Poller¶

class ingenialink.canopen.poller_node.Poller(servo, number_channels)[source]¶

Register poller for CANOpen communications.

Parameters

servo (Servo) – Servo.
number_channels (int) – Number of channels.

Raises

ILCreationError – If the poller could not be created.

acquire_callback_poller_data()[source]¶: Aquire callback for poller data.

ch_configure(channel, reg)[source]¶

Configure a poller channel mapping.

Parameters

channel (int) – Channel to be configured.
reg (Register) – Register to associate to the given channel.

Returns

Status code.

Return type

int

Raises

ILStateError – The poller is already running.
ILValueError – Channel out of range.
TypeError – If the register is not valid.

ch_disable(channel)[source]¶

Disable a channel.

Parameters

channel (int) – Channel to be disabled.

Raises

ILStateError – The poller is already running.
ILValueError – Channel out of range.

Returns

Status code.

Return type

int

ch_disable_all()[source]¶

Disable all channels.

Returns: Status code.
Return type: int

configure(t_s, sz)[source]¶

Configure data.

Parameters

t_s (int, float) – Polling period (s).
sz (int) – Buffer size.

Returns

Status code.

Return type

int

Raises

ILStateError – The poller is already running.

property data¶

Time vector, array of data vectors and a flag indicating if data was lost.

Type: tuple (list, list, bool)

reset_acq()[source]¶: Resets the aquired channels.

start()[source]¶: Start poller.

stop()[source]¶: Stop poller.

class ingenialink.canopen.poller_node.PollerTimer(time, cb)[source]¶

Custom timer for the Poller.

Parameters

time (int) – Timeout to use for the timer.
cb (function) – Callback.