Monitoring¶

class ingeniamotion.monitoring.base_monitoring.Monitoring(mc, servo='default')¶

Class to configure a monitoring in a servo.

Parameters

mc (MotionController) – MotionController instance.
servo (str) – servo alias to reference it. default by default.

set_frequency(prescaler)¶

Function to define monitoring frequency with a prescaler. Frequency will be Position & velocity loop rate frequency / prescaler, see ingeniamotion.configuration.Configuration.get_position_and_velocity_loop_rate() to know about this frequency. Monitoring must be disabled.

Parameters: prescaler (int) – determines monitoring frequency. It must be 1 or higher.
Raises: ValueError – If prescaler is less than 1.
Return type: None

map_registers(registers)¶

Map registers to monitoring. Monitoring must be disabled.

Parameters

registers (List[Dict[str, Union[str, int, REG_DTYPE]]]) –

List of registers to map. Each register must be a dict with two keys:

{
    "name": "CL_POS_FBK_VALUE",  # Register name.
    "axis": 1  # Register axis.
    # If it has no axis field, by default axis 1.
}

Raises

IMMonitoringError – If register maps fails in the servo.
IMMonitoringError – If buffer size is not enough for all the registers.
TypeError – If some parameter has a wrong type.

Return type

None

abstract set_trigger(trigger_mode, edge_condition=None, trigger_signal=None, trigger_value=None)¶

Configure monitoring trigger. Monitoring must be disabled.

Parameters

trigger_mode (MonitoringSoCType) – monitoring start of condition type.
edge_condition (Optional[MonitoringSoCConfig]) – edge event type. None by default.
trigger_signal (Optional[Dict[str, Union[str, int]]]) – dict with name and axis of trigger signal for rising or falling edge trigger. None by default.
trigger_value (Union[float, int, None]) – value for rising or falling edge trigger. None by default.

Raises

TypeError – If trigger_mode is trigger event edge and edge_condition, trigger_signal or trigger_value are None.
IMMonitoringError – If trigger signal is not mapped.

Return type

None

abstract configure_number_samples(total_num_samples, trigger_delay_samples)¶

Configure monitoring number of samples. Monitoring must be disabled.

Parameters

total_num_samples (int) – monitoring total number of samples.
trigger_delay_samples (int) – monitoring number of samples before trigger. It should be less than total_num_samples. Minimum 0.

Raises

ValueError – If trigger_delay_samples is less than 0 or higher than total_num_samples.
IMMonitoringError – If buffer size is not enough for all the samples.

Return type

None

configure_sample_time(total_time, trigger_delay)¶

Configure monitoring number of samples defines by sample and trigger delay time. Monitoring must be disabled.

Parameters

total_time (float) – monitoring sample total time, in seconds.
trigger_delay (float) – trigger delay in seconds. Value should be between -total_time/2 and total_time/2.

Raises

ValueError – If trigger_delay is not between -total_time/2 and total_time/2.
IMMonitoringError – If buffer size is not enough for all the samples.
TypeError – If some parameter has a wrong type.

Return type

None

read_monitoring_data(timeout=None, progress_callback=None)¶

Blocking function that read the monitoring data.

Parameters: timeout (Optional[float]) – maximum time trigger is waited, in seconds. None by default.
Return type: List[List[Union[int, float]]]
Returns: Data of monitoring. Each element of the list is a different register data.

stop_reading_data()¶

Stops read_monitoring_data function.

Return type: None

abstract rearm_monitoring()¶

Rearm monitoring.

Return type: None

get_trigger_type()¶

Get monitoring trigger type.

Return type: Union[MonitoringSoCType, int]
Returns: Trigger type
Raises: TypeError – If some read value has a wrong type.

raise_forced_trigger(blocking=False, timeout=5)¶

Raise trigger for Forced Trigger type.

Parameters

blocking (bool) – if True, functions wait until trigger is forced (or until the timeout) If False, function try to raise the trigger only once.
timeout (float) – blocking timeout in seconds. 5 by default.

Return type

bool

Returns

Return True if trigger is raised, else False.

read_monitoring_data_forced_trigger(trigger_timeout=5)¶

Trigger and read Forced Trigger monitoring.

Parameters: trigger_timeout (float) – maximum time function wait to raise the trigger, in seconds. 5 by default.
Return type: List[List[Union[int, float]]]
Returns: Data of monitoring. Each element of the list is a different register data.