Network

class ingenialink.ethercat.network.EthercatNetwork(interface_name: str, connection_timeout: float = 1)

Network for all EtherCAT communications.

Parameters

• interface_name – Interface name to be targeted.

• connection_timeout – Time in seconds of the connection timeout.

Raises

ImportError – WinPcap is not installed

connect_to_slave(slave_id: int, dictionary: str, servo_status_listener: bool = False, net_status_listener: bool = False) → ingenialink.ethercat.servo.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.

Raises

• ValueError – If the slave ID is not valid.

• ILError – If no slaves are found.

disconnect_from_slave(servo: ingenialink.ethercat.servo.EthercatServo) → None

Disconnects the slave from the network.

Parameters

servo – Instance of the servo connected.

load_firmware(fw_file: str, slave_id: int = 1) → None

Loads a given firmware file to a target slave.

Parameters

• fw_file – Path to the firmware file.

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

Raises

• FileNotFoundError – If the firmware file cannot be found.

• ILFirmwareLoadError – If no slave is detected.

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

• NotImplementedError – If FoE is not implemented for the current OS and architecture

scan_slaves() → List[int]

Scans for nodes in the network.

Returns

List containing all the detected node IDs.

start_status_listener() → None

Start monitoring network events (CONNECTION/DISCONNECTION).

stop_status_listener() → None

Stops the NetStatusListener from listening to the drive.

subscribe_to_status(slave_id: int, callback: Callable[[str, ingenialink.network.NET_DEV_EVT], None]) → None

Subscribe to network state changes.

Parameters

• slave_id – Slave ID of the drive to subscribe.

• callback – Callback function.

unsubscribe_from_status(slave_id: int, callback: Callable[[str, ingenialink.network.NET_DEV_EVT], None]) → None

Unsubscribe from network state changes.

Parameters

• slave_id – Slave ID of the drive to subscribe.

• callback – Callback function.

property protocol

Obtain network protocol.

Type

NET_PROT

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

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

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.

run() → None

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

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.

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.