Network
- class ingenialink.ethernet.network.EthernetNetwork[source]
Network for all Ethernet communications.
- close_socket()
Closes the established network socket.
- connect_to_slave(target, dictionary=None, port=1061, communication_protocol=NET_TRANS_PROT.UDP, reconnection_retries=7, reconnection_timeout=200, servo_status_listener=True, net_status_listener=True)[source]
Connects to a slave through the given network settings.
- Parameters
target (str) – IP of the target slave.
dictionary (str) – Path to the target dictionary file.
port (int) – Port to connect to the slave.
communication_protocol (NET_TRANS_PROT) – Communication protocol, UPD or TCP.
reconnection_retries (int) – Number of reconnection retried before declaring a connected or disconnected stated.
reconnection_timeout (int) – Time in ms of the reconnection timeout.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.
- Returns
Instance of the servo connected.
- Return type
- destroy_network()
Destroy network instance.
- disconnect_from_slave(servo)[source]
Disconnects the slave from the network.
- Parameters
servo (EthernetServo) – Instance of the servo connected.
- static load_firmware(fw_file, target='192.168.2.22', ftp_user='', ftp_pwd='')[source]
Loads a given firmware file to the target slave.
Warning
It is needed to disconnect the drive(
disconnect_from_slave()) after loading the firmware since the Servo object’s data will become obsolete.- Parameters
fw_file (str) – Path to the firmware file to be loaded.
target (str) – IP of the target slave.
ftp_user (str) – FTP user to connect with.
ftp_pwd (str) – FTP password for the given user.
- Raises
ILError – If the loading firmware process fails.
- static load_firmware_moco(node, subnode, ip, port, moco_file)[source]
Update MOCO firmware through UDP protocol.
- Parameters
node – Network node.
subnode – Drive subnode.
ip – Drive address IP.
port – Drive port.
moco_file – Path to the firmware file.
- Returns
Result code.
- Return type
int
- Raises
ILFirmwareLoadError – The firmware load process fails with an error message.
- set_reconnection_retries(retries)
Set the number of reconnection retries in our application.
- Parameters
retries (int) – Number of reconnection retries.
- set_recv_timeout(timeout)
Set receive communications timeout.
- Parameters
timeout (int) – Timeout in ms.
- Returns
Result code.
- Return type
int
- start_status_listener()
Start monitoring network events (CONNECTION/DISCONNECTION).
- stop_status_listener()
Stop monitoring network events (CONNECTION/DISCONNECTION).
- subscribe_to_status(callback)
Calls given function everytime a connection/disconnection event is raised.
- Parameters
callback (function) – Function that will be called every time an event is raised.
- unsubscribe_from_status(callback)
Unsubscribe from state changes.
- Parameters
callback (function) – Callback function.
- servos
List of the connected servos in the network.
- Type
list