Network¶

class ingenialink.net.EEPROM_TOOL_MODE(value)[source]¶

EEPROM tool mode.

MODE_INFO = 6¶: Information.

MODE_NONE = 0¶: None.

MODE_READBIN = 1¶: Read Binary.

MODE_READINTEL = 2¶: Read Intelhex.

MODE_WRITEALIAS = 5¶: Write Alias.

MODE_WRITEBIN = 3¶: Write Binary.

MODE_WRITEINTEL = 4¶: Write Intelhex.

class ingenialink.net.NET_DEV_EVT(value)[source]¶

Device Event.

ADDED = 0¶: Added.

REMOVED = 1¶: Event.

class ingenialink.net.NET_PROT(value)[source]¶

Network Protocol.

CAN = 5¶: CAN.

ECAT = 3¶: ECAT.

ETH = 2¶: ETH.

EUSB = 0¶: E-USB.

MCB = 1¶: MCB.

class ingenialink.net.NET_STATE(value)[source]¶

Network State.

CONNECTED = 0¶: Connected.

DISCONNECTED = 1¶: Disconnected.

FAULTY = 2¶: Faulty.

class ingenialink.net.NET_TRANS_PROT(value)[source]¶

Protocol.

TCP = 1¶: TCP.

UDP = 2¶: UDP.

class ingenialink.net.Network(prot, port=None, slave=1, timeout_rd=0.5, timeout_wr=0.5)[source]¶

Network.

Parameters

prot (NET_PROT) – Protocol.
port (str) – Network device port (e.g. COM1, /dev/ttyACM0, etc.).
timeout_rd (int, float, optional) – Read timeout (s).
timeout_wr (int, float, optional) – Write timeout (s).

Raises

TypeError – If the protocol type is invalid.
ILCreationError – If the network cannot be created.

connect()[source]¶: Connect network.

destroy_network()[source]¶: Destroy network instance.

disconnect()[source]¶: Disconnect network.

disturbance_channel_data(channel, dtype, data_arr)[source]¶

Send disturbance data.

Parameters

channel (int) – Identity channel number.
dtype (REG_DTYPE) – Data type of the register mapped.
data_arr (array) – Data that will be sent to the drive.

Returns

Return code.

Return type

int

property disturbance_data¶

Obtain disturbance data.

Returns: Current disturbance data.
Return type: array

property disturbance_data_size¶

Obtain disturbance data size.

Returns: Current disturbance data size.
Return type: int

disturbance_remove_all_mapped_registers()[source]¶

Remove all disturbance mapped registers.

Returns: Return code.
Return type: int

disturbance_set_mapped_register(channel, address, dtype)[source]¶

Set disturbance mapped register.

Parameters

channel (int) – Identity channel number.
address (int) – Register address to map.
dtype (REG_DTYPE) – Data type of the register to map.

Returns

Return code.

Return type

int

property extended_buffer¶

Obtain extended buffer data.

Returns: Current extended buffer data.
Return type: str

master_startup(ifname, if_address_ip)[source]¶

Start SOEM master.

Parameters

ifname (str) – Interface name.
if_address_ip (str) – Interface address IP.

Returns

Result code.

Return type

int

master_stop()[source]¶

Stop SOEM master.

Returns: Result code.
Return type: int

monitoring_channel_data(channel, dtype)[source]¶

Obtain processed monitoring data of a channel.

Parameters

channel (int) – Identity channel number.
dtype (REG_DTYPE) – Data type of the register to map.

Returns

Monitoring data.

Return type

array

property monitoring_data¶

Obtain monitoring data.

Returns: Current monitoring data.
Return type: array

property monitoring_data_size¶

Obtain monitoring data size.

Returns: Current monitoring data size.
Return type: int

monitoring_disable()[source]¶

Disable monitoring process.

Returns: Result code.
Return type: int

monitoring_enable()[source]¶

Enable monitoring process.

Returns: Result code.
Return type: int

monitoring_get_bytes_per_block()[source]¶

Obtain Bytes x Block configured.

Returns: Actual number of Bytes x Block configured.
Return type: int

monitoring_get_num_mapped_registers()[source]¶

Obtain the number of mapped registers.

Returns: Actual number of mapped registers.
Return type: int

monitoring_read_data()[source]¶

Obtain processed monitoring data.

Returns: Actual processed monitoring data.
Return type: array

monitoring_remove_all_mapped_registers()[source]¶

Remove all monitoring mapped registers.

Returns: Result code.
Return type: int

monitoring_set_mapped_register(channel, reg_idx, dtype)[source]¶

Set monitoring mapped register.

Parameters

channel (int) – Identity channel number.
reg_idx (int) – Register address to map.
dtype (REG_DTYPE) – Data type of the register to map.

Returns

Result code.

Return type

int

net_mon_status(on_evt)[source]¶

Calls given function everytime a connection/disconnection event is raised.

Parameters: on_evt (Callback) – Function that will be called every time an event is raised.

net_mon_stop()[source]¶: Stop monitoring network events.

property port¶

Obtain network port.

Returns: Current network port.
Return type: str

property prot¶

Obtain network protocol.

Returns: Current network protocol used.
Return type: str

servos(on_found=None)[source]¶

Obtain a list of attached servos.

Parameters: on_found (callback, optional) – Servo found callback.
Returns: List of attached servos.
Return type: list

set_if_params(ifname, if_address_ip)[source]¶

Set ethernet interface parameters.

Parameters

ifname (str) – Interface name.
if_address_ip (str) – Interface address IP.

Returns:

set_reconnection_retries(retries)[source]¶

Set the number of reconnection retries in our application.

Parameters: retries (int) – Number of reconnection retries.

set_recv_timeout(timeout)[source]¶

Set receive communications timeout.

Parameters: timeout (int) – Timeout in ms.
Returns: Result code.
Return type: int

set_status_check_stop(stop)[source]¶

Start/Stop the internal monitor of the drive status.

Parameters: stop (int) – 0 to START, 1 to STOP.
Returns: Result code.
Return type: int

property state¶

Obtain network state.

Returns: Current network state.
Return type: str

property status¶

Obtain network status.

Returns: Current network status.
Return type: str

class ingenialink.net.NetworkMonitor(prot)[source]¶

Network Monitor.

Parameters

prot (NET_PROT) – Protocol.

Raises

TypeError – If the protocol type is invalid.
ILCreationError – If the monitor cannot be created.

start(on_evt)[source]¶

Start the monitor.

Parameters: on_evt (callback) – Callback function.

stop()[source]¶: Stop the monitor.

ingenialink.net.devices(prot)[source]¶

Obtain a list of network devices.

Parameters: prot (NET_PROT) – Protocol.
Returns: List of network devices.
Return type: list
Raises: TypeError – If the protocol type is invalid.

ingenialink.net.eeprom_tool(ifname, mode, filename)[source]¶

Tool to modify and verify drive EEPROM.

Parameters

ifname (str) – Interface name.
mode (int) – EEPROM tool mode.
filename (str) – Path to the EEPROM file.

Returns

Result code.

Return type

int

ingenialink.net.force_error(ifname, if_address_ip)[source]¶

Force state machine error.

Parameters

ifname – Interface name.
if_address_ip – Interface address IP.

Returns

Result code.

Return type

int

ingenialink.net.master_startup(ifname, if_address_ip)[source]¶

Start SOEM master.

Parameters

ifname (str) – Interface name.
if_address_ip (str) – Interface address IP.

Returns

Result code.

Return type

int

ingenialink.net.master_stop(net)[source]¶

Stop SOEM master.

Returns: Result code.
Return type: int

ingenialink.net.update_firmware(ifname, filename, is_summit=False, slave=1)[source]¶

Update firmware through FoE.

Parameters

ifname – Interface name.
filename – Path to the firmware file.
is_summit – [true] -> Everest [false] -> Capitan or Low-Power drives
slave – Slave number in the network.

Returns

Result code.

Return type

int

ingenialink.net.update_firmware_moco(node, subnode, ip, port, moco_file)[source]¶

Update MOCO firmware through UDP protocol.

Parameters

node – Network node.
subnode – Drive subnode.
ip – Drive address IP.
port – Drive port.
moco_file – Path to the firmware file.

Returns

Result code.

Return type

int