[feat] suppport get C54 error info

1. add api `get_c54_error_info`
2. fix `ft_sensor_get_error`
3. update doc

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.15.1): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -485,6 +485,17 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 >     err_info: [(servo_id, angle), ...]
 
 
+#### def __get_c54_error_info__(self):
+
+> Get (Six-axis Force Torque Sensor) collision error (C54) info  
+> Note:  
+>     Only available if firmware_version >= 2.6.103  
+>   
+> :return: tuple((code, err_info)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     err_info: [dir, tau threshold, actual tau]
+
+
 #### def __get_c60_error_info__(self):
 
 > Get linear speed limit error (C60) info  
@@ -630,7 +641,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Get the collision detection with the Six-axis Force Torque Sensor is enable or not  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :return: tuple((code, on_off)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
@@ -641,7 +652,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Get the collision rebound distance with the Six-axis Force Torque Sensor  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :param is_radian: the returned value (only Rx/Ry/Rz) is in radians or not, default is self.default_is_radian  
 >   
@@ -654,7 +665,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Get the collision rebound with the Six-axis Force Torque Sensor is enable or not  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :return: tuple((code, on_off)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
@@ -665,7 +676,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Get the collision threshold with the Six-axis Force Torque Sensor  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :return: tuple((code, threshold)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
@@ -2063,8 +2074,9 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 > Note:  
 >     1. Only available in the new version of BIO Gripper  
 >   
-> :param mode: 0: bio gripper opening and closing mode  
->              1: position loop mode  
+> :param mode: mode  
+>     0: bio gripper opening and closing mode  
+>     1: position loop mode  
 >   
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -2401,7 +2413,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Set whether to enable collision detection with the Six-axis Force Torque Sensor  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >     2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)  
 >     3. the Six-axis Force Torque Sensor needs to be enabled and set force mode  
 >   
@@ -2415,12 +2427,12 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Set the rebound distance of the collision rebound with the Six-axis Force Torque Sensor  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :param distances: collision rebound distance, [x(mm), y(mm), z(mm), Rx(° or rad), Ry(° or rad), Rz(° or rad)]  
->     x: [2, 200] (mm)  
->     y: [2, 200] (mm)  
->     z: [2, 200] (mm)  
+>     x: [2, 500] (mm)  
+>     y: [2, 500] (mm)  
+>     z: [2, 500] (mm)  
 >     Rx: [0.2, 50] (°)  
 >     Ry: [0.2, 50] (°)  
 >     Rz: [0.2, 50] (°)  
@@ -2434,7 +2446,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Set whether to enable collision rebound with the Six-axis Force Torque Sensor  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :param on_off: enable or not  
 >   
@@ -2446,7 +2458,7 @@ xArm-Python-SDK API Documentation (V1.15.0): class XArmAPI in module xarm.wrappe
 
 > Set the threshold of the collision detection with the Six-axis Force Torque Sensor  
 > Note:  
->     1. only available if firmware_version >= 2.5.109  
+>     1. only available if firmware_version >= 2.6.103  
 >   
 > :param thresholds: collision detection thresholds, [x(N), y(N), z(N), Rx(Nm), Ry(Nm), Rz(Nm)]  
 >     x: [5, 200] (N)  

xarm/core/wrapper/uxbus_cmd.py

@@ -1247,27 +1247,26 @@ def ft_sensor_get_config(self):
             ]
         return ret
 
-    def ft_sensor_get_error(self):
-        ret = self.servo_addr_r16(8, 0x0010)
-        if ret[0] in [0, 1, 2] and len(ret) > 1  and ret[1] == 27:
-            ret[0] = 0
-        return ret
-
-    # @lock_require
     # def ft_sensor_get_error(self):
-    #     txdata = bytes([8])
-    #     txdata += convert.u16_to_bytes(0x0010)
-    #     ret = self.send_modbus_request(XCONF.UxbusReg.SERVO_R16B, txdata, 3)
-    #     if ret == -1:
-    #         return [XCONF.UxbusState.ERR_NOTTCP] * (7 + 1)
-
-    #     ret = self.recv_modbus_response(XCONF.UxbusReg.SERVO_R16B, ret, 4, self._G_TOUT)
-    #     if ret[0] in [0, 1, 2]:
-    #         if convert.bytes_to_long_big(ret[1:5]) == 27:
-    #             return [ret[0], 0]
-    #         else:
-    #             return [ret[0], ret[3]]
-    #     return [ret[0], 0]
+    #     ret = self.servo_addr_r16(8, 0x0010)
+    #     if ret[0] in [0, 1, 2] and len(ret) > 1 and ret[1] == 27:
+    #         ret[0] = 0
+    #     return ret
+
+    @lock_require
+    def ft_sensor_get_error(self):
+        txdata = bytes([8])
+        txdata += convert.u16_to_bytes(0x0010)
+        ret = self.send_modbus_request(XCONF.UxbusReg.SERVO_R16B, txdata, 3)
+        if ret == -1:
+            return [XCONF.UxbusState.ERR_NOTTCP] * (7 + 1)
+        ret = self.recv_modbus_response(XCONF.UxbusReg.SERVO_R16B, ret, 4, self._G_TOUT)
+        if ret[0] in [0, 1, 2]:
+            if convert.bytes_to_long_big(ret[1:5]) == 27:
+                return [ret[0], 0]
+            else:
+                return [ret[0], ret[3]]
+        return [ret[0], 0]
 
     def cali_tcp_pose(self, four_pnts):
         txdata = []
@@ -1429,7 +1428,7 @@ def get_common_info(self, param_type):
                 data[1] = ret[1]
             elif param_type == 50:
                 data[1] = convert.bytes_to_fp32(ret[1:])
-            elif param_type == 101:
+            elif param_type in [101, 107]:
                 data[1] = ret[1]
                 data.append(convert.bytes_to_fp32(ret[2:6]))
                 data.append(convert.bytes_to_fp32(ret[6:10]))

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.15.0'
+__version__ = '1.15.1'

xarm/wrapper/xarm_api.py

@@ -4263,6 +4263,18 @@ def get_c38_error_info(self, is_radian=None):
             # ret[1][1] = ret[1][1] if is_rad else math.degrees(ret[1][1])
         return ret
 
+    def get_c54_error_info(self):
+        """
+        Get (Six-axis Force Torque Sensor) collision error (C54) info
+        Note:
+            Only available if firmware_version >= 2.6.103
+
+        :return: tuple((code, err_info)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+            err_info: [dir, tau threshold, actual tau]
+        """
+        return self._arm.get_common_info(107, return_val=False)
+
     def run_gcode_app(self, path, **kwargs):
         """
         Run gcode project file by xArmStudio software
@@ -4290,7 +4302,7 @@ def set_ft_collision_detection(self, on_off):
         """
         Set whether to enable collision detection with the Six-axis Force Torque Sensor
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
             2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)
             3. the Six-axis Force Torque Sensor needs to be enabled and set force mode
         
@@ -4305,7 +4317,7 @@ def set_ft_collision_rebound(self, on_off):
         """
         Set whether to enable collision rebound with the Six-axis Force Torque Sensor
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
         
         :param on_off: enable or not
         
@@ -4318,7 +4330,7 @@ def set_ft_collision_threshold(self, thresholds):
         """
         Set the threshold of the collision detection with the Six-axis Force Torque Sensor
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
 
         :param thresholds: collision detection thresholds, [x(N), y(N), z(N), Rx(Nm), Ry(Nm), Rz(Nm)]
             x: [5, 200] (N)
@@ -4337,12 +4349,12 @@ def set_ft_collision_reb_distance(self, distances, is_radian=None):
         """
         Set the rebound distance of the collision rebound with the Six-axis Force Torque Sensor
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
 
         :param distances: collision rebound distance, [x(mm), y(mm), z(mm), Rx(° or rad), Ry(° or rad), Rz(° or rad)]
-            x: [2, 200] (mm)
-            y: [2, 200] (mm)
-            z: [2, 200] (mm)
+            x: [2, 500] (mm)
+            y: [2, 500] (mm)
+            z: [2, 500] (mm)
             Rx: [0.2, 50] (°)
             Ry: [0.2, 50] (°)
             Rz: [0.2, 50] (°)
@@ -4357,7 +4369,7 @@ def get_ft_collision_detection(self):
         """
         Get the collision detection with the Six-axis Force Torque Sensor is enable or not
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
 
         :return: tuple((code, on_off)), only when code is 0, the returned result is correct.
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -4369,7 +4381,7 @@ def get_ft_collision_rebound(self):
         """
         Get the collision rebound with the Six-axis Force Torque Sensor is enable or not
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
 
         :return: tuple((code, on_off)), only when code is 0, the returned result is correct.
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -4381,7 +4393,7 @@ def get_ft_collision_threshold(self):
         """
         Get the collision threshold with the Six-axis Force Torque Sensor
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
 
         :return: tuple((code, threshold)), only when code is 0, the returned result is correct.
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -4393,7 +4405,7 @@ def get_ft_collision_reb_distance(self, is_radian=None):
         """
         Get the collision rebound distance with the Six-axis Force Torque Sensor
         Note:
-            1. only available if firmware_version >= 2.5.109
+            1. only available if firmware_version >= 2.6.103
 
         :param is_radian: the returned value (only Rx/Ry/Rz) is in radians or not, default is self.default_is_radian