Network¶
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class
ingenialink.ethernet.network.
EthernetNetwork
[source]¶ Network for all Ethernet communications.
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close_socket
()¶ Closes the established network socket.
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connect_to_slave
(target, dictionary=None, port=1061, communication_protocol=<NET_TRANS_PROT.UDP: 2>, reconnection_retries=7, reconnection_timeout=200, servo_status_listener=False, net_status_listener=False)[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
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destroy_network
()¶ Destroy network instance.
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disconnect_from_slave
(servo)[source]¶ Disconnects the slave from the network.
- Parameters
servo (EthernetServo) – Instance of the servo connected.
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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.
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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.
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set_reconnection_retries
(retries)¶ Set the number of reconnection retries in our application.
- Parameters
retries (int) – Number of reconnection retries.
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set_recv_timeout
(timeout)¶ Set receive communications timeout.
- Parameters
timeout (int) – Timeout in ms.
- Returns
Result code.
- Return type
int
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start_status_listener
()¶ Start monitoring network events (CONNECTION/DISCONNECTION).
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stop_status_listener
()¶ Stop monitoring network events (CONNECTION/DISCONNECTION).
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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.
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unsubscribe_from_status
(callback)¶ Unsubscribe from state changes.
- Parameters
callback (function) – Callback function.
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servos
¶ List of the connected servos in the network.
- Type
list
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