Network

class ingenialink.eoe.network.EoECommand(value)[source]

An enumeration.

class ingenialink.eoe.network.EoENetwork(ifname: str, connection_timeout: float = 1)[source]

Network for EoE (Ethernet over EtherCAT) communication.

Parameters:

  • ifname – Network interface name.

  • connection_timeout – Time in seconds of the connection timeout to the EoE service.

static close_socket(sock: socket) → None

Closes the established network socket.

connect_to_slave(slave_id: int, ip_address: str, dictionary: str, port: int = 1061, connection_timeout: float = 1, servo_status_listener: bool = False, net_status_listener: bool = False) → EthernetServo[source]

Connects to a slave through the given network settings.

Parameters:

  • slave_id – EtherCAT slave ID.

  • ip_address – IP address to be assigned to the slave.

  • dictionary – Path to the target dictionary file.

  • port – Port to connect to the slave.

  • connection_timeout – Time in seconds of the connection timeout.

  • servo_status_listener – Toggle the listener of the servo for its status, errors, faults, etc.

  • net_status_listener – Toggle the listener of the network status, connection and disconnection.

Raises:

  • ValueError – ip_address must be a subnetwork of 192.168.3.0/24

  • ILError – If the EoE service is not running.

  • ILError – If the EoE service cannot be started on the network interface.

Returns:

Instance of the servo connected.

Return type:

EthernetServo

disconnect_from_slave(servo: EthernetServo) → None[source]

Disconnects the slave from the network.

Parameters:

servo – Instance of the servo connected.

get_servo_state(servo_id: int | str) → NET_STATE

Get the state of a servo that’s a part of network. The state indicates if the servo is connected or disconnected.

Parameters:

servo_id – The servo’s IP address.

Returns:

The servo’s state.

scan_slaves() → List[int][source]

Scan slaves connected to the network adapter.

Returns:

List containing the ids of the connected slaves.

Raises:

ILError – If the EoE service fails to perform a scan.

start_status_listener() → None

Start monitoring network events (CONNECTION/DISCONNECTION).

stop_status_listener() → None

Stops the NetStatusListener from listening to the drive.

subscribe_to_status(ip: str, callback: Callable[[NET_DEV_EVT], Any]) → None

Subscribe to network state changes.

Parameters:

  • ip – IP of the drive to subscribe.

  • callback – Callback function.

unsubscribe_from_status(ip: str, callback: Callable[[NET_DEV_EVT], Any]) → None

Unsubscribe from network state changes.

Parameters:

  • ip – IP of the drive to unsubscribe.

  • callback – Callback function.

property protocol: NET_PROT

Obtain network protocol.

servos: List[Any]

List of the connected servos in the network.