Fixed the abnormal return value issue of recording track related interfaces

* 270、280基础运动接口增加闭环开关参数

* mypalletizer260 machines 'set_basic_output' interface adds closed-loop return value

* Fixed the error when using the 280AR/320 set_basic_output interface

* 270/280/320 add get_angles_plan()、get_coords_plan() API

* Fix the abnormal return value of 280 set_basic_output interface, add get_modify_version, clear_queue, check_aysnc_or_sync interfaces

* Fixed the abnormal return value issue of recording track related interfaces

Author: wangWking

docs/MyCobot_280_en.md

@@ -22,6 +22,28 @@ mc.send_angle(1, 40, 20)
 
 ### 1. System Status
 
+#### `get_modify_version()`
+
+- **Function:** Check the robot correction version
+
+- **Return value:** Corrected version number
+
+#### `clear_queue()`
+
+- **Function:** Clear the queue data
+
+- **Return value:** 1
+
+#### `check_async_or_sync()`
+
+- **Function:** Check whether it is synchronous or asynchronous
+
+- **Return value:**
+
+  - `1`: synchronous
+
+  - `0`: asynchronous
+
 #### `get_system_version()`
 
 - **function：** get system version
@@ -342,6 +364,36 @@ mc.send_angle(1, 40, 20)
   - `current_angles`: `list` List of floating points for all angles, current angles of the robot
 - **Return value**: `list` List of floating points for all angles.
 
+#### `drag_start_record()`
+
+- **Function** : Start trajectory recording.
+
+- **Return value**: `int` Recording queue length.
+
+#### `drag_end_record()`
+
+- **Function** : End trajectory recording.
+
+- **Return value**: `int` Recording queue length.
+
+#### `drag_get_record_data()`
+
+- **Function** : Get the recorded trajectory. This interface can be used with the `drag_get_record_len` interface. If the queue length is 0, it returns -1.
+
+- **Return value**: `list` List of potential values ​​(encoder values) and motion speeds of each joint. eg: `[[J1_encoder,J2_encoder,J3_encoder,J4_encoder, J5_encoder, J6_encoder],[J1_run_speed, J2_run_speed, J3_run_speed, J4_run_speed, J5_run_speed, J6_run_speed]]`
+
+#### `drag_get_record_len()`
+
+- **Function** : Get the total number of recording points.
+
+- **Return value**: `int` Recording queue length.
+
+#### `drag_clear_record_data()`
+
+- **Function** : Clear the recording track.
+
+- **Return value**: `int` Recording queue length.
+
 ### 4. JOG Mode and Operation
 
 #### `jog_angle(joint_id, direction, speed)`

docs/MyCobot_280_zh.md

@@ -22,6 +22,23 @@ mc.send_angle(1, 40, 20)
 
 ### 1. 系统状态
 
+#### `get_modify_version()`
+
+- **功能:** 检查机器人更正版本
+- **返回值：** 更正版本号
+
+#### `clear_queue()`
+
+- **功能:** 清空队列数据
+- **返回值：** 1
+
+#### `check_async_or_sync()`
+
+- **功能:** 检查当前为同步还是异步
+- **返回值：** 
+  - `1`: 同步
+  - `0`: 异步
+  
 #### `get_system_version()`
 
 - **功能:** 获取机器主控版本（atom固件版本）
@@ -339,6 +356,31 @@ mc.send_angle(1, 40, 20)
   - `current_angles`: `list` 所有角度的浮点列表，机械臂当前角度
 - **返回值**: `list` 所有角度的浮点列表。
 
+#### `drag_start_record()`
+
+- **功能** : 开始轨迹录制。
+- **返回值**: `int` 录制队列长度。
+
+#### `drag_end_record()`
+
+- **功能** : 结束轨迹录制。
+- **返回值**: `int` 录制队列长度。
+
+#### `drag_get_record_data()`
+
+- **功能** : 获取录制轨迹。此接口可匹配`drag_get_record_len`接口使用，如果队列长度为0，则返回-1.
+- **返回值**: `list` 各关节的电位值（编码器值）和动作速度列表。eg: `[[J1_encoder,J2_encoder,J3_encoder,J4_encoder, J5_encoder, J6_encoder],[J1_run_speed, J2_run_speed, J3_run_speed, J4_run_speed, J5_run_speed, J6_run_speed]]`
+
+#### `drag_get_record_len()`
+
+- **功能** : 获取录制总点位数。
+- **返回值**: `int` 录制队列长度。
+
+#### `drag_clear_record_data()`
+
+- **功能** : 清除录制轨迹。
+- **返回值**: `int` 录制队列长度。
+
 ### 4. JOG运行与操作
 
 #### `jog_angle(joint_id, direction, speed)`

pymycobot/common.py

@@ -105,7 +105,8 @@ class ProtocolCode(object):
     FOOTER = 0xFA
 
     # System status
-    ROBOT_VERSION = 0x01
+    # ROBOT_VERSION = 0x01
+    MODIFY_VERSION = 0x01
     SOFTWARE_VERSION = 0x02
     GET_ROBOT_ID = 0x03
     OVER_LIMIT_RETURN_ZERO = 0x04
@@ -519,7 +520,6 @@ def _mesg(self, genre, *args, **kwargs):
             command.extend(self.crc_check(command))
         else:
             command.append(ProtocolCode.FOOTER)
-
         real_command = self._flatten(command)
         has_reply = kwargs.get("has_reply", False)
         _async = kwargs.get("_async", False)
@@ -888,6 +888,20 @@ def _process_high_low_bytes(self, data):
         combined_value = (high_byte << 8) | low_byte
         return combined_value
 
+    def _parse_bytes_to_int(self, data: list[int]) -> int:
+        """将多个字节组合为一个整数（大端）"""
+        value = 0
+        for byte in data:
+            value = (value << 8) | byte
+        return value
+
+    def _split_joint_and_speed(self, data):
+        if all(x == 0 for x in data):
+            return -1
+        joints = data[::2]  # 偶数索引：关节角度
+        speeds = data[1::2]  # 奇数索引：对应速度
+        return [joints, speeds]
+
     @staticmethod
     def check_python_version():
         if sys.version_info.major == 2:

pymycobot/mycobot280.py

@@ -156,11 +156,11 @@ def _res(self, real_command, has_reply, genre):
         res = self._process_received(data, genre)
         if res is None:
             return None
-
         if res is not None and isinstance(res, list) and len(res) == 1 and genre not in [ProtocolCode.GET_BASIC_VERSION,
                                                                                          ProtocolCode.GET_JOINT_MIN_ANGLE,
                                                                                          ProtocolCode.GET_JOINT_MAX_ANGLE,
-                                                                                         ProtocolCode.SOFTWARE_VERSION]:
+                                                                                         ProtocolCode.SOFTWARE_VERSION,
+                                                                                         ProtocolCode.SET_BASIC_OUTPUT]:
             return res[0]
 
         if genre in [
@@ -196,7 +196,8 @@ def _res(self, real_command, has_reply, genre):
             return self._process_single(res)
         elif genre in [ProtocolCode.GET_ANGLES, ProtocolCode.SOLVE_INV_KINEMATICS, ProtocolCode.GET_ANGLES_PLAN]:
             return [self._int2angle(angle) for angle in res]
-        elif genre in [ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE, ProtocolCode.GET_COORDS_PLAN]:
+        elif genre in [ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE,
+                       ProtocolCode.GET_COORDS_PLAN]:
             if res:
                 r = []
                 for idx in range(3):
@@ -214,6 +215,13 @@ def _res(self, real_command, has_reply, genre):
             return self._int2coord(self._process_single(res))
         elif genre in [ProtocolCode.GET_REBOOT_COUNT]:
             return self._process_high_low_bytes(res)
+        elif genre in [ProtocolCode.SET_BASIC_OUTPUT]:
+            return 1
+        elif genre in [ProtocolCode.DRAG_CLEAR_RECORD_DATA, ProtocolCode.DRAG_GET_RECORD_LEN,
+                       ProtocolCode.DRAG_START_RECORD, ProtocolCode.DRAG_END_RECORD]:
+            return self._parse_bytes_to_int(res)
+        elif genre in [ProtocolCode.DRAG_GET_RECORD_DATA]:
+            return self._split_joint_and_speed(res)
         elif genre == ProtocolCode.GET_ANGLES_COORDS:
             r = []
             for index in range(len(res)):
@@ -793,8 +801,7 @@ def drag_get_record_data(self):  # TODO need test 2024/11/15
 
         Return:
             List of potential values (encoder values) and operating speeds of each joint
-            eg: [J1_encoder, J1_run_speed,J2_encoder, J2_run_speed,J3_encoder, J3_run_speed,J4_encoder, J4_run_speed,J5_
-            encoder, J5_run_speed,J6_encoder, J6_run_speed]
+            eg: [[J1_encoder,J2_encoder,J3_encoder,J4_encoder, J5_encoder, J6_encoder],[J1_run_speed, J2_run_speed, J3_run_speed, J4_run_speed, J5_run_speed, J6_run_speed]]
         """
 
         return self._mesg(ProtocolCode.DRAG_GET_RECORD_DATA, has_reply=True)
@@ -851,6 +858,26 @@ def get_coords_plan(self):
         """
         return self._mesg(ProtocolCode.GET_COORDS_PLAN, has_reply=True)
 
+    def get_modify_version(self):
+        """get modify version
+
+        Return: int
+        """
+        return self._mesg(ProtocolCode.MODIFY_VERSION, has_reply=True)
+
+    def clear_queue(self):
+        """Clear Queue Data"""
+        return self._mesg(ProtocolCode.CLEAR_COMMAND_QUEUE, has_reply=True)
+
+    def check_async_or_sync(self):
+        """Check whether it is synchronous or asynchronous
+
+        Return:
+            1 : synchronous
+            0 : asynchronous
+        """
+        return self._mesg(ProtocolCode.CHECK_ASYNC_OR_SYNC, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mycobot280socket.py

@@ -154,7 +154,7 @@ def _res(self, real_command, has_reply, genre):
             ProtocolCode.GET_BASIC_VERSION,
             ProtocolCode.GET_JOINT_MIN_ANGLE,
             ProtocolCode.GET_JOINT_MAX_ANGLE,
-            ProtocolCode.SOFTWARE_VERSION]:
+            ProtocolCode.SOFTWARE_VERSION, ProtocolCode.SET_BASIC_OUTPUT]:
             return res[0]
         if genre in [
             ProtocolCode.ROBOT_VERSION,
@@ -191,7 +191,8 @@ def _res(self, real_command, has_reply, genre):
             return self._process_single(res)
         elif genre in [ProtocolCode.GET_ANGLES, ProtocolCode.SOLVE_INV_KINEMATICS, ProtocolCode.GET_ANGLES_PLAN]:
             return [self._int2angle(angle) for angle in res]
-        elif genre in [ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE, ProtocolCode.GET_COORDS_PLAN]:
+        elif genre in [ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE,
+                       ProtocolCode.GET_COORDS_PLAN]:
             if res:
                 r = []
                 for idx in range(3):
@@ -210,6 +211,13 @@ def _res(self, real_command, has_reply, genre):
             return self._int2coord(self._process_single(res))
         elif genre in [ProtocolCode.GET_REBOOT_COUNT]:
             return self._process_high_low_bytes(res)
+        elif genre in [ProtocolCode.SET_BASIC_OUTPUT]:
+            return 1
+        elif genre in [ProtocolCode.DRAG_CLEAR_RECORD_DATA, ProtocolCode.DRAG_GET_RECORD_LEN,
+                       ProtocolCode.DRAG_START_RECORD, ProtocolCode.DRAG_END_RECORD]:
+            return self._parse_bytes_to_int(res)
+        elif genre in [ProtocolCode.DRAG_GET_RECORD_DATA]:
+            return self._split_joint_and_speed(res)
         elif genre == ProtocolCode.GET_ANGLES_COORDS:
             r = []
             for index in range(len(res)):
@@ -826,8 +834,7 @@ def drag_get_record_data(self):  # TODO need test 2024/11/15
 
         Return:
             List of potential values (encoder values) and operating speeds of each joint
-            eg: [J1_encoder, J1_run_speed,J2_encoder, J2_run_speed,J3_encoder, J3_run_speed,J4_encoder, J4_run_speed,J5_
-            encoder, J5_run_speed,J6_encoder, J6_run_speed]
+            eg: [[J1_encoder,J2_encoder,J3_encoder,J4_encoder, J5_encoder, J6_encoder],[J1_run_speed, J2_run_speed, J3_run_speed, J4_run_speed, J5_run_speed, J6_run_speed]]
         """
 
         return self._mesg(ProtocolCode.DRAG_GET_RECORD_DATA, has_reply=True)
@@ -884,6 +891,26 @@ def get_coords_plan(self):
         """
         return self._mesg(ProtocolCode.GET_COORDS_PLAN, has_reply=True)
 
+    def get_modify_version(self):
+        """get modify version
+
+        Return: int
+        """
+        return self._mesg(ProtocolCode.MODIFY_VERSION, has_reply=True)
+
+    def clear_queue(self):
+        """Clear Queue Data"""
+        return self._mesg(ProtocolCode.CLEAR_COMMAND_QUEUE, has_reply=True)
+
+    def check_async_or_sync(self):
+        """Check whether it is synchronous or asynchronous
+
+        Return:
+            1 : synchronous
+            0 : asynchronous
+        """
+        return self._mesg(ProtocolCode.CHECK_ASYNC_OR_SYNC, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)