use wait_sync in absolute motion

Author: vimior

xarm/x3/base.py

@@ -1291,7 +1291,7 @@ def __handle_report_normal_old(rx_data):
  self._report_location_callback()
 
  self._report_callback()
- if not self._is_sync and self._error_code == 0 and self._state not in [4, 5]:
+ if not self._is_sync and self._error_code == 0 and self._state not in [4, 5, 6]:
  self._sync()
  self._is_sync = True
 

xarm/x3/xarm.py

@@ -71,9 +71,7 @@ def _is_out_of_joint_range(self, angle, i):
  return True
  return False
 
- def __wait_sync(self, relative=False):
- if not relative:
- return 0
+ def __wait_sync(self):
  while not self._is_sync or self._need_sync:
  if not self.connected:
  return APIState.NOT_CONNECTED
@@ -195,9 +193,6 @@ def _set_position_relative(self, x=None, y=None, z=None, roll=None, pitch=None,
  self.__update_tcp_motion_params(spd, acc, mvt)
  return ret[0]
  else:
- code = self.__wait_sync(True)
- if code != 0:
- return code
  # use absolute api
  tcp_pos = [
  self._last_position[0] if x is None else (self._last_position[0] + float(x)),
@@ -219,6 +214,9 @@ def set_position(self, x=None, y=None, z=None, roll=None, pitch=None, yaw=None,
  only_check_type = kwargs.get('only_check_type', self._only_check_type)
  if only_check_type > 0 and wait:
  self.wait_move(timeout=timeout)
+ code = self.__wait_sync()
+ if code != 0:
+ return code
  if relative:
  return self._set_position_relative(x=x, y=y, z=z, roll=roll, pitch=pitch, yaw=yaw, radius=radius,
  speed=speed, mvacc=mvacc, mvtime=mvtime, is_radian=is_radian,
@@ -396,9 +394,6 @@ def _set_servo_angle_relative(self, angles, speed=None, mvacc=None, mvtime=None,
  self.__update_joint_motion_params(spd, acc, mvt)
  return ret[0]
  else:
- code = self.__wait_sync(True)
- if code != 0:
- return code
  # use absolute api
  joints = self._last_angles.copy()
  for i in range(min(len(self._last_angles), len(angles))):
@@ -428,6 +423,9 @@ def set_servo_angle(self, servo_id=None, angle=None, speed=None, mvacc=None, mvt
  only_check_type = kwargs.get('only_check_type', self._only_check_type)
  if only_check_type > 0 and wait:
  self.wait_move(timeout=timeout)
+ code = self.__wait_sync()
+ if code != 0:
+ return code
  if relative:
  return self._set_servo_angle_relative(angles, speed=speed, mvacc=mvacc, mvtime=mvtime, is_radian=is_radian,
  wait=wait, timeout=timeout, radius=radius, **kwargs)