from functools import cached_property
from typing import Optional
from xml.etree import ElementTree
import ingenialogger
from ingenialink.canopen.register import CanopenRegister
from ingenialink.dictionary import DictionarySafetyModule, DictionaryV2, Interface
from ingenialink.enums.register import RegAccess, RegCyclicType, RegDtype
from ingenialink.ethercat.register import EthercatRegister
logger = ingenialogger.get_logger(__name__)
[docs]
class CanopenDictionaryV2(DictionaryV2):
"""Contains all registers and information of a CANopen dictionary.
Args:
dictionary_path: Path to the Ingenia dictionary.
"""
interface = Interface.CAN
@cached_property
def _monitoring_disturbance_registers(self) -> list[CanopenRegister]:
return [
CanopenRegister(
identifier="MON_DATA_VALUE",
units="none",
idx=0x58B2,
subidx=0x00,
cyclic=RegCyclicType.CONFIG,
dtype=RegDtype.BYTE_ARRAY_512,
access=RegAccess.RO,
subnode=0,
labels={"en_US": "Monitoring data"},
cat_id="MONITORING",
),
CanopenRegister(
identifier="DIST_DATA_VALUE",
units="none",
idx=0x58B4,
subidx=0x00,
cyclic=RegCyclicType.CONFIG,
dtype=RegDtype.BYTE_ARRAY_512,
access=RegAccess.WO,
subnode=0,
labels={"en_US": "Disturbance data"},
cat_id="MONITORING",
),
]
@cached_property
def _safety_registers(self) -> list[EthercatRegister]:
raise NotImplementedError("Safety registers are not implemented for this device.")
@cached_property
def _safety_modules(self) -> list[DictionarySafetyModule]:
raise NotImplementedError("Safety modules are not implemented for this device.")
def _read_xdf_register(self, register: ElementTree.Element) -> Optional[CanopenRegister]:
current_read_register = super()._read_xdf_register(register)
if current_read_register is None:
return None
try:
aux_var = int(register.attrib["address"], 16)
idx = aux_var >> 8
subidx = aux_var & 0xFF
canopen_register = CanopenRegister(
idx,
subidx,
current_read_register.dtype,
current_read_register.access,
identifier=current_read_register.identifier,
units=current_read_register.units,
cyclic=current_read_register.cyclic,
phy=current_read_register.phy,
subnode=current_read_register.subnode,
storage=current_read_register.storage,
reg_range=current_read_register.range,
labels=current_read_register.labels,
enums=current_read_register.enums,
cat_id=current_read_register.cat_id,
scat_id=current_read_register.scat_id,
internal_use=current_read_register.internal_use,
address_type=current_read_register.address_type,
bitfields=current_read_register.bitfields,
)
return canopen_register
except KeyError as ke:
logger.error(
f"Register with ID {current_read_register.identifier} has not attribute {ke}"
)
return None