Poller

class ingenialink.poller.Poller(servo: Servo, num_channels: int)[source]

Register poller for CANOpen/Ethernet communications.

Parameters:

servo – Servo.
num_channels – Number of channels.

ch_configure(channel: int, reg: Register, subnode: int = 1) → int[source]

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[source]

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[source]

Disable all channels.

Returns:: Status code.

configure(t_s: float, sz: int) → int[source]

Configure data.

Parameters:

t_s – Polling period (s).
sz – Buffer size.

Returns:

Status code.

Raises:

ILStateError – The poller is already running.

run() → None[source]: Start the poller.

stop() → None[source]: 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.