From 02a11c0054697f66f34440d43b7dba8d2b21c3e2 Mon Sep 17 00:00:00 2001
From: weiquan <weiquan.xu@elephantrobotics.com>
Date: Thu, 6 Jul 2023 11:12:46 +0800
Subject: [PATCH] release v3.1.5

---
 CHANGELOG.md              |  5 +++++
 docs/README.md            | 23 +++++++++++++++++++++++
 pymycobot/__init__.py     |  2 +-
 pymycobot/common.py       |  2 ++
 pymycobot/generate.py     | 13 +++++++++++++
 pymycobot/mycobot.py      |  2 ++
 pymycobot/mypalletizer.py |  2 ++
 7 files changed, 48 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index cf74556..bcd724d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v3.1.5 (2023-07-06)
+
+- release v3.1.5
+- Add mycobot interface：get_basic_version(),set_communicate_mode()
+
 ## v3.1.4 (2023-07-05)
 
 - release v3.1.4
diff --git a/docs/README.md b/docs/README.md
index 1074a39..c021e91 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -96,6 +96,8 @@ We support Python2, Python3.5 or later.
     - [set\_plan\_speed](#set_plan_speed)
     - [set\_plan\_acceleration](#set_plan_acceleration)
     - [set\_gservo\_round](#set_gservo_round)
+    - [get\_basic\_version](#get_basic_version)
+    - [set\_communicate\_mode](#set_communicate_mode)
     - [get\_servo\_speeds](#get_servo_speeds)
     - [get\_servo\_currents](#get_servo_currents)
     - [get\_servo\_voltages](#get_servo_voltages)
@@ -1115,6 +1117,27 @@ Set the terminal atom io status
       255 : Keep turning
       1 ~ 254: Based on 30° (1->30°, 2->60°)
 
+### get_basic_version
+
+- **Prototype**: `get_basic_version()`
+
+- **Description**: Get basic firmware version.
+
+- **Return**
+
+  - `version` (`float`)
+
+### set_communicate_mode
+
+- **Prototype**: `set_communicate_mode(mode)`
+
+- **Description**: Set basic communication mode.
+
+- **Parameters**
+
+  - `mode` (`int`) 0 -  Turn off transparent transmission. 1 - Open transparent transmission
+
+
 ### get_servo_speeds
 
 - **Prototype**: `get_servo_speeds()`
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index b69b587..ad2c3d3 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -44,7 +44,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.1.4"
+__version__ = "3.1.5"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
diff --git a/pymycobot/common.py b/pymycobot/common.py
index eaa441d..e2548e2 100644
--- a/pymycobot/common.py
+++ b/pymycobot/common.py
@@ -121,6 +121,8 @@ class ProtocolCode(object):
 
     # Get the measured distance
     GET_TOF_DISTANCE = 0xC0
+    GET_BASIC_VERSION = 0xC1
+    SET_COMMUNICATE_MODE = 0xC2
 
     # Coordinate transformation
     SET_TOOL_REFERENCE = 0x81
diff --git a/pymycobot/generate.py b/pymycobot/generate.py
index 5cb2c42..595ed29 100644
--- a/pymycobot/generate.py
+++ b/pymycobot/generate.py
@@ -1041,3 +1041,16 @@ def set_gservo_round(self, angle):
                 1 ~ 254: Based on 30° (1->30°, 2->60°)
         """
         return self._mesg(ProtocolCode.SET_GSERVO_ROUND, angle)
+
+
+    def get_basic_version(self):
+        """Get basic firmware version"""
+        return self._mesg(ProtocolCode.GET_BASIC_VERSION, has_reply = True)
+    
+    def set_communicate_mode(self, mode):
+        """Set basic communication mode
+        
+        Args:
+            mode: 0 - Turn off transparent transmission，1 - Open transparent transmission
+        """
+        return self._mesg(ProtocolCode.SET_COMMUNICATE_MODE, mode)
\ No newline at end of file
diff --git a/pymycobot/mycobot.py b/pymycobot/mycobot.py
index 3c0aeb3..1244fa3 100755
--- a/pymycobot/mycobot.py
+++ b/pymycobot/mycobot.py
@@ -129,6 +129,8 @@ def _mesg(self, genre, *args, **kwargs):
                 return [self._int2coord(angle) for angle in res]
             elif genre in [ProtocolCode.GET_JOINT_MAX_ANGLE, ProtocolCode.GET_JOINT_MIN_ANGLE]:
                 return self._int2coord(res[0])
+            elif genre in [ProtocolCode.GET_BASIC_VERSION, ProtocolCode.SOFTWARE_VERSION]:
+                return self._int2coord(self._process_single(res))
             else:
                 return res
         return None
diff --git a/pymycobot/mypalletizer.py b/pymycobot/mypalletizer.py
index d263bb4..f6c1179 100644
--- a/pymycobot/mypalletizer.py
+++ b/pymycobot/mypalletizer.py
@@ -163,6 +163,8 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_JOINT_MAX_ANGLE,
             ]:
                 return self._int2angle(res[0]) if res else 0
+            elif genre in [ProtocolCode.GET_BASIC_VERSION, ProtocolCode.SOFTWARE_VERSION]:
+                return self._int2coord(self._process_single(res))
             else:
                 return res
         return None