from .._ingenialink import lib, ffi
from ingenialink.ipb.servo import IPBServo
import ingenialogger
logger = ingenialogger.get_logger(__name__)
[docs]class EthercatServo(IPBServo):
"""Servo object for all the EtherCAT slave functionalities.
Args:
cffi_servo (CData): CData instance of the servo.
cffi_net (CData): CData instance of the network.
target (int): Target ID for the slave.
dictionary_path (str): Path to the dictionary.
servo_status_listener (bool): Toggle the listener of the servo for
its status, errors, faults, etc.
"""
def __init__(self, cffi_servo, cffi_net, target, dictionary_path=None,
servo_status_listener=True):
servo = ffi.gc(cffi_servo, lib.il_servo_fake_destroy)
super(EthercatServo, self).__init__(
servo, cffi_net, target, dictionary_path)
if servo_status_listener:
self.start_status_listener()
else:
self.stop_status_listener()