[feat] support all tgpio modbus api use 503 port

Author: vimior

xarm/core/wrapper/uxbus_cmd.py

@@ -42,6 +42,7 @@ def __init__(self, set_feedback_key_tranid=None):
         self._last_modbus_comm_time = time.monotonic()
         self._feedback_type = 0
         self._set_feedback_key_tranid = set_feedback_key_tranid
+        self.tgpio_set_modbus_func = self.tgpio_set_modbus
 
     @property
     def last_comm_time(self):
@@ -881,15 +882,15 @@ def gripper_modbus_w16s(self, addr, value, count):
         txdata += convert.u16_to_bytes(count)
         txdata += bytes([count * 2])
         txdata += value
-        ret = self.tgpio_set_modbus(txdata, count * 2 + 7)
+        ret = self.tgpio_set_modbus_func(txdata, count * 2 + 7)
         return ret
 
     def gripper_modbus_r16s(self, addr, count):
         txdata = bytes([XCONF.GRIPPER_ID])
         txdata += bytes([0x03])
         txdata += convert.u16_to_bytes(addr)
         txdata += convert.u16_to_bytes(count)
-        ret = self.tgpio_set_modbus(txdata, 6)
+        ret = self.tgpio_set_modbus_func(txdata, 6)
         return ret
 
     def gripper_modbus_set_en(self, value):
@@ -1320,15 +1321,15 @@ def track_modbus_w16s(self, addr, value, length):
         txdata += convert.u16_to_bytes(length)
         txdata += bytes([length * 2])
         txdata += value
-        ret = self.tgpio_set_modbus(txdata, length * 2 + 7, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
+        ret = self.tgpio_set_modbus_func(txdata, length * 2 + 7, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
         return ret
 
     def track_modbus_r16s(self, addr, length, fcode=0x03):
         txdata = bytes([XCONF.TRACK_ID])
         txdata += bytes([fcode])
         txdata += convert.u16_to_bytes(addr)
         txdata += convert.u16_to_bytes(length)
-        ret = self.tgpio_set_modbus(txdata, 6, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
+        ret = self.tgpio_set_modbus_func(txdata, 6, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
         return ret
 
     def iden_tcp_load(self, estimated_mass=0):

xarm/wrapper/xarm_api.py

@@ -3001,6 +3001,9 @@ def set_control_modbus_baudrate(self, baud):
         """
         return self._arm.set_control_modbus_baudrate(baud)
 
+    def set_tgpio_modbus_use_503_port(self, use_503_port=True):
+        return self._arm.set_tgpio_modbus_use_503_port(use_503_port)
+
     def getset_tgpio_modbus_data(self, datas, min_res_len=0, host_id=9, is_transparent_transmission=False, use_503_port=False, **kwargs):
         """
         Send the modbus data to the tool gpio

xarm/x3/base.py

@@ -2510,19 +2510,27 @@ def set_control_modbus_baudrate(self, baud):
         self.log_api_info('API -> set_control_modbus_baudrate -> code={}'.format(code), code=code)
         return code
 
+    def set_tgpio_modbus_use_503_port(self, use_503_port=True):
+        if use_503_port:
+            if not self.connected_503 and self.connect_503() != 0:
+                self.arm_cmd.tgpio_set_modbus_func = self.arm_cmd.tgpio_set_modbus
+                self.log_api_info('API -> set_tgpio_modbus_use_503_port -> code={}'.format(APIState.RET_IS_INVALID), code=APIState.RET_IS_INVALID)
+                return APIState.RET_IS_INVALID
+            self.arm_cmd.tgpio_set_modbus_func = self.arm_cmd_503.tgpio_set_modbus
+        else:
+            self.arm_cmd.tgpio_set_modbus_func = self.arm_cmd.tgpio_set_modbus
+        return 0
+
     def getset_tgpio_modbus_data(self, datas, min_res_len=0, ignore_log=False, host_id=XCONF.TGPIO_HOST_ID, is_transparent_transmission=False, use_503_port=False, **kwargs):
         if not self.connected:
             return APIState.NOT_CONNECTED, []
         is_tt = kwargs.get('is_tt', is_transparent_transmission)
-        if is_tt:
-            if use_503_port:
-                if not self.connected_503 and self.connect_503() != 0:
-                    return APIState.NOT_CONNECTED, []
-                ret = self.arm_cmd_503.tgpio_set_modbus(datas, len(datas), host_id=host_id, is_transparent_transmission=True)
-            else:
-                ret = self.arm_cmd.tgpio_set_modbus(datas, len(datas), host_id=host_id, is_transparent_transmission=True)
+        if use_503_port:
+            if not self.connected_503 and self.connect_503() != 0:
+                return APIState.NOT_CONNECTED, []
+            ret = self.arm_cmd_503.tgpio_set_modbus_func(datas, len(datas), host_id=host_id, is_transparent_transmission=is_tt)
         else:
-            ret = self.arm_cmd.tgpio_set_modbus(datas, len(datas), host_id=host_id)
+            ret = self.arm_cmd.tgpio_set_modbus_func(datas, len(datas), host_id=host_id, is_transparent_transmission=is_tt)
         ret[0] = self._check_modbus_code(ret, min_res_len + 2, host_id=host_id)
         if not ignore_log:
             self.log_api_info('API -> getset_tgpio_modbus_data -> code={}, response={}'.format(ret[0], ret[2:]), code=ret[0])