feat:"set_suction_cup and get_suction_cup" add hardware_version param

Author: SchoolMater

xarm/tools/blockly/_blockly_base.py

@@ -31,6 +31,7 @@ def __init__(self, xml_path):
  self._funcs = {}
  self._define_is_prime_func = False
  self._define_bin_matchs_func = False
+ self._vacuum_version = '1'
 
  def _get_field_value(self, block):
  field = self._get_node('field', root=block)
@@ -94,12 +95,13 @@ def _get_condition_expression(self, value_block, arg_map=None):
  self._define_bin_matchs_func = True
  return 'self._cgpio_digitals_is_matchs_bin(\'{}\')'.format(bin_val)
  elif block.attrib['type'] == 'get_suction_cup':
- return 'self._arm.get_suction_cup()[{}]'.format(1)
+ return 'self._arm.get_suction_cup(hardware_version={})[{}]'.format(self._vacuum_version, 1)
  elif block.attrib['type'] == 'check_air_pump_state':
  fields = self._get_nodes('field', root=block)
  state = 1 if fields[0].text == 'ON' else 0
  timeout = float(fields[1].text)
- return 'self._arm.arm.check_air_pump_state({}, timeout={})'.format(state, timeout)
+ return 'self._arm.arm.check_air_pump_state({}, timeout={}, hardware_version={})'.format(state, timeout, 
+ self._vacuum_version)
  elif block.attrib['type'] == 'check_bio_gripper_is_catch':
  fields = self._get_nodes('field', root=block)
  timeout = float(fields[0].text)

xarm/tools/blockly/_blockly_handler.py

@@ -41,6 +41,7 @@ def __init__(self, xml_path):
  self.is_run_linear_track = False
  self._is_run_blockly = False
  self._listen_counter = False
+ self._vacuum_version = '1'
 
  def _append_init_code(self, code):
  self._init_code_list.append(code)
@@ -435,7 +436,7 @@ def _handle_gpio_set_digital_with_xyz(self, block, indent=0, arg_map=None):
  self._append_main_code(' return', indent + 2)
 
  def _handle_get_suction_cup(self, block, indent=0, arg_map=None):
- self._append_main_code('{}self._arm.get_suction_cup()', indent + 2)
+ self._append_main_code('{}self._arm.get_suction_cup(hardware_version={})'.format('{}', self._vacuum_version), indent + 2)
 
  def _handle_check_air_pump_state(self, block, indent=0, arg_map=None):
  fields = self._get_nodes('field', root=block)
@@ -463,7 +464,7 @@ def _handle_set_suction_cup(self, block, indent=0, arg_map=None):
  wait = False
  fields = self._get_nodes('field', root=block, name='delay')
  delay_sec = fields[0].text if len(fields) > 0 else 0
- self._append_main_code('code = self._arm.set_suction_cup({}, wait={}, delay_sec={})'.format( on, wait, delay_sec), indent + 2)
+ self._append_main_code('code = self._arm.set_suction_cup({}, wait={}, delay_sec={}, hardware_version={})'.format( on, wait, delay_sec, self._vacuum_version), indent + 2)
  self._append_main_code('if not self._check_code(code, \'set_suction_cup\'):', indent + 2)
  self._append_main_code(' return', indent + 2)
 

xarm/tools/blockly/_blockly_tool.py

@@ -24,6 +24,7 @@ def to_python(self, path=None, arm=None, init=True, wait_seconds=1, mode=0, stat
  if not self._is_converted:
  self._is_exec = kwargs.get('is_exec', False)
  self._is_ide = kwargs.get('is_ide', False)
+ self._vacuum_version = kwargs.get('vacuum_version', '1')
  # highlight_callback: only use pack to run blockly in studio
  self._highlight_callback = kwargs.get('highlight_callback', None)
  # axis_type: Obtain the type of mechanical arm axis for end leveling use