feat(MyAgv): Added setting/reading automatic report status interface (#173)

* add MyCobot 280 X5PI API

* add MyCobot 280 X5 PI doc

* Fix MyCobot 280 X5 Pi doc errors

* add MyCobot 280 X5 PI sokcet sever&client

* MyCobot 280 X5 PI server compatible with python2

* rename MyCobot280x5pi to MyCobot280RDKX5

* fix MyArmMControl bugs

* fix MyArmC bugs

* fix myArmM&C demo bug

* update M&C demo

* fix MyCobot280 rdkx5 bug

* fix MyArmM&C bugs

* fix bugs

* fix bug

* fix ThreeHand api bug

* Fixed the issue that Pro630 could not read data

* fix MyArmM bug

* MyArmM&C adds get_joints_coord interface

* fix Pro630 bug

* fix Pro630 bugs

* Fixed the pro630 socket communication bug

* Optimize MyCobot280 RDK X5 interface parameter error prompt

* Optimized the way MyAGV reads MCU data

* feat(myagvpro): add myagvpro api

* fix(ConveyorApi):Fix the problem that no data is returned

* feat(MyAGVPro): Add get_emergency_stop_state api

* refactor(MyAGVPro): rename get_emergency_stop_state to get_estop_state

* feat(MyAgv): Added setting/reading automatic report status interface

---------

Co-authored-by: Mrkun5018 <76215701+Mrkun5018@users.noreply.github.com>

Author: K-Shuffler

pymycobot/myagv.py

@@ -11,12 +11,14 @@ class ProtocolCode:
     RESTORE = (0x01, 0x00)
     SET_LED = (0x01, 0x02)
     SET_LED_MODE = (0x01, 0x0A)
+    SET_MOTION_CONTROL = (0x01, 0x0B)
     GET_FIRMWARE_VERSION = (0x01, 0x03)
     GET_MODIFIED_VERSION = (0x01, 0x09)
     SET_GYRO_STATE = (0x01, 0x07)
+    SET_AUTO_REPORT_STATE = (0x01, 0x0c)
+    GET_AUTO_REPORT_STATE = (0x01, 0x0d)
     GET_GYRO_STATE = (0x01, 0x08)
-    GET_MCU_INFO = (0x01, 0x0B)
-    UNDEFINED = ()
+    GET_MCU_INFO = ()
 
 
 class MyAGVCommandProtocolApi(CommunicationProtocol):
@@ -190,7 +192,7 @@ def __basic_move_control(self, *genre, timeout: int = 5):
         while time.time() - t < timeout:
             if self.__movement is False:
                 break
-            self._merge(ProtocolCode.UNDEFINED, *genre)
+            self._merge(ProtocolCode.SET_MOTION_CONTROL, *genre)
             time.sleep(0.1)
         self.stop()
 
@@ -274,7 +276,7 @@ def counterclockwise_rotation(self, speed: int, timeout=5):
 
     def stop(self):
         """stop-motion"""
-        self._merge(ProtocolCode.UNDEFINED, 128, 128, 128)
+        self._merge(ProtocolCode.SET_MOTION_CONTROL, 128, 128, 128)
         self.__movement = False
 
     def get_mcu_info(self):
@@ -334,6 +336,27 @@ def get_modified_version(self):
         """Get modified version number"""
         return self._merge(ProtocolCode.GET_MODIFIED_VERSION, has_reply=True)
 
+    def set_auto_report_state(self, state):
+        """Set the state of automatic reporting
+
+        Args:
+            state (int): 1 - open. 0 - close. Defaults to 0.
+        """
+        if state not in (0, 1):
+            raise ValueError("state must be 0 or 1")
+
+        self._merge(ProtocolCode.SET_AUTO_REPORT_STATE, state)
+
+    def get_auto_report_state(self):
+        """Get the state of automatic reporting
+
+        Return:
+            1 - open
+            0 - close
+        """
+
+        return self._merge(ProtocolCode.GET_AUTO_REPORT_STATE, has_reply=True)
+
 
 class MyAgv(MyAGVCommandApi):