From 9f90213e2269d49ad1d5daf50d4fddcffee87348 Mon Sep 17 00:00:00 2001
From: weiquan <weiquan.xu@elephantrobotics.com>
Date: Tue, 20 Dec 2022 19:18:11 +0800
Subject: [PATCH] release v3.0.2

---
 CHANGELOG.md           |  8 ++++++++
 pymycobot/Interface.py | 31 +++++++++++++++++++------------
 pymycobot/__init__.py  |  2 +-
 pymycobot/common.py    |  4 ++++
 pymycobot/mybuddy.py   |  8 +++++++-
 5 files changed, 39 insertions(+), 14 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0ab7952..4db7d0e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,13 @@
 # ChangeLog for pymycobot
 
+## v3.0.2 (2022-12-20)
+
+- release v3.0.2
+- Fix MyBuddy interface problems:
+  - Add get_fresh_mode()
+  - remove get_servo_current()
+  - get_servo_voltages()、get_servo_status()、get_servo_temps()
+
 ## v3.0.1 (2022-12-9)
 
 - release v3.0.1
diff --git a/pymycobot/Interface.py b/pymycobot/Interface.py
index 42496d3..a61bcc6 100644
--- a/pymycobot/Interface.py
+++ b/pymycobot/Interface.py
@@ -137,6 +137,14 @@ def set_fresh_mode(self, id, mode):
                 0 - Execute instructions sequentially in the form of a queue. 
         """
         return self._mesg(ProtocolCode.SET_FRESH_MODE, id, mode)
+    
+    def get_fresh_mode(self, id):
+        """Get instruction refresh mode status
+        
+        Args:
+            id: 1/2 (L/R).
+        """
+        return self._mesg(ProtocolCode.GET_FRESH_MODE, id, has_reply=True)
 
     def set_free_mode(self, id, value):
         """set free mode
@@ -939,27 +947,26 @@ def set_plan_acceleration(self, id, acceleration):
             ProtocolCode.SET_PLAN_ACCELERATION, id, acceleration
         )
 
-    def get_servo_currents(self, id):
-        """Get joint current
+    # def get_servo_currents(self, id):
+    #     """Get joint current
 
-        Args:
-            id: 1/2/3 (L/R/W)
+    #     Args:
+    #         id: 1/2/3 (L/R/W)
             
-        Return: 
-            value mA
-        """
-        return self._mesg(ProtocolCode.GET_SERVO_VOLTAGES, id, has_reply=True)
+    #     Return: 
+    #         value mA
+    #     """
+    #     return self._mesg(ProtocolCode.GET_SERVO_CURRENTS, id, has_reply=True)
 
     def get_servo_voltages(self, id):
         """Get joint voltages
 
         Args:
             id: 1/2/3 (L/R/W)
-            
         Return: 
             volts < 24 V
         """
-        return self._mesg(ProtocolCode.GET_SERVO_STATUS, id, has_reply=True)
+        return self._mesg(ProtocolCode.GET_SERVO_VOLTAGES, id,  has_reply=True)
 
     def get_servo_status(self, id):
         """Get joint status
@@ -970,7 +977,7 @@ def get_servo_status(self, id):
         Return: 
             [voltage, sensor, temperature, current, angle, overload], a value of 0 means no error
         """
-        return self._mesg(ProtocolCode.GET_SERVO_TEMPS, id, has_reply=True)
+        return self._mesg(ProtocolCode.GET_SERVO_STATUS, id, has_reply=True)
 
     def get_servo_temps(self, id):
         """Get joint temperature
@@ -978,7 +985,7 @@ def get_servo_temps(self, id):
         Args:
             id: 1/2/3 (L/R/W)
         """
-        return self._mesg(0xE6, id, has_reply=True)
+        return self._mesg(ProtocolCode.GET_SERVO_TEMPS, id, has_reply=True)
     
     def get_base_coords(self, *args):
         """Convert coordinates to base coordinates. Pass in parameters or no parameters
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index 66e3aa7..7192b48 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -43,7 +43,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.0.1"
+__version__ = "3.0.2"
 __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 0877034..e6bc3e1 100644
--- a/pymycobot/common.py
+++ b/pymycobot/common.py
@@ -289,6 +289,10 @@ def _process_received(self, data, genre, arm=6):
 
         # process valid data
         res = []
+        if genre in [ProtocolCode.GET_SERVO_VOLTAGES, ProtocolCode.GET_SERVO_STATUS, ProtocolCode.GET_SERVO_TEMPS]:
+            for i in valid_data:
+                res.append(i)
+            return res
         if data_len in [6, 8, 12, 14, 24, 60]:
             for header_i in range(0, len(valid_data), 2):
                 one = valid_data[header_i : header_i + 2]
diff --git a/pymycobot/mybuddy.py b/pymycobot/mybuddy.py
index 3bd704f..d4d2812 100644
--- a/pymycobot/mybuddy.py
+++ b/pymycobot/mybuddy.py
@@ -106,9 +106,13 @@ def _read(self):
                             datas = b'\xfe'
                             pre = k  
             except:
+                self.log.debug("_read: {}".format(datas))
+                
                 datas = None
                 break
         else:
+            self.log.debug("_read: {}".format(datas))
+
             datas = None
         self.log.debug("_read: {}".format(datas))
         return datas
@@ -155,7 +159,9 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_MOVEMENT_TYPE,
                 ProtocolCode.GET_REFERENCE_FRAME,
                 ProtocolCode.GET_JOINT_MIN_ANGLE,
-                ProtocolCode.GET_JOINT_MAX_ANGLE
+                ProtocolCode.GET_JOINT_MAX_ANGLE,
+                ProtocolCode.GET_FRESH_MODE,
+                # ProtocolCode.GET_SERVO_CURRENTS
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]: