[feat] add set_tgpio_monitor_params/get_tgpio_monitor_params

1. add `set_tgpio_monitor_params`/`get_tgpio_monitor_params`
2. fix get_servo_version/get_tgpio_version

Author: vimior

doc/api/xarm_api.md

@@ -529,7 +529,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 
 > Get the monitor params of the external device  
 > Note:  
->     1. only available if firmware_version >= 2.7.110  
+>     1. only available if firmware_version >= 2.7.100  
 >   
 > :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.  
@@ -1170,6 +1170,17 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 > Get the timeout of the Robot RS485 (please use get_rs485_timeout replace)
 
 
+#### def __get_tgpio_monitor_params__(self):
+
+> Get the monitor params of the TGPIO  
+> Note:  
+>     1. only available if firmware_version >= 2.7.101  
+>   
+> :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: [io_type, frequency]
+
+
 #### def __get_tgpio_output_digital__(self, ionum=None):
 
 > Get the digital value of the specified Tool GPIO output  
@@ -2377,7 +2388,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 
 > Set the monitor params of the external device  
 > Note:  
->     1. only available if firmware_version >= 2.7.110  
+>     1. only available if firmware_version >= 2.7.100  
 >     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 re call to monitor  
 >   
@@ -2386,8 +2397,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     1: xArm Gripper  
 >     2: xArm Gripper G2  
 >     3: BIO Gripper G2  
->     4: Robotiq 2F-85  
->     5: Robotiq 2F-140  
+>     4: Robotiq 2F-85/Robotiq 2F-140  
 > :param frequency: the frequency of communication with the external device  
 >   
 > :return code  
@@ -3397,6 +3407,22 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 > Set the timeout of the Robot RS485 (please use set_rs485_timeout)
 
 
+#### def __set_tgpio_monitor_params__(self, io_type, frequency):
+
+> Set the monitor params of the TGPIO  
+> Note:  
+>     1. only available if firmware_version >= 2.7.101  
+>     2. after it is turned on, the information of the TGPIO will be reported through port 30000  
+>   
+> :param io_type: the type of the TGPIO  
+>     0: Turn off monitoring  
+>     1: Turn on monitoring  
+> :param frequency: the frequency of communication with the TGPIO  
+>   
+> :return code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __set_timeout__(self, timeout):
 
 > Set the timeout of cmd response  

xarm/wrapper/xarm_api.py

@@ -4552,7 +4552,7 @@ 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
+            1. only available if firmware_version >= 2.7.100
             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 re call to monitor
 
@@ -4561,8 +4561,7 @@ def set_external_device_monitor_params(self, dev_type, frequency):
             1: xArm Gripper
             2: xArm Gripper G2
             3: BIO Gripper G2
-            4: Robotiq 2F-85
-            5: Robotiq 2F-140
+            4: Robotiq 2F-85/Robotiq 2F-140
         :param frequency: the frequency of communication with the external device
 
         :return code
@@ -4574,13 +4573,42 @@ 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
+            1. only available if firmware_version >= 2.7.100
 
         :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() 
+        return self._arm.get_external_device_monitor_params()
+
+    def set_tgpio_monitor_params(self, io_type, frequency):
+        """
+        Set the monitor params of the TGPIO
+        Note:
+            1. only available if firmware_version >= 2.7.101
+            2. after it is turned on, the information of the TGPIO will be reported through port 30000
+
+        :param io_type: the type of the TGPIO
+            0: Turn off monitoring
+            1: Turn on monitoring
+        :param frequency: the frequency of communication with the TGPIO
+
+        :return code
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.set_tgpio_monitor_params(io_type, frequency)
+
+    def get_tgpio_monitor_params(self):
+        """
+        Get the monitor params of the TGPIO
+        Note:
+            1. only available if firmware_version >= 2.7.101
+
+        :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: [io_type, frequency]
+        """
+        return self._arm.get_tgpio_monitor_params()
 
     ############################ OLD API #############################
 

xarm/x3/base.py

@@ -2809,4 +2809,10 @@ def set_external_device_monitor_params(self, dev_type, frequency):
         return self.set_common_param(15, [dev_type, frequency])
 
     def get_external_device_monitor_params(self):
-        return self.get_common_param(15) 
+        return self.get_common_param(15)
+
+    def set_tgpio_monitor_params(self, io_type, frequency):
+        return self.set_common_param(16, [io_type, frequency])
+
+    def get_tgpio_monitor_params(self):
+        return self.get_common_param(16)

xarm/x3/gpio.py

@@ -55,18 +55,18 @@ def get_tgpio_version(self):
 
         code = 0
 
-        if ret1[0] == 0 and len(ret1) == 2:
-            versions[0] = ret1[1]
+        if ret1[0] in [0, 1, 2] and len(ret1) > 1:
+            versions[0] = ret1[1] if abs(ret1[1]) < 1000 else 0
         else:
             code = ret1[0]
 
-        if ret2[0] == 0 and len(ret2) == 2:
-            versions[1] = ret2[1]
+        if ret2[0] in [0, 1, 2] and len(ret2) > 1:
+            versions[1] = ret2[1] if abs(ret2[1]) < 1000 else 0
         else:
             code = ret2[0]
 
-        if ret3[0] == 0 and len(ret3) == 2:
-            versions[2] = ret3[1]
+        if ret3[0] in [0, 1, 2] and len(ret3) > 1:
+            versions[2] = ret3[1] if abs(ret3[1]) < 1000 else 0
         else:
             code = ret3[0]
         # if code != 0:

xarm/x3/servo.py

@@ -347,18 +347,31 @@ def get_servo_version(self, servo_id=1):
         def _get_servo_version(id_num):
             versions = ['*', '*', '*']
             ret1 = self.get_servo_addr_16(id_num, 0x0801)
-            ret2 = self.get_servo_addr_16(id_num, 0x0802)
-            ret3 = self.get_servo_addr_16(id_num, 0x0803)
+            ret = self.get_servo_debug_msg()
+            if ret[1][id_num-1]['code'] != 0:
+                ret1 = self.arm_cmd.servo_error_addr_r32(id_num, 0x0801)
+                ret2 = self.arm_cmd.servo_error_addr_r32(id_num, 0x0802)
+                ret3 = self.arm_cmd.servo_error_addr_r32(id_num, 0x0803)
+                if len(ret1) > 1:
+                    ret1[1] = ret1[1] >> 16
+                if len(ret2) > 1:
+                    ret2[1] = ret2[1] >> 16
+                if len(ret3) > 1:
+                    ret3[1] = ret3[1] >> 16
+            else:
+                ret2 = self.get_servo_addr_16(id_num, 0x0802)
+                ret3 = self.get_servo_addr_16(id_num, 0x0803)
+            
             code = 0
-            if ret1[0] == 0:
+            if ret1[0] in [0, 1, 2] and len(ret1) > 1 and ret1[1] < 1000:
                 versions[0] = ret1[1]
             else:
                 code = ret1[0]
-            if ret2[0] == 0:
+            if ret2[0] in [0, 1, 2] and len(ret2) > 1 and ret2[1] < 1000:
                 versions[1] = ret2[1]
             else:
                 code = ret2[0]
-            if ret3[0] == 0:
+            if ret3[0] in [0, 1, 2] and len(ret3) > 1 and ret3[1] < 1000:
                 versions[2] = ret3[1]
             else:
                 code = ret3[0]