From 1995275b8388a1098931c5b4394507ffa0d966ec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=BC=A0=E7=AB=8B=E5=86=9B?=
 <lijun.zhang@elephantrobotices.com>
Date: Fri, 8 Jan 2021 11:42:28 +0800
Subject: [PATCH] refactor: modify for new api, fix control_marker.py bug

---
 scripts/control_marker.py     | 25 ++++++++++++++-----------
 scripts/control_slider.py     |  6 ++++--
 scripts/display.py            |  6 ++++--
 scripts/pythonAPI/mycobot.py  |  4 ++--
 scripts/pythonAPI/mycobot3.py |  4 ++--
 5 files changed, 26 insertions(+), 19 deletions(-)

diff --git a/scripts/control_marker.py b/scripts/control_marker.py
index c70ae31..25dba05 100755
--- a/scripts/control_marker.py
+++ b/scripts/control_marker.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python2
 # from std_msgs.msg import String
-import time
+import time, subprocess
 
 import rospy
 from interactive_markers.interactive_marker_server import *
@@ -210,21 +210,24 @@ def listener():
         joint_state_send.header.stamp = rospy.Time.now()
 
         angles = mycobot.get_angles_of_radian()
-        data_list = []
-        for index, value in enumerate(angles):
-            if index != 2:
-                value *= -1
-            data_list.append(value)
+        rospy.loginfo(angles)
+        if angles:
+            data_list = []
+            for index, value in enumerate(angles):
+                if index != 2:
+                    value *= -1
+                data_list.append(value)
 
-        rospy.loginfo(data_list)
-        
-        joint_state_send.position = data_list
+            
+            joint_state_send.position = data_list
 
-        pub.publish(joint_state_send)
+            pub.publish(joint_state_send)
 
         rate.sleep()
 
 
 if __name__ == '__main__':
-    mycobot = MyCobot()
+    port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
+                                    shell=True)
+    mycobot = MyCobot(port)
     listener()
diff --git a/scripts/control_slider.py b/scripts/control_slider.py
index de68cd8..8ea0b31 100755
--- a/scripts/control_slider.py
+++ b/scripts/control_slider.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python2
 # from std_msgs.msg import String
-import time
+import time, subprocess
 
 import rospy
 from sensor_msgs.msg import JointState
@@ -29,5 +29,7 @@ def listener():
     rospy.spin()
 
 if __name__ == '__main__':
-    mc = MyCobot()
+    port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
+                                    shell=True)
+    mc = MyCobot(port)
     listener()
diff --git a/scripts/display.py b/scripts/display.py
index 79f823e..2c750de 100755
--- a/scripts/display.py
+++ b/scripts/display.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python2
 # license removed for brevity
-import time
+import time, subprocess
 
 import rospy
 from sensor_msgs.msg import JointState
@@ -77,7 +77,9 @@ def talker():
         rate.sleep()
 
 if __name__ == '__main__':
-    mycobot = MyCobot()
+    port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
+                                    shell=True)
+    mycobot = MyCobot(port)
     try:
         talker()
     except rospy.ROSInterruptException:
diff --git a/scripts/pythonAPI/mycobot.py b/scripts/pythonAPI/mycobot.py
index 377d0b7..ce7ad5a 100755
--- a/scripts/pythonAPI/mycobot.py
+++ b/scripts/pythonAPI/mycobot.py
@@ -203,7 +203,7 @@ class MyCobot():
         # print(command)
         self._write(command)
 
-    def jog_angle(joint_id, direction, speed):
+    def jog_angle(self, joint_id, direction, speed):
         '''Joint control
 
             joint_id: string
@@ -218,7 +218,7 @@ class MyCobot():
         command += '{}{}{}fa'.format(joint_id, direction, speed)
         self._write(command)
         
-    def jog_coord(coord, direction, speed):
+    def jog_coord(self, coord, direction, speed):
         '''Coord control 
 
             coord: string
diff --git a/scripts/pythonAPI/mycobot3.py b/scripts/pythonAPI/mycobot3.py
index f9c1d63..c284e23 100755
--- a/scripts/pythonAPI/mycobot3.py
+++ b/scripts/pythonAPI/mycobot3.py
@@ -204,7 +204,7 @@ class MyCobot():
         # print(command)
         self._write(command)
         
-    def jog_angle(joint_id, direction, speed):
+    def jog_angle(self, joint_id, direction, speed):
         '''Joint control
 
             joint_id: string
@@ -219,7 +219,7 @@ class MyCobot():
         command += '{}{}{}fa'.format(joint_id, direction, speed)
         self._write(command)
         
-    def jog_coord(coord, direction, speed):
+    def jog_coord(self, coord, direction, speed):
         '''Coord control 
 
             coord: string