ad mercury socket

Author: anla-xu

pymycobot/common.py

@@ -316,7 +316,7 @@ def _process_data_command(self, genre, _class, args):
         processed_args = []
         for index in range(len(args)):
             if isinstance(args[index], list):
-                if genre == ProtocolCode.SET_ENCODERS_DRAG and index == 0 and _class == "Mercury":
+                if genre == ProtocolCode.SET_ENCODERS_DRAG and index == 0 and _class in ["Mercury", "MercurySocket"]:
                     for data in args[index]:
                         byte_value = data.to_bytes(4, byteorder='big', signed=True)
                         res = []
@@ -329,7 +329,7 @@ def _process_data_command(self, genre, _class, args):
                 if isinstance(args[index], str):
                     processed_args.append(args[index])
                 else:
-                    if genre == ProtocolCode.SET_SERVO_DATA and _class == "Mercury" and index == 2:
+                    if genre == ProtocolCode.SET_SERVO_DATA and _class in ["Mercury", "MercurySocket"] and index == 2:
                         byte_value = args[index].to_bytes(2, byteorder='big', signed=True)
                         res = []
                         for i in range(len(byte_value)):
@@ -540,7 +540,7 @@ def read(self, genre, method=None, command=None, _class=None):
         while True and time.time() - t < wait_time:
             data = self._serial_port.read()
             k += 1
-            if _class == "Mercury":
+            if _class in ["Mercury", "MercurySocket"]:
                 if data_len == 3:
                     datas += data
                     crc = self._serial_port.read(2)

pymycobot/error.py

@@ -200,7 +200,7 @@ def calibration_parameters(**kwargs):
         robot_limit = json.load(f)
     parameter_list = list(kwargs.keys())
     class_name =  kwargs.get("class_name", None)
-    if class_name == "Mercury":
+    if class_name in ["Mercury", "MercurySocket"]:
         for parameter in parameter_list[1:]:
             value = kwargs.get(parameter, None)
             if parameter == 'id' and value not in robot_limit[class_name][parameter]:

pymycobot/generate.py

@@ -125,7 +125,7 @@ def _mesg(self, genre, *args, **kwargs):
             ]
         if command_data:
             command.extend(command_data)
-        if self.__class__.__name__ == "Mercury":
+        if self.__class__.__name__ in ["Mercury", "MercurySocket"]:
             command[2] += 1
             command.extend(self.crc_check(command))
         else: