import os
import sys
import platform
import subprocess
try:
import importlib.resources as pkg_resources
except ImportError:
import importlib_resources as pkg_resources
import ingenialogger
from ingenialink.network import NET_PROT
from ingenialink.exceptions import ILFirmwareLoadError
from ingenialink import bin as bin_module
logger = ingenialogger.get_logger(__name__)
[docs]class EthercatNetwork:
"""Network for all EtherCAT communications.
Args:
interface_name (str): Interface name to be targeted.
"""
FOE_APPLICATION = {"win32": {"64bit": "FoE/win_64x/FoEUpdateFirmware.exe"}}
FOE_ERRORS = {
1: "Can’t read the input file.",
2: "ECAT slave can’t reach the BOOT mode.",
3: "No ECAT slave detected",
4: "Can’t initialize the network adapter",
5: "Drive can't init. Ensure the FW file is right",
}
UNKNOWN_FOE_ERROR = "Unknown error"
def __init__(self, interface_name):
self.interface_name = interface_name
"""str: Interface name used in the network settings."""
self.servos = []
"""list: List of the connected servos in the network."""
self._ecat_master = None
[docs] def load_firmware(self, fw_file, slave_id=1):
"""Loads a given firmware file to a target slave.
Args:
fw_file (str): Path to the firmware file.
slave_id (int): Slave ID to which load the firmware file.
Raises:
FileNotFoundError: If the firmware file cannot be found.
ILFirmwareLoadError: If no slave is detected.
ILFirmwareLoadError: If the FoE write operation is not successful.
NotImplementedError: If FoE is not implemented for the current OS and architecture
"""
if not os.path.isfile(fw_file):
raise FileNotFoundError(f"Could not find {fw_file}.")
arch = platform.architecture()[0]
sys_name = sys.platform
app_path = self.FOE_APPLICATION.get(sys_name, {}).get(arch, None)
if app_path is None:
raise NotImplementedError(
"Load FW by ECAT is not implemented for this OS and architecture:"
f" {sys_name} {arch}"
)
exec_path = os.path.join(str(pkg_resources.files(bin_module)), app_path)
logger.debug(f"Call FoE application for {sys_name}-{arch}")
try:
subprocess.run([exec_path, self.interface_name, f"{slave_id}", fw_file], check=True)
except subprocess.CalledProcessError as e:
foe_return_error = self.FOE_ERRORS.get(e.returncode, self.UNKNOWN_FOE_ERROR)
raise ILFirmwareLoadError(
f"The firmware file could not be loaded correctly. {foe_return_error}"
) from e
logger.info("Firmware updated successfully")
@property
def protocol(self):
"""NET_PROT: Obtain network protocol."""
return NET_PROT.ECAT