[fix] fix ft_sensor_get_error

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.14.6): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.14.7): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -1673,9 +1673,9 @@ xArm-Python-SDK API Documentation (V1.14.6): class XArmAPI in module xarm.wrappe
 >     2: Contact Connection  
 > :return: tuple((code, state)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
->     state: suction cup state  
->         0: suction cup is off  
->         1: suction cup is on
+>     state: vacuum gripper state  
+>         0: vacuum gripper is off  
+>         1: vacuum gripper is on
 
 
 #### def __get_version__(self):

doc/tool/gen_api.py

@@ -12,14 +12,16 @@
 import pydoc
 import re
 
-sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
+curr_file_dir = os.path.dirname(__file__)
+sys.path.insert(0, os.path.join(curr_file_dir, '../..'))
 
 from xarm.wrapper import XArmAPI
 from xarm.version import __version__
 
 from doc.tool.markdown_doc import MarkdownDoc
 
-open('../api/xarm_api.md', 'w', encoding='utf-8').write(
+doc_filepath = os.path.join(curr_file_dir, '../api/xarm_api.md')
+open(doc_filepath, 'w', encoding='utf-8').write(
     pydoc.render_doc(XArmAPI,
                      title='xArm-Python-SDK API Documentation (V{}): %s'.format(__version__),
                      renderer=MarkdownDoc()))

xarm/core/wrapper/uxbus_cmd.py

@@ -1247,21 +1247,27 @@ def ft_sensor_get_config(self):
             ]
         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.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
 
-        ret = self.recv_modbus_response(XCONF.UxbusReg.SERVO_R16B, ret, 4, XCONF.UxbusConf.GET_TIMEOUT)
-        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]
+    # @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 = []

xarm/wrapper/xarm_api.py

@@ -1922,9 +1922,9 @@ def get_vacuum_gripper(self, hardware_version=1):
             2: Contact Connection
         :return: tuple((code, state)), only when code is 0, the returned result is correct.
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
-            state: suction cup state
-                0: suction cup is off
-                1: suction cup is on
+            state: vacuum gripper state
+                0: vacuum gripper is off
+                1: vacuum gripper is on
         """
         return self._arm.get_suction_cup(hardware_version=hardware_version)