[feat]1.add "get_tool_digital_input" interface;2.repair blockly "get_position" modules

Author: SchoolMater

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.14.7): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.14.11): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -1576,7 +1576,16 @@ xArm-Python-SDK API Documentation (V1.14.7): class XArmAPI in module xarm.wrappe
 
 > Get the digital value of the specified Tool GPIO  
 >   
-> :param ionum: 0 or 1 or None(both 0 and 1), default is None  
+> :param ionum: 0 or 1 or or 2 or 3 or 4 (both 0 and 4), default is None  
+> :return: tuple((code, value or value list)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
+#### def __get_tool_digital_input__(self, ionum=None):
+
+> Get the digital value of the specified Tool GPIO, Compared with the "get_tgpio_digital" interface, the value of TI2 is obtained when the ionum is not transmitted. 
+>   
+> :param ionum: 0 or 1 or or 2 or 3 or 4 (both 0 and 4), default is None  
 > :return: tuple((code, value or value list)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 

xarm/tools/blockly/_blockly_base.py

@@ -230,9 +230,9 @@ def _get_condition_expression(self, value_block, arg_map=None):
             is_axis = True if fields[0].text == 'axis' else False
             direction = int(fields[1].text)
             if is_axis:
-                return 'round(self._arm.position_aa[{}], 2)'.format(direction-1)
+                return 'round(self._arm.get_position_aa()[1][{}], 2)'.format(direction-1)
             else:
-                return 'round(self._arm.position[{}], 2)'.format(direction-1)
+                return 'round(self._arm.get_position()[1][{}], 2)'.format(direction-1)
         elif block.attrib['type'] == 'get_joint_angle':
             angle_li = ['J1', 'J2', 'J3', 'J4', 'J5', 'J6']
             fields = self._get_nodes('field', root=block)

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.14.10'
+__version__ = '1.14.11'

xarm/wrapper/xarm_api.py

@@ -1888,6 +1888,17 @@ def get_tgpio_digital(self, ionum=None):
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
         """
         return self._arm.get_tgpio_digital(ionum)
+    
+    def get_tool_digital_input(self, ionum=None):
+        """
+        Get the digital value of the specified Tool GPIO,Compared with the "get_tgpio_digital" interface,
+            the value of TI2 is obtained when the ionum is not transmitted.
+
+        :param ionum: 0 or 1 or or 2 or 3 or 4 (both 0 and 4), default is None
+        :return: tuple((code, value or value list)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.get_tool_digital_input(ionum)
 
     def set_tgpio_digital(self, ionum, value, delay_sec=None, sync=True):
         """