fix:Cancel return of TI2 when TI returns all values

Author: SchoolMater

xarm/x3/gpio.py

@@ -83,21 +83,14 @@ def get_tgpio_digital(self, ionum=None):
  if self.check_is_simulation_robot():
  return 0, [0, 0] if ionum is None else 0
  if ionum == 2:
- # only available in Lite6
+ # Only available for Lite6 and 850
  ret = self.arm_cmd.tgpio_addr_r16(0x0A12)
  return ret[0], ret[1] & 0x0001
- elif isinstance(ionum, int):
+ else:
  ret = self.arm_cmd.tgpio_get_digital()
  if ret[0] == 0:
  self.tgpio_state['digital'] = ret[1:]
- return ret[0], ret[ionum+1 if ionum < 3 else ionum]
- else:
- ret1 = self.arm_cmd.tgpio_addr_r16(0x0A12)
- ret2 = self.arm_cmd.tgpio_get_digital()
- if ret2[0] == 0:
- self.tgpio_state['digital'] = ret2[1:]
- ret2.insert(3, ret1[1])
- return ret1[0] or ret2[0], ret2[1:]
+ return ret[0], ret[1:] if ionum is None else ret[ionum + 1 if ionum < 3 else ionum]
 
  @xarm_is_connected(_type='get')
  def get_tgpio_output_digital(self, ionum=None):