add new api

Author: vinman

doc/api/xarm_api.md

@@ -7,19 +7,54 @@
 # Author: Duke Fong <[email protected]>
 
 
-import sys, os
+import sys
+import os
 import pydoc
+import re
 
 sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
 
 from xarm.wrapper import XArmAPI
 
 from doc.tool.markdown_doc import MarkdownDoc
 
-open('../api/xarm_api.md', 'w', encoding='utf-8').write(
-    pydoc.render_doc(XArmAPI,
-                     title='xArm-Python-SDK API Documentation: %s',
-                     renderer=MarkdownDoc()))
+# open('../api/xarm_api.md', 'w', encoding='utf-8').write(
+#     pydoc.render_doc(XArmAPI,
+#                      title='xArm-Python-SDK API Documentation: %s',
+#                      renderer=MarkdownDoc()))
+
+docs = pydoc.render_doc(XArmAPI,
+                        title='xArm-Python-SDK API Documentation: %s',
+                        renderer=MarkdownDoc()).split('\n')
+d = {'#': 1, '##': 2, '###': 3, '####': 4, '#####': 5, '######': 6}
+pattern = '#+\s'
+
+
+head_id = 0
+targetname = "../api/xarm_api.md"
+with open(targetname, 'w+') as f2:
+    for i in docs:
+        if not re.match(pattern, i.strip(' \t\n')):
+            continue
+        i = i.strip(' \t\n')
+        head = i.split(' ')[0]
+        f2.write('|' + '-----' * (len(head) - 1) + '@[' + i[len(head):].strip(' \t\n') + '](#id' + str(
+            head_id) + ')   \n')
+        head_id += 1
+    f2.write('\n')
+    head_id = 0
+    for i in docs:
+        if not re.match(pattern, i.strip(' \t\n')):
+            f2.write(i)
+        else:
+            i = i.strip(' \t\n')
+            head = i.split(' ')[0]
+            if head in d.keys():
+                menu = ''.join(
+                    ['<h', str(len(head)), ' id=id', str(head_id), '>', i[len(head):].strip(' \t\n'), '</h',
+                     str(len(head)), '>   \n'])
+                f2.write(menu)
+                head_id += 1
 
 print('done ...')
 

doc/tool/gen_api.py

@@ -98,7 +98,7 @@ def docclass(self, cls, name=None, mod=None):
 
         if descriptors:
             # start the descriptors section
-            document.append(self.process_subsection(self.bold("descriptors")))
+            document.append(self.process_subsection(self.bold("Attributes")))
             document.append(self.underline)
 
             # process your descriptors
@@ -108,12 +108,13 @@ def docclass(self, cls, name=None, mod=None):
         if methods:
             # start the methods section
             document.append(self.underline)
-            document.append(self.process_subsection(self.bold("methods")))
+            document.append(self.process_subsection(self.bold("Methods")))
             document.append(self.underline)
 
             # process your methods
             for name, kind, classname, value in methods:
-                document.append(self.document(getattr(cls, name), name, mod, cls))
+                if name == '__init__' or not name.startswith('__'):
+                    document.append(self.document(getattr(cls, name), name, mod, cls))
 
         return "\n".join(document)
 

doc/tool/markdown_doc.py

@@ -26,7 +26,7 @@
     arm.clean_error()
 
 last_digitals = [-1, -1]
-while arm.connected and arm.error_code == 0:
+while arm.connected and arm.error_code != 28:
     code, digitals = arm.get_gpio_digital()
     if code == 0:
         if digitals[0] == 1 and digitals[0] != last_digitals[0]:

example/wrapper/common/1001-get_gpio_digital.py

@@ -25,8 +25,7 @@
 if arm.error_code != 0:
     arm.clean_error()
 
-last_analogs = [-1, -1]
-while arm.connected and arm.error_code == 0:
+while arm.connected and arm.error_code != 28:
     code, analogs = arm.get_gpio_analog()
     print('code: {}, analogs={}'.format(code, analogs))
     time.sleep(1)

example/wrapper/common/1002-get_gpio_analog.py

@@ -14,11 +14,11 @@
 import sys
 sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
 
-from xarm.tools.xml_tool import XmlTool
+from xarm.tools.blockly_tool import BlocklyTool
 
 # blockly app path
 source_path = './example.xml'
 # the path is the python code to save
-target_path = './py_blockly.py'
-xml = XmlTool(source_path)
-xml.to_python(target_path)
+target_path = './blockly_app.py'
+blockly = BlocklyTool(source_path)
+blockly.to_python(target_path)

example/wrapper/tool/blockly_to_python.py

@@ -148,6 +148,7 @@ class SocketConf:
 
     class UxbusReg:
         GET_VERSION = 1
+        SHUTDOWN_SYSTEM = 10
         MOTION_EN = 11
         SET_STATE = 12
         GET_STATE = 13
@@ -163,6 +164,7 @@ class UxbusReg:
         MOVE_JOINT = 23
         MOVE_HOME = 25
         SLEEP_INSTT = 26
+        MOVE_CIRCLE = 27
         MOVE_SERVOJ = 29
 
         SET_TCP_JERK = 31
@@ -183,6 +185,8 @@ class UxbusReg:
         IS_JOINT_LIMIT = 45
         IS_TCP_LIMIT = 46
 
+        SET_GRAVITY_DIR = 51
+
         SERVO_W16B = 101
         SERVO_R16B = 102
         SERVO_W32B = 103

xarm/core/config/x_config.py

@@ -107,6 +107,10 @@ def get_nu16(self, funcode, num):
     def get_version(self):
         return self.get_nu8(XCONF.UxbusReg.GET_VERSION, 40)
 
+    def shutdown_system(self, value):
+        txdata = [value]
+        return self.set_nu8(XCONF.UxbusReg.SHUTDOWN_SYSTEM, txdata, 1)
+
     def motion_en(self, axis_id, enable):
         txdata = [axis_id, int(enable)]
         return self.set_nu8(XCONF.UxbusReg.MOTION_EN, txdata, 2)
@@ -166,6 +170,18 @@ def sleep_instruction(self, sltime):
         txdata = [sltime]
         return self.set_nfp32(XCONF.UxbusReg.SLEEP_INSTT, txdata, 1)
 
+    def move_circle(self, pose1, pose2, mvvelo, mvacc, mvtime, percent):
+        txdata = [0] * 16
+        for i in range(6):
+            txdata[i] = pose1[i]
+            txdata[6 + i] = pose2[i]
+        txdata[12] = mvvelo
+        txdata[13] = mvacc
+        txdata[14] = mvtime
+        txdata[15] = percent
+        ret = self.set_nfp32(XCONF.UxbusReg.MOVE_CIRCLE, txdata, 16)
+        return ret
+
     def set_tcp_jerk(self, jerk):
         txdata = [jerk]
         return self.set_nfp32(XCONF.UxbusReg.SET_TCP_JERK, txdata, 1)
@@ -198,6 +214,9 @@ def set_teach_sens(self, value):
         txdata = [value]
         return self.set_nu8(XCONF.UxbusReg.SET_TEACH_SENS, txdata, 1)
 
+    def set_gravity_dir(self, gravity_dir):
+        return self.set_nfp32(XCONF.UxbusReg.SET_GRAVITY_DIR, gravity_dir, 3)
+
     def clean_conf(self):
         return self.set_nu8(XCONF.UxbusReg.CLEAN_CONF, 0, 0)