feat(MyArmM): Add SD card detection interface

pymycobot/common.py

@@ -517,6 +517,9 @@ class ProtocolCode(object):
     SET_JOINT_DISABLE = '*7'
     SET_JOINT_ENABLE = '*8'
 
+    # MyArm M750
+    IS_SD_INSERT = 0xC4
+
 
 class DataProcessor(object):
     crc_robot_class = ["Mercury", "MercurySocket", "Pro630", "Pro630Client", "Pro400Client", "Pro400", "MercuryTest", "Pro450Client"]

pymycobot/myarm_api.py

@@ -77,6 +77,8 @@ def _read(self, genre):
             timeout = 0.4
         elif genre == ProtocolCode.POWER_ON:
             timeout = 2
+        elif genre == ProtocolCode.IS_SD_INSERT:
+            timeout = 1
         else:
             timeout = 0.1
 
@@ -132,7 +134,8 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.POWER_ON,
                 ProtocolCode.GET_MASTER_PIN_STATUS,
                 ProtocolCode.GET_ATOM_PIN_STATUS,
-                ProtocolCode.GET_SERVO_D
+                ProtocolCode.GET_SERVO_D,
+                ProtocolCode.IS_SD_INSERT
             ]
 
             if genre in return_single_genres:

pymycobot/myarmm.py

@@ -162,3 +162,11 @@ def is_tool_btn_clicked(self):
     def clear_recv_queue(self):
         """Clear the queue for receiving commands"""
         self._mesg(ProtocolCode.CLEAR_RECV_QUEUE)
+
+    def is_sd_insert(self):
+        """Check if the SD card is inserted
+
+        Returns:
+            int: 0/1, 1: insert, 0: no insert
+        """
+        return self._mesg(ProtocolCode.IS_SD_INSERT, has_reply=True)