if firmware_version >= 2.7.110
+            2. after it is turned on, the position/speed/current information of the external device will be reported through port 30000
+            3. once an error occurs, you need to restart to monitor
+
+        :param dev_type: the type of the external device
+            0: Turn off monitoring
+            1: xArm Gripper
+            2: xArm Gripper G2
+            3: BIO Gripper G2
+            4: Robotiq 2F-85
+            5: Robotiq 2F-140
+        :param frequency: the frequency of communication with the external device
+
+        :return code
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
         return self._arm.set_external_device_monitor_params(dev_type, frequency)
 
     def get_external_device_monitor_params(self):
+        """
+        Get the monitor params of the external device
+        Note:
+            1. only available if firmware_version >= 2.7.110
+
+        :return: tuple((code, params)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+            params: [dev_type, frequency]
+        """
         return self._arm.get_external_device_monitor_params() 
 
     ############################ OLD API #############################

xarm/x3/base.py

@@ -38,7 +38,7 @@
 except:
     SerialPort = None 
 from ..core.wrapper import UxbusCmdSer, UxbusCmdTcp
-from ..core.utils.log import logger, pretty_print
+from ..core.utils.log import logger, origin_logger
 from ..core.utils import convert, crc16
 from ..core.config.x_code import ControllerWarn, ControllerError, ControllerErrorCodeMap, ControllerWarnCodeMap
 from .utils import compare_time, compare_version, filter_invaild_number
@@ -1053,7 +1053,7 @@ def _core_set_modbus_baudrate(self, baudrate, use_old=False):
         :return [code, ...]
         """
         if not use_old:
-            ret = self.set_tgpio_modbus_baudrate(baudrate)
+            ret = self.set_rs485_baudrate(baudrate)
             return [ret, self.tgpio_modbus_baud]
         else:
             return self.arm_cmd.set_modbus_baudrate_old(baudrate)
@@ -1085,7 +1085,7 @@ def disconnect(self):
                 pass
         self._report_connect_changed_callback(False, False)
         with self._pause_cond:
-            self._pause_cond.notifyAll()
+            self._pause_cond.notify_all() if hasattr(self._pause_cond, 'notify_all') else self._pause_cond.notifyAll()
         self._clean_thread()
 
     def set_timeout(self, timeout):
@@ -1304,7 +1304,7 @@ def _report_thread_handle(self):
             time.sleep(0.001)
         if self._pause_cnts > 0:
             with self._pause_cond:
-                self._pause_cond.notifyAll()
+                self._pause_cond.notify_all() if hasattr(self._pause_cond, 'notify_all') else self._pause_cond.notifyAll()
         self.disconnect()
 
     def _handle_report_data(self, data):
@@ -1324,15 +1324,15 @@ def __handle_report_normal_old(rx_data):
                 if error_code != self._error_code:
                     self._error_code = error_code
                     if self._error_code != 0:
-                        pretty_print('Error, code: {}'.format(self._error_code), color='red')
+                        origin_logger.error('Errorcode: {}'.format(self._error_code))
                     else:
-                        pretty_print('Error had clean', color='blue')
+                        origin_logger.info('Error had clean')
                 if warn_code != self._warn_code:
                     self._warn_code = warn_code
                     if self._warn_code != 0:
-                        pretty_print('Warn, code: {}'.format(self._warn_code), color='yellow')
+                        origin_logger.warning('Warn, code: {}'.format(self._warn_code))
                     else:
-                        pretty_print('Warnning had clean', color='blue')
+                        origin_logger.info('Warnning had clean')
                 self._report_error_warn_changed_callback()
                 logger.info('OnReport -> err={}, warn={}, state={}, cmdnum={}, mtbrake={}, mtable={}'.format(
                     error_code, warn_code, state, cmd_num, mtbrake, mtable
@@ -1361,11 +1361,11 @@ def __handle_report_normal_old(rx_data):
             if not self._is_first_report:
                 if state in [4, 5] or not all([bool(item[0] & item[1]) for item in zip(mtbrake, mtable)][:self.axis]):
                     # if self._is_ready:
-                    #     pretty_print('[report], xArm is not ready to move', color='red')
+                    #     origin_logger.info('[report], xArm is not ready to move')
                     self._is_ready = False
                 else:
                     # if not self._is_ready:
-                    #     pretty_print('[report], xArm is ready to move', color='green')
+                    #     origin_logger.info('[report], xArm is ready to move')
                     self._is_ready = True
             else:
                 self._is_ready = False
@@ -1417,7 +1417,7 @@ def __handle_report_normal_old(rx_data):
             self._state = state
             if self.state != 3 and (_state == 3 or self._pause_cnts > 0):
                 with self._pause_cond:
-                    self._pause_cond.notifyAll()
+                    self._pause_cond.notify_all() if hasattr(self._pause_cond, 'notify_all') else self._pause_cond.notifyAll()
             self._cmd_num = cmd_num
             self._arm_motor_brake_states = mtbrake
             self._arm_motor_enable_states = mtable
@@ -1630,15 +1630,15 @@ def __handle_report_normal(rx_data):
                 if error_code != self._error_code:
                     self._error_code = error_code
                     if self._error_code != 0:
-                        pretty_print('ControllerError, code: {}'.format(self._error_code), color='red')
+                        origin_logger.error('ControllerError, code: {}'.format(self._error_code))
                     else:
-                        pretty_print('ControllerError had clean', color='blue')
+                        origin_logger.info('ControllerError had clean')
                 if warn_code != self._warn_code:
                     self._warn_code = warn_code
                     if self._warn_code != 0:
-                        pretty_print('ControllerWarning, code: {}'.format(self._warn_code), color='yellow')
+                        origin_logger.warning('ControllerWarning, code: {}'.format(self._warn_code))
                     else:
-                        pretty_print('ControllerWarning had clean', color='blue')
+                        origin_logger.info('ControllerWarning had clean')
                 self._report_error_warn_changed_callback()
                 logger.info('OnReport -> err={}, warn={}, state={}, cmdnum={}, mtbrake={}, mtable={}, mode={}'.format(
                     error_code, warn_code, state, cmd_num, mtbrake, mtable, mode
@@ -1675,11 +1675,11 @@ def __handle_report_normal(rx_data):
             if not self._is_first_report:
                 if state in [4, 5] or not all([bool(item[0] & item[1]) for item in zip(mtbrake, mtable)][:self.axis]):
                     # if self._is_ready:
-                    #     pretty_print('[report], xArm is not ready to move', color='red')
+                    #     origin_logger.info('[report], xArm is not ready to move')
                     self._is_ready = False
                 else:
                     # if not self._is_ready:
-                    #     pretty_print('[report], xArm is ready to move', color='green')
+                    #     origin_logger.info('[report], xArm is ready to move')
                     self._is_ready = True
             else:
                 self._is_ready = False
@@ -1694,7 +1694,7 @@ def __handle_report_normal(rx_data):
             self._state = state
             if self.state != 3 and (_state == 3 or self._pause_cnts > 0):
                 with self._pause_cond:
-                    self._pause_cond.notifyAll()
+                    self._pause_cond.notify_all() if hasattr(self._pause_cond, 'notify_all') else self._pause_cond.notifyAll()
             self._mode = mode
             self._cmd_num = cmd_num
 
@@ -1903,19 +1903,19 @@ def _auto_get_report_thread(self):
 
                 if self.state != 3 and (state == 3 or self._pause_cnts > 0):
                     with self._pause_cond:
-                        self._pause_cond.notifyAll()
+                        self._pause_cond.notify_all() if hasattr(self._pause_cond, 'notify_all') else self._pause_cond.notifyAll()
                 if cmd_num != self._cmd_num:
                     self._report_cmdnum_changed_callback()
                 if state != self._state:
                     self._report_state_changed_callback()
                 if state in [4, 5]:
                     # if self._is_ready:
-                    #     pretty_print('[report], xArm is not ready to move', color='red')
+                    #     origin_logger.info('[report], xArm is not ready to move')
                     self._sleep_finish_time = 0
                     self._is_ready = False
                 else:
                     # if not self._is_ready:
-                    #     pretty_print('[report], xArm is ready to move', color='green')
+                    #     origin_logger.info('[report], xArm is ready to move')
                     self._is_ready = True
                 if error_code != self._error_code or warn_code != self._warn_code:
                     self._report_error_warn_changed_callback()
@@ -2219,15 +2219,15 @@ def set_state(self, state=0):
             self._report_state_changed_callback()
         if self.state != 3 and (_state == 3 or self._pause_cnts > 0):
             with self._pause_cond:
-                self._pause_cond.notifyAll()
+                self._pause_cond.notify_all() if hasattr(self._pause_cond, 'notify_all') else self._pause_cond.notifyAll()
         if self._state in [4, 5]:
             self._sleep_finish_time = 0
             if self._is_ready:
-                pretty_print('[set_state], xArm is not ready to move', color='red')
+                origin_logger.info('[set_state], xArm is not ready to move')
             self._is_ready = False
         else:
             if not self._is_ready:
-                pretty_print('[set_state], xArm is ready to move', color='green')
+                origin_logger.info('[set_state], xArm is ready to move')
             self._is_ready = True
         self.log_api_info('API -> set_state({}) -> code={}, state={}'.format(state, ret[0], self._state), code=ret[0])
         return ret[0]
@@ -2267,25 +2267,23 @@ def get_err_warn_code(self, show=False, lang='en'):
             self._error_code, self._warn_code = ret[1:3]
             self._last_update_err_time = time.monotonic()
         if show:
-            pretty_print('************* {}, {}: {} **************'.format(
+            origin_logger.info('************* {}, {}: {} **************'.format(
                          '获取控制器错误警告码' if lang == 'cn' else 'GetErrorWarnCode',
                          '状态' if lang == 'cn' else 'Status',
-                         ret[0]), color='light_blue')
+                         ret[0]))
             controller_error = ControllerError(self._error_code, status=0)
             controller_warn = ControllerWarn(self._warn_code, status=0)
-            pretty_print('* {}: {}, {}: {}'.format(
+            origin_logger.error('* {}: {}, {}: {}'.format(
                 '错误码' if lang == 'cn' else 'ErrorCode',
                 controller_error.code,
                 '信息' if lang == 'cn' else 'Info',
-                controller_error.title[lang]),
-                         color='red' if self._error_code != 0 else 'white')
-            pretty_print('* {}: {}, {}: {}'.format(
+                controller_error.title[lang]))
+            origin_logger.warning('* {}: {}, {}: {}'.format(
                 '警告码' if lang == 'cn' else 'WarnCode',
                 controller_warn.code,
                 '信息' if lang == 'cn' else 'Info',
-                controller_warn.title[lang]),
-                         color='yellow' if self._warn_code != 0 else 'white')
-            pretty_print('*' * 50, color='light_blue')
+                controller_warn.title[lang]))
+            origin_logger.info('*' * 50)
         return ret[0], ret[1:3] if ret[0] == 0 else [self._error_code, self._warn_code]
 
     @xarm_is_connected(_type='set')
@@ -2295,11 +2293,11 @@ def clean_error(self):
         if self._state in [4, 5]:
             self._sleep_finish_time = 0
             if self._is_ready:
-                pretty_print('[clean_error], xArm is not ready to move', color='red')
+                origin_logger.info('[clean_error], xArm is not ready to move')
             self._is_ready = False
         else:
             if not self._is_ready:
-                pretty_print('[clean_error], xArm is ready to move', color='green')
+                origin_logger.info('[clean_error], xArm is ready to move')
             self._is_ready = True
         self.log_api_info('API -> clean_error -> code={}'.format(ret[0]), code=ret[0])
         return ret[0]
@@ -2325,11 +2323,11 @@ def motion_enable(self, enable=True, servo_id=None):
         if self._state in [4, 5]:
             self._sleep_finish_time = 0
             if self._is_ready:
-                pretty_print('[motion_enable], xArm is not ready to move', color='red')
+                origin_logger.info('[motion_enable], xArm is not ready to move')
             self._is_ready = False
         else:
             if not self._is_ready:
-                pretty_print('[motion_enable], xArm is ready to move', color='green')
+                origin_logger.info('[motion_enable], xArm is ready to move')
             self._is_ready = True
         self.log_api_info('API -> motion_enable -> code={}'.format(ret[0]), code=ret[0])
         return ret[0]