feat(MyArmM): Add SD card detection interface (#235)

* 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): Adapt to Bluetooth and socket TCP communication modes

* docs(MyAGVPro): Format the document

* docs(MyAGVPro): Documentation to increase use cases

* docs(MyAGVPro): rename MyAGVPro_zh.md

* docs(MyAGVPro): Update the serial port

* fix(MyArmM): Correction of joint limit and motor code value range

* feat(MyAGVPro): Add get_emergency_stop_state api

* 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

* fix(M750):Updated M750 Swing Limit

* fix(MyAGVPro): The issue that Bluetooth address matching fails is fixed

* feat(myagvpro): add get_robot_status api

* feat(demo):Add myAGVPro composite kit handle control case

* feat(MercuryX1): Compatible with dock firmware version 1.2

* feat(mercurychassis_api): Dynamically matching instruction length

* feat(mercurychassis_api): Optimize voltage reading accuracy

* feat(ConveyorApi): Separate the set_motor_speed interface

* feat(ConveyorApi): Specify the motor type during initialization

* refactor(conveyorApi): add stop interface

* feat(conveyor_api): Adapt to Conveyor 1.1 firmware, all interfaces return uniform values

* feat(AGVPRO): Adapt to CH340 serial port chip

* feat(AGVPRO): Automatically upload the adapter firmware v1.0.10

* feat(AGVPRO): Added the control interface for opening and closing the handle

* feat(AGVPRO): Added an interface for reading handle control status

* feat(AGVPRO): Bluetooth adapter handle control interface

* fix(mercury): Fix the redundant code in the previous commit

* fix(Mercury): Resolved server communication issues affecting both arms

* fix(MyAGVPro): Fixed the issue that some interfaces did not return

* fix(MyAGVPro): Fixed the interface parameter verification error issue

* refactor(MyAGVPro): Optimize get_robot_statuts interface return

* feat(MyArmM): Add SD card detection interface.

---------

Co-authored-by: Mrkun5018 <76215701+Mrkun5018@users.noreply.github.com>
Co-authored-by: 蓝启琨 <qikun.lan@elephantrobotics.com>

Author: K-Shuffler

pymycobot/common.py

@@ -517,6 +517,9 @@ class ProtocolCode(object):
     SET_JOINT_DISABLE = '*7'
     SET_JOINT_ENABLE = '*8'
 
+    # MyArm M750
+    IS_SD_INSERT = 0xC4
+
 
 class DataProcessor(object):
     crc_robot_class = ["Mercury", "MercurySocket", "Pro630", "Pro630Client", "Pro400Client", "Pro400", "MercuryTest", "Pro450Client"]

pymycobot/myarm_api.py

@@ -77,6 +77,8 @@ def _read(self, genre):
             timeout = 0.4
         elif genre == ProtocolCode.POWER_ON:
             timeout = 2
+        elif genre == ProtocolCode.IS_SD_INSERT:
+            timeout = 1
         else:
             timeout = 0.1
 
@@ -132,7 +134,8 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.POWER_ON,
                 ProtocolCode.GET_MASTER_PIN_STATUS,
                 ProtocolCode.GET_ATOM_PIN_STATUS,
-                ProtocolCode.GET_SERVO_D
+                ProtocolCode.GET_SERVO_D,
+                ProtocolCode.IS_SD_INSERT
             ]
 
             if genre in return_single_genres:

pymycobot/myarmm.py

@@ -162,3 +162,11 @@ def is_tool_btn_clicked(self):
     def clear_recv_queue(self):
         """Clear the queue for receiving commands"""
         self._mesg(ProtocolCode.CLEAR_RECV_QUEUE)
+
+    def is_sd_insert(self):
+        """Check if the SD card is inserted
+
+        Returns:
+            int: 0/1, 1: insert, 0: no insert
+        """
+        return self._mesg(ProtocolCode.IS_SD_INSERT, has_reply=True)