Poller

class ingenialink.poller.Poller(servo: Servo, num_channels: int)

Register poller for CANOpen/Ethernet communications.

Parameters:

• servo – Servo.

• num_channels – Number of channels.

ch_configure(channel: int, reg: Register, subnode: int = 1) → int

Configure a poller channel mapping.

Parameters:

• channel – Channel to be configured.

• reg – Register to associate to the given channel.

• subnode – Subnode for the register.

Returns:

Status code.

Raises:

• ILStateError – The poller is already running.

• ILValueError – Channel out of range.

• TypeError – If the register is not valid.

ch_disable(channel: int) → int

Disable a channel.

Parameters:

channel – Channel to be disabled.

Raises:

• ILStateError – The poller is already running.

• ILValueError – Channel out of range.

Returns:

Status code.

ch_disable_all() → int

Disable all channels.

Returns:

Status code.

configure(t_s: float, sz: int) → int

Configure data.

Parameters:

• t_s – Polling period (s).

• sz – Buffer size.

Returns:

Status code.

Raises:

ILStateError – The poller is already running.

run() → None

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

stop() → None

Stop poller.

property data: Tuple[List[float], List[List[float]], bool]

Time vector, array of data vectors and a flag indicating if data was lost.

property num_channels: int

Number of channels in the poller.

property servo: Servo

Servo instance to be used.