Network

class ingenialink.ethercat.network.EthercatNetwork(interface_name: str, connection_timeout: float = 2, overlapping_io_map: bool = True, gil_release_config: GilReleaseConfig = GilReleaseConfig(config_init=None, sdo_read_write=None, foe_read_write=None, send_receive_processdata=None, _always_release=False))

Network for all EtherCAT communications.

Parameters:

• interface_name – Interface name to be targeted.

• connection_timeout – Time in seconds of the connection timeout.

• overlapping_io_map – Map PDOs to overlapping IO map.

• gil_release_config – configures which functions should release the GIL.

Raises:

ImportError – WinPcap is not installed

activate_pdos(refresh_rate: float | None = None, watchdog_timeout: float | None = None) → None

Start PDOs and notify the status to the observers.

Parameters:

• refresh_rate – Determines how often (seconds) the PDO values will be updated.

• watchdog_timeout – The PDO watchdog time. If not provided it will be set proportional to the refresh rate.

close_ecat_master(release_reference: bool = True) → None

Closes the connection with the EtherCAT master.

Parameters:

release_reference – Whether to release the network reference.

If the network will be reused afterward it should be set to False.

config_pdo_maps() → None

Configure the PDO maps.

It maps the PDO maps of each slave and sets its state to SafeOP.

connect_to_slave(slave_id: int, dictionary: str, servo_status_listener: bool = False, net_status_listener: bool = False, disconnect_callback: Callable[[Servo], None] | None = None) → EthercatServo

Connects to a drive through a given slave number.

Parameters:

• slave_id – Targeted slave to be connected.

• dictionary – Path to the dictionary file.

• 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.

• disconnect_callback – Callback function to be called when the servo is disconnected. If not specified, no callback will be called.

Raises:

• ValueError – If the slave ID is not valid.

• ILError – If no slaves are found.

• ILStateError – If slave can not reach PreOp state

Returns:

ethercat servo.

deactivate_pdos() → None

Stop PDOs and notify the status to the observers.

disconnect_from_slave(servo: EthercatServo) → None

Disconnects the slave from the network.

Parameters:

servo – Instance of the servo connected.

static find_adapters() → list[tuple[int, str, str]]

Finds all available EtherCAT adapters.

Returns:

interface index, adapter name, interface guid.

Raises:

ImportError – If pysoem is not installed.

get_servo_state(servo_id: int | str) → NetState

Get the state of a servo in the network.

Parameters:

servo_id – Servo ID.

Returns:

Current state of the servo.

load_firmware(fw_file: str, boot_in_app: bool, slave_id: int = 1, password: int | None = None) → None

Loads a given firmware file to a target slave.

Parameters:

• fw_file – Path to the firmware file.

• boot_in_app – True if the application includes the bootloader (i.e, fw_file extension is .sfu), False otherwise.

• slave_id – Slave ID to which load the firmware file.

• password – Password to load the firmware file. If None the default password will be used.

Raises:

• AttributeError – If the boot_in_app argument is not a boolean.

• FileNotFoundError – If the firmware file cannot be found.

• ValueError – If the salve ID value is invalid.

• ILError – If no slaves could be found in the network.

• ILError – If the slave ID couldn’t be found in the network.

• ILFirmwareLoadError – If the FoE write operation is not successful.

static pysoem_available() → bool

Check if pysoem is available.

Returns:

True if pysoem is available, False otherwise.

recover_from_disconnection(servo: Servo | None = None) → bool

Recover the CoE communication after a disconnection.

All the connected slaves need to transitioned to the PreOp state.

Parameters:

servo – not used in this implementation but kept for interface consistency.

Returns:

True if all the connected slaves reach the PreOp state.

running() → Generator[EthercatNetwork, None, None]

Context manager for the EtherCAT network.

Ensures the network reference is set and starts the master if it’s not already running. The context manager tracks whether it started the master (via local variable on the stack) to decide whether to close it on exit.

This implementation uses @contextmanager decorator to naturally keep state on the stack, avoiding issues with nested contexts that would occur with instance variables.

Yields:

The network instance.

scan_slaves() → list[int]

Scans for slaves in the network.

Scanning of slaves cannot be done if a slave is already connected to the network.

Returns:

List containing all the detected slaves.

Raises:

ILError – If any slaves is already connected.

scan_slaves_info() → OrderedDict[int, SlaveInfo]

Scans for slaves in the network and return an ordered dict with the slave information.

Returns:

Ordered dict with the slave information.

send_receive_processdata(timeout: float = 0.1, *, release_gil: bool | None = None) → None

Send and receive PDOs.

Parameters:

• timeout – receive processdata timeout in seconds, 0.1 seconds by default.

• release_gil – used to overwrite the GIL release configuration. True to release the GIL, False otherwise. If not specified, default GIL release configuration will be used.

Raises:

ILWrongWorkingCountError – If processdata working count is wrong

start_pdos(timeout: float = 2.0) → None

Set all slaves with mapped PDOs to Operational State.

Parameters:

timeout – timeout in seconds to reach Op state, 2.0 seconds by default.

Raises:

• ILStateError – If slaves can not reach SafeOp or Op state.

• RuntimeError – If EtherCAT master is not running.

start_status_listener() → None

Start monitoring network events (CONNECTION/DISCONNECTION).

stop_pdos() → None

For all slaves not in PreOp state, set state to PreOp.

stop_status_listener() → None

Stops the NetStatusListener from listening to the drive.

subscribe_to_pdo_thread_status(callback: Callable[[bool], None]) → None

Subscribe be notified when the PDO process data thread status changes.

Parameters:

callback – Callback function.

subscribe_to_status(target: int | str, callback: Callable[[NetDevEvt], None]) → None

Subscribe to network state changes.

Parameters:

• target – Target slave ID.

• callback – Callback function to execute on state changes.

unsubscribe_from_pdo_thread_status(callback: Callable[[bool], None]) → None

Unsubscribe from PDO thread status changes.

Parameters:

callback – Callback function.

unsubscribe_from_status(target: int | str, callback: Callable[[NetDevEvt], None]) → None

Unsubscribe from network state changes.

Parameters:

• target – Target slave ID.

• callback – Callback function previously subscribed.

static update_pysoem_timeouts(ret: int, safe: int, eeprom: int, tx_mailbox: int, rx_mailbox: int, state: int) → None

Update pysoem timeouts.

Parameters:

• ret – new ret timeout.

• safe – new safe timeout.

• eeprom – new EEPROM access timeout.

• tx_mailbox – new Tx mailbox cycle timeout.

• rx_mailbox – new Rx mailbox cycle timeout.

• state – new status check timeout.

update_sdo_timeout(sdo_read_timeout: int, sdo_write_timeout: int) → None

Update SDO timeouts for all the drives.

Parameters:

• sdo_read_timeout – timeout for SDO read access in us

• sdo_write_timeout – timeout for SDO write access in us

property pdo_manager: PDONetworkManager

Returns the PDO manager.

property protocol: NetProt

Obtain network protocol.

servos: list[EthercatServo]

List of the connected servos in the network.

class ingenialink.ethercat.network.EthercatNetworkBase

Base class for EtherCAT network communications.

abstract connect_to_slave(*args: Any, **kwargs: Any) → Servo

Connects to a drive through a given the drive ID.

Parameters:

• *args – Protocol dependent positional arguments.

• **kwargs – Protocol dependent keyword arguments.

abstract disconnect_from_slave(servo: Servo) → None

Disconnects the drive from the network.

Parameters:

servo – Instance of the servo connected.

get_servo_state(servo_id: int | str) → NetState

Get the state of a servo in the network.

Parameters:

servo_id – Servo ID.

Returns:

Current state of the servo.

abstract load_firmware(*args: Any, **kwargs: Any) → None

Loads a given firmware file to a target drive.

Parameters:

• *args – Protocol dependent positional arguments.

• **kwargs – Protocol dependent keyword arguments.

abstract recover_from_disconnection(servo: Servo | None = None) → bool

Recovers the connection to a previously disconnected drive.

Parameters:

servo – Instance of the servo to recover. For some protocols, this argument might be optional.

Returns:

True if communication is recovered, False otherwise.

abstract scan_slaves() → list[int]

Scans for drives in the network.

abstract scan_slaves_info() → OrderedDict[int, SlaveInfo]

Scans for drives in the network.

Returns:

Detected drives with their information.

abstract start_status_listener(*args: Any, **kwargs: Any) → None

Start monitoring network events (CONNECTION/DISCONNECTION).

abstract stop_status_listener(*args: Any, **kwargs: Any) → None

Stops the NetStatusListener from listening to the drive.

subscribe_to_status(target: int | str, callback: Callable[[NetDevEvt], None]) → None

Subscribe to network state changes.

Parameters:

• target – Target slave ID.

• callback – Callback function to execute on state changes.

unsubscribe_from_status(target: int | str, callback: Callable[[NetDevEvt], None]) → None

Unsubscribe from network state changes.

Parameters:

• target – Target slave ID.

• callback – Callback function previously subscribed.

property protocol: NetProt

Obtain network protocol.

servos: list[Any]

List of the connected servos in the network.

class ingenialink.ethercat.network.GilReleaseConfig(config_init: bool | None = None, sdo_read_write: bool | None = None, foe_read_write: bool | None = None, send_receive_processdata: bool | None = None)

Configuration of pysoem functions that have GIL release control.

classmethod always() → GilReleaseConfig

Releases the GIL from all functions.

Returns:

GIL configuration.

property always_release: bool

Returns True if the GIL should be released for all functions, False otherwise.

class ingenialink.ethercat.network.NetStatusListener(network: EthercatNetwork, refresh_time: float = 0.25)

Network status listener thread to check if the drive is alive.

Processing is skipped while the PDO exchange thread is running (network.pdo_manager.is_active is True) because the PDO thread already acts as the authoritative “is the bus alive” signal via WKC errors. Having both active at the same time is redundant.

Parameters:

network – Network instance of the EtherCAT communication.

is_alive()

Return whether the thread is alive.

This method returns True just before the run() method starts until just after the run() method terminates. See also the module function enumerate().

join(timeout=None)

Wait until the thread terminates.

This blocks the calling thread until the thread whose join() method is called terminates – either normally or through an unhandled exception or until the optional timeout occurs.

When the timeout argument is present and not None, it should be a floating point number specifying a timeout for the operation in seconds (or fractions thereof). As join() always returns None, you must call is_alive() after join() to decide whether a timeout happened – if the thread is still alive, the join() call timed out.

When the timeout argument is not present or None, the operation will block until the thread terminates.

A thread can be join()ed many times.

join() raises a RuntimeError if an attempt is made to join the current thread as that would cause a deadlock. It is also an error to join() a thread before it has been started and attempts to do so raises the same exception.

process() → None

Process network status for all servos.

This method checks the status of all servos in the network and notifies subscribers of any state changes (connection/disconnection).

The method is split into four phases:

1. Detect newly disconnected slaves and emit REMOVED events.

2. Check whether any slave still needs recovery; return early if not.

3. Attempt a single network-wide recovery (avoid redundant config_init calls).

4. Emit ADDED for each slave that is actually alive after the recovery.

Separating detection from recovery ensures that recovery is retried even when a previous failed attempt left slave references cleared (slave_exists=False), because the gate is servo_state==DISCONNECTED rather than is_servo_alive.

run() → None

Check the network status continuously.

Skips process() while pdo_manager.is_active is True because the PDO thread already signals bus health via WKC errors.

start()

Start the thread’s activity.

It must be called at most once per thread object. It arranges for the object’s run() method to be invoked in a separate thread of control.

This method will raise a RuntimeError if called more than once on the same thread object.

stop() → None

Stop the network status listener.

property daemon

A boolean value indicating whether this thread is a daemon thread.

This must be set before start() is called, otherwise RuntimeError is raised. Its initial value is inherited from the creating thread; the main thread is not a daemon thread and therefore all threads created in the main thread default to daemon = False.

The entire Python program exits when only daemon threads are left.

property ident

Thread identifier of this thread or None if it has not been started.

This is a nonzero integer. See the get_ident() function. Thread identifiers may be recycled when a thread exits and another thread is created. The identifier is available even after the thread has exited.

property name

A string used for identification purposes only.

It has no semantics. Multiple threads may be given the same name. The initial name is set by the constructor.

property native_id

Native integral thread ID of this thread, or None if it has not been started.

This is a non-negative integer. See the get_native_id() function. This represents the Thread ID as reported by the kernel.

class ingenialink.ethercat.network.SlaveState(value)

EtherCAT state enum.

ingenialink.ethercat.network.release_network_reference(network: EthercatNetwork | None = None) → None

Releases a network reference.

If network is not provided, all references will be removed.

Parameters:

network – network object.

Raises:

RuntimeError – if the specified network is not on the list.

ingenialink.ethercat.network.set_network_reference(network: EthercatNetwork) → None

Adds a reference to an EtherCAT network.

Parameters:

network – network.