[feat] (cgpio) add sync parameter and fix set_position_aa

doc/xarm_cplus_api.md

@@ -1123,6 +1123,10 @@ __int move_gohome(bool wait=false, float timeout=NO_TIMEOUT)__
   > @param val:  
   >     0: vacuum gripper is off  
   >     1: vacuum gripper is on  
+  > @param hardware_version:  
+  >     1: Plug-in Connection, default  
+  >     2: Contact Connection  
+  >  
   > @return: see the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
@@ -1136,6 +1140,9 @@ __int move_gohome(bool wait=false, float timeout=NO_TIMEOUT)__
   > @param sync: whether to execute in the motion queue, set to false to execute immediately(default is true)  
   >     1. only available if firmware_version >= 2.4.101  
   > &ensp;&ensp;&ensp;&ensp;2. only available if delay_sec <= 0  
+  > @param hardware_version:  
+  > &ensp;&ensp;&ensp;&ensp;1: Plug-in Connection, default  
+  > &ensp;&ensp;&ensp;&ensp;2: Contact Connection  
   > 
   > @return: see the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 

include/xarm/wrapper/xarm_api.h

@@ -41,7 +41,7 @@
 #define RAD_DEGREE 57.295779513082320876798154814105
 #define TIMEOUT_10 10
 #define NO_TIMEOUT -1
-#define SDK_VERSION "1.14.2"
+#define SDK_VERSION "1.14.3"
 
 typedef unsigned int u32;
 typedef float fp32;
@@ -1135,10 +1135,13 @@ class XArmAPI {
    * @param val:
    *  0: suction cup is off
    *  1: suction cup is on
+   * @param hardware_version:
+   *  1: Plug-in Connection, default
+   *  2: Contact Connection
    * @return: see the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    */
-  int get_suction_cup(int *val);
-  int get_vacuum_gripper(int *val) { return get_suction_cup(val); }
+  int get_suction_cup(int *val, int hardware_version = 1);
+  int get_vacuum_gripper(int *val, int hardware_version = 1) { return get_suction_cup(val, hardware_version); }
 
   /**
    * @brief Set suction cup
@@ -1150,10 +1153,13 @@ class XArmAPI {
    * @param sync: whether to execute in the motion queue, set to false to execute immediately(default is true)
    *   1. only available if firmware_version >= 2.4.101
    *   2. only available if delay_sec <= 0
+   * @param hardware_version:
+   *  1: Plug-in Connection, default
+   *  2: Contact Connection
    * @return: see the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    */
-  int set_suction_cup(bool on, bool wait = false, float timeout = 3, float delay_sec = 0, bool sync = true);
-  int set_vacuum_gripper(bool on, bool wait = false, float timeout = 3, float delay_sec = 0, bool sync = true) { return set_suction_cup(on, wait, timeout, delay_sec, sync); }
+  int set_suction_cup(bool on, bool wait = false, float timeout = 3, float delay_sec = 0, bool sync = true, int hardware_version = 1);
+  int set_vacuum_gripper(bool on, bool wait = false, float timeout = 3, float delay_sec = 0, bool sync = true, int hardware_version = 1) { return set_suction_cup(on, wait, timeout, delay_sec, sync, hardware_version); }
 
   /**
    * @brief Get gripper version, only for debug

src/xarm/wrapper/xarm_gpio.cc

@@ -141,32 +141,32 @@ int XArmAPI::get_cgpio_state(int *state_, int *digit_io, fp32 *analog, int *inpu
 }
 
 
-int XArmAPI::get_suction_cup(int *val) {
-  int io1 = 0;
+int XArmAPI::get_suction_cup(int *val, int hardware_version) {
+  int io1 = hardware_version == 1 ? 0 : 3;
   return get_tgpio_digital(val, &io1);
 }
 
-int XArmAPI::set_suction_cup(bool on, bool wait, float timeout, float delay_sec, bool sync) {
+int XArmAPI::set_suction_cup(bool on, bool wait, float timeout, float delay_sec, bool sync, int hardware_version) {
   _wait_until_not_pause();
   _wait_until_cmdnum_lt_max();
   int code = _xarm_is_ready();
   if (code != 0) return code;
   int code1, code2;
   if (on) {
-    code1 = set_tgpio_digital(0, 1, delay_sec, sync);
-    code2 = set_tgpio_digital(1, 0, delay_sec, sync);
+    code1 = set_tgpio_digital(hardware_version == 1 ? 0 : 3, 1, delay_sec, sync);
+    code2 = set_tgpio_digital(hardware_version == 1 ? 1 : 4, 0, delay_sec, sync);
   }
   else {
-    code1 = set_tgpio_digital(0, 0, delay_sec, sync);
-    code2 = set_tgpio_digital(1, 1, delay_sec, sync);
+    code1 = set_tgpio_digital(hardware_version == 1 ? 0 : 3, 0, delay_sec, sync);
+    code2 = set_tgpio_digital(hardware_version == 1 ? 1 : 4, 1, delay_sec, sync);
   }
   code = code1 == 0 ? code2 : code1;
   if (code == 0 && wait) {
     long long start_time = get_system_time();
     int val = 0, ret = 0;
     code = API_CODE::SUCTION_CUP_TOUT;
     while (get_system_time() - start_time < timeout * 1000) {
-      ret = get_suction_cup(&val);
+      ret = get_suction_cup(&val, hardware_version);
       if (ret == UXBUS_STATE::ERR_CODE) {
         code = UXBUS_STATE::ERR_CODE;
         break;

src/xarm/wrapper/xarm_motion.cc

@@ -333,7 +333,7 @@ int XArmAPI::set_position_aa(fp32 pose[6], fp32 speed, fp32 acc, fp32 mvtime, bo
       ret = core->move_relative(mvpose, last_used_tcp_speed, last_used_tcp_acc, mvtime, radius, 0, true, only_check_type_, &only_check_result, motion_type, feedback_key);
     }
     else {
-      ret = core->move_line_common(mvpose, last_used_tcp_speed, last_used_tcp_acc, mvtime, radius, 0, true, only_check_type_, &only_check_result, motion_type, feedback_key);
+      ret = core->move_line_common(mvpose, last_used_tcp_speed, last_used_tcp_acc, mvtime, radius, (int)is_tool_coord, true, only_check_type_, &only_check_result, motion_type, feedback_key);
     }
   }
   else {