From 1f4a29139868bc045fbb8208f1a34e3b6e2ed0d0 Mon Sep 17 00:00:00 2001
From: weiquan <weiquan.xu@elephantrobotics.com>
Date: Fri, 9 Dec 2022 17:14:27 +0800
Subject: [PATCH] release v3.0.1

---
 CHANGELOG.md          |  6 ++++++
 pymycobot/__init__.py |  2 +-
 pymycobot/mybuddy.py  | 10 +++++++++-
 3 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3af3a43..0ab7952 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # ChangeLog for pymycobot
 
+## v3.0.1 (2022-12-9)
+
+- release v3.0.1
+- Fix MyBuddy interface problems: get_base_coords()
+- Add mybuddy serial port to read logs
+
 ## v3.0.0 (2022-12-9)
 
 - release v3.0.0
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index 88f79a3..66e3aa7 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -43,7 +43,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.0.0"
+__version__ = "3.0.1"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
diff --git a/pymycobot/mybuddy.py b/pymycobot/mybuddy.py
index 3061fe8..3bd704f 100644
--- a/pymycobot/mybuddy.py
+++ b/pymycobot/mybuddy.py
@@ -110,6 +110,7 @@ def _read(self):
                 break
         else:
             datas = None
+        self.log.debug("_read: {}".format(datas))
         return datas
     
     def _mesg(self, genre, *args, **kwargs):
@@ -170,11 +171,18 @@ def _mesg(self, genre, *args, **kwargs):
                     return self._int2angle(res[0]) if res else None
             elif genre in [ProtocolCode.GET_ALL_BASE_COORDS, ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE, ProtocolCode.GET_BASE_COORDS, ProtocolCode.GET_BASE_COORD, ProtocolCode.BASE_TO_SINGLE_COORDS]:
                 if res:
-                    r = []
+                    r = [] 
                     for idx in range(3):
                         r.append(self._int2coord(res[idx]))
                     for idx in range(3, 6):
                         r.append(self._int2angle(res[idx]))
+                    if len(res) == 12:
+                        r1 = []
+                        for idx in range(6, 9):
+                            r1.append(self._int2coord(res[idx]))
+                        for idx in range(9, 12):
+                            r1.append(self._int2angle(res[idx]))
+                        return [r, r1]
                     return r
                 else:
                     return res